2025-10-27T16:50:46.034Z,1761583846.034 [CommandExec](IMPORTANT): got command restart logs
2025-10-27T16:50:46.270Z,1761583846.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130131,0.988776,0.073406],[-0.991330,-0.128396,-0.027903],[-0.018164,-0.076401,0.996912]]
2025-10-27T16:50:46.674Z,1761583846.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098035,0.994766,0.028803],[-0.995139,-0.097719,-0.012192],[-0.009313,-0.029858,0.999511]]
2025-10-27T16:50:47.078Z,1761583847.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079099,0.996495,0.027226],[-0.996279,-0.079960,0.032169],[0.034233,-0.024580,0.999112]]
2025-10-27T16:50:47.482Z,1761583847.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081478,0.995029,0.057251],[-0.995852,-0.083611,0.035896],[0.040504,-0.054089,0.997714]]
2025-10-27T16:50:47.886Z,1761583847.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090441,0.991220,0.096459],[-0.995286,-0.093366,0.026240],[0.035015,-0.093631,0.994991]]
2025-10-27T16:50:47.939Z,1761583847.939 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:50:48.290Z,1761583848.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073157,0.989573,0.124070],[-0.995769,-0.079412,0.046235],[0.055606,-0.120163,0.991196]]
2025-10-27T16:50:48.694Z,1761583848.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058578,0.991896,0.112745],[-0.993638,-0.068815,0.089152],[0.096188,-0.106806,0.989616]]
2025-10-27T16:50:49.502Z,1761583849.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036014,0.997470,0.061299],[-0.999237,-0.035015,-0.017291],[-0.015101,-0.061875,0.997970]]
2025-10-27T16:50:49.907Z,1761583849.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049041,0.996177,0.072291],[-0.998676,-0.050033,0.011972],[0.015544,-0.071608,0.997312]]
2025-10-27T16:50:50.310Z,1761583850.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071316,0.993764,0.085718],[-0.994936,-0.076975,0.064633],[0.070828,-0.080674,0.994221]]
2025-10-27T16:50:50.714Z,1761583850.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060274,0.995574,0.072112],[-0.997910,-0.061785,0.018919],[0.023291,-0.070821,0.997217]]
2025-10-27T16:50:51.136Z,1761583851.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022827,0.998748,0.044507],[-0.999710,-0.023146,0.006646],[0.007668,-0.044343,0.998987]]
2025-10-27T16:50:51.522Z,1761583851.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019103,0.998046,0.059492],[-0.997214,-0.023311,0.070851],[0.072100,-0.057973,0.995711]]
2025-10-27T16:50:51.927Z,1761583851.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008931,0.997039,0.076380],[-0.995210,0.001426,0.097750],[0.097352,-0.076887,0.992276]]
2025-10-27T16:50:52.330Z,1761583852.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032723,0.996457,0.077474],[-0.999463,0.032476,0.004450],[0.001918,-0.077578,0.996984]]
2025-10-27T16:50:52.734Z,1761583852.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015262,0.998084,0.059958],[-0.998648,0.018196,-0.048691],[-0.049688,-0.059133,0.997013]]
2025-10-27T16:50:53.137Z,1761583853.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012285,0.999217,0.037622],[-0.999415,0.011069,0.032376],[0.031935,-0.037998,0.998767]]
2025-10-27T16:50:53.542Z,1761583853.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027077,0.999477,0.017655],[-0.993158,0.024890,0.114097],[0.113598,-0.020623,0.993313]]
2025-10-27T16:50:53.947Z,1761583853.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044752,0.997659,0.051708],[-0.996770,0.041137,0.068975],[0.066687,-0.054627,0.996277]]
2025-10-27T16:50:54.350Z,1761583854.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030035,0.992737,0.116494],[-0.999450,0.031468,-0.010487],[-0.014077,-0.116115,0.993136]]
2025-10-27T16:50:55.158Z,1761583855.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012967,0.991080,0.132634],[-0.994732,-0.000703,0.102507],[0.101686,-0.133264,0.985850]]
2025-10-27T16:50:55.562Z,1761583855.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004684,0.995750,0.091974],[-0.996887,-0.002589,0.078803],[0.078706,-0.092056,0.992638]]
2025-10-27T16:50:55.966Z,1761583855.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009709,0.998801,0.047974],[-0.999742,-0.010680,0.020023],[0.020512,-0.047767,0.998648]]
2025-10-27T16:50:56.370Z,1761583856.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002923,0.999820,0.018725],[-0.999449,-0.003540,0.033004],[0.033065,-0.018618,0.999280]]
2025-10-27T16:50:56.780Z,1761583856.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005416,0.997930,0.064085],[-0.999050,0.002629,0.043496],[0.043238,-0.064260,0.996996]]
2025-10-27T16:50:57.593Z,1761583857.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006295,0.998734,0.049903],[-0.997121,0.010040,-0.075156],[-0.075562,-0.049287,0.995922]]
2025-10-27T16:50:57.990Z,1761583857.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018571,0.997104,0.073743],[-0.999523,-0.016693,-0.026003],[-0.024697,-0.074190,0.996938]]
2025-10-27T16:50:58.393Z,1761583858.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005677,0.994791,0.101775],[-0.999939,-0.006612,0.008855],[0.009482,-0.101718,0.994768]]
2025-10-27T16:50:58.804Z,1761583858.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003073,0.995654,0.093079],[-0.999885,-0.001675,-0.015097],[-0.014876,-0.093114,0.995544]]
2025-10-27T16:50:59.197Z,1761583859.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015230,0.997590,0.067692],[-0.999876,-0.014918,-0.005124],[-0.004102,-0.067762,0.997693]]
2025-10-27T16:50:59.602Z,1761583859.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047832,0.996430,0.069564],[-0.994902,-0.053717,0.085348],[0.088780,-0.065127,0.993920]]
2025-10-27T16:51:00.006Z,1761583860.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070493,0.994967,0.071211],[-0.990925,-0.078039,0.109437],[0.114444,-0.062850,0.991440]]
2025-10-27T16:51:00.407Z,1761583860.407 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:00.412Z,1761583860.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055561,0.998194,0.022861],[-0.997580,-0.056456,0.040588],[0.041805,-0.020551,0.998914]]
2025-10-27T16:51:00.814Z,1761583860.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042454,0.999098,0.000093],[-0.997908,-0.042408,0.048797],[0.048756,0.001979,0.998809]]
2025-10-27T16:51:01.217Z,1761583861.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047289,0.998868,0.005197],[-0.994513,-0.047568,0.093171],[0.093313,-0.000763,0.995637]]
2025-10-27T16:51:01.622Z,1761583861.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057883,0.997984,0.026049],[-0.997670,-0.058769,0.034662],[0.036123,-0.023982,0.999060]]
2025-10-27T16:51:02.025Z,1761583862.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055459,0.996819,0.057241],[-0.998059,-0.053719,-0.031507],[-0.028332,-0.058877,0.997863]]
2025-10-27T16:51:02.463Z,1761583862.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046047,0.994455,0.094549],[-0.998743,-0.043955,-0.024096],[-0.019807,-0.095540,0.995229]]
2025-10-27T16:51:03.262Z,1761583863.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092120,0.980420,0.174041],[-0.995193,-0.096488,0.016787],[0.033251,-0.171658,0.984595]]
2025-10-27T16:51:03.666Z,1761583863.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075558,0.991774,0.103319],[-0.996991,-0.076937,0.009420],[0.017292,-0.102296,0.994604]]
2025-10-27T16:51:04.070Z,1761583864.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030793,0.998854,0.036653],[-0.998453,-0.032438,0.045162],[0.046300,-0.035206,0.998307]]
2025-10-27T16:51:04.474Z,1761583864.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038386,0.999073,0.019507],[-0.998344,-0.039180,0.042117],[0.042842,-0.017858,0.998922]]
2025-10-27T16:51:04.916Z,1761583864.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084330,0.995975,0.030357],[-0.996415,-0.084494,0.004179],[0.006728,-0.029896,0.999530]]
2025-10-27T16:51:05.283Z,1761583865.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075305,0.996805,0.026629],[-0.995776,-0.076580,0.050657],[0.052535,-0.022702,0.998361]]
2025-10-27T16:51:05.687Z,1761583865.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062190,0.998063,0.001642],[-0.993436,-0.062060,0.096095],[0.096010,0.004345,0.995371]]
2025-10-27T16:51:06.090Z,1761583866.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048672,0.998481,-0.025828],[-0.998744,-0.048346,0.013135],[0.011866,0.026435,0.999580]]
2025-10-27T16:51:06.494Z,1761583866.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037793,0.999285,0.000820],[-0.998692,-0.037742,-0.034497],[-0.034442,-0.002123,0.999404]]
2025-10-27T16:51:06.914Z,1761583866.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027133,0.997143,0.070495],[-0.998614,-0.030220,0.043095],[0.045102,-0.069228,0.996581]]
2025-10-27T16:51:07.305Z,1761583867.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010426,0.992631,0.120728],[-0.994815,-0.022510,0.099174],[0.101161,-0.119068,0.987719]]
2025-10-27T16:51:07.706Z,1761583867.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009478,0.988697,0.149626],[-0.993800,-0.025891,0.108131],[0.110782,-0.147673,0.982812]]
2025-10-27T16:51:08.110Z,1761583868.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000697,0.988240,0.152912],[-0.997327,-0.011859,0.072098],[0.073063,-0.152453,0.985606]]
2025-10-27T16:51:08.513Z,1761583868.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024527,0.990897,0.132367],[-0.999401,0.021070,0.027454],[0.024415,-0.132961,0.990820]]
2025-10-27T16:51:08.923Z,1761583868.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013352,0.996525,0.082213],[-0.999451,0.010806,0.031332],[0.030335,-0.082586,0.996122]]
2025-10-27T16:51:09.322Z,1761583869.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026380,0.999398,0.022521],[-0.998057,-0.027603,0.055851],[0.056439,-0.021004,0.998185]]
2025-10-27T16:51:09.643Z,1761583869.643 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:09.725Z,1761583869.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032028,0.999453,0.008190],[-0.999330,-0.032167,0.017475],[0.017729,-0.007625,0.999814]]
2025-10-27T16:51:10.130Z,1761583870.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001215,0.999296,0.037495],[-0.999417,0.002492,-0.034038],[-0.034107,-0.037432,0.998717]]
2025-10-27T16:51:10.535Z,1761583870.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011705,0.995201,0.097148],[-0.999134,-0.015521,0.038618],[0.039941,-0.096611,0.994521]]
2025-10-27T16:51:10.937Z,1761583870.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040243,0.991866,0.120761],[-0.994385,-0.051594,0.092393],[0.097872,-0.116365,0.988373]]
2025-10-27T16:51:11.342Z,1761583871.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025373,0.995107,0.095493],[-0.999429,-0.027382,0.019781],[0.022299,-0.094937,0.995234]]
2025-10-27T16:51:11.746Z,1761583871.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014757,0.999781,0.014828],[-0.999719,0.015028,-0.018309],[-0.018527,-0.014553,0.999722]]
2025-10-27T16:51:12.151Z,1761583872.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033107,0.998634,-0.040425],[-0.999344,-0.032482,0.016022],[0.014687,0.040929,0.999054]]
2025-10-27T16:51:12.555Z,1761583872.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072374,0.996583,-0.039791],[-0.995506,-0.069738,0.064062],[0.061068,0.044248,0.997152]]
2025-10-27T16:51:12.958Z,1761583872.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034545,0.998358,0.045690],[-0.997909,-0.036956,0.053031],[0.054633,-0.043762,0.997547]]
2025-10-27T16:51:13.767Z,1761583873.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048367,0.953735,0.296734],[-0.990008,-0.085172,0.112383],[0.132457,-0.288333,0.948324]]
2025-10-27T16:51:14.170Z,1761583874.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052601,0.956795,0.285966],[-0.991120,-0.085040,0.102221],[0.122123,-0.278049,0.952772]]
2025-10-27T16:51:14.574Z,1761583874.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029001,0.984379,0.173658],[-0.997219,-0.040425,0.062611],[0.068653,-0.171359,0.982814]]
2025-10-27T16:51:14.978Z,1761583874.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023098,0.998539,0.048853],[-0.999054,-0.024855,0.035678],[0.036841,-0.047983,0.998169]]
2025-10-27T16:51:15.383Z,1761583875.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040282,0.998421,-0.039150],[-0.998778,-0.039112,0.030207],[0.028628,0.040319,0.998777]]
2025-10-27T16:51:15.785Z,1761583875.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047644,0.998285,-0.034007],[-0.998498,-0.046677,0.028688],[0.027052,0.035323,0.999010]]
2025-10-27T16:51:16.190Z,1761583876.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033638,0.999336,0.013985],[-0.999430,-0.033593,-0.003486],[-0.003014,-0.014094,0.999896]]
2025-10-27T16:51:16.595Z,1761583876.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034861,0.994313,0.100628],[-0.999118,-0.032316,-0.026815],[-0.023410,-0.101474,0.994563]]
2025-10-27T16:51:17.000Z,1761583877.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073064,0.987176,0.141931],[-0.997225,-0.074347,0.003756],[0.014260,-0.141263,0.989869]]
2025-10-27T16:51:17.404Z,1761583877.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088805,0.985262,0.146193],[-0.993464,-0.098183,0.058223],[0.071718,-0.140067,0.987541]]
2025-10-27T16:51:17.805Z,1761583877.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079563,0.990585,0.111404],[-0.992356,-0.089286,0.085188],[0.094333,-0.103775,0.990117]]
2025-10-27T16:51:18.210Z,1761583878.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067933,0.995118,0.071597],[-0.989112,-0.076566,0.125681],[0.130549,-0.062280,0.989484]]
2025-10-27T16:51:18.571Z,1761583878.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:18.616Z,1761583878.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083629,0.996109,0.027796],[-0.987875,-0.086535,0.128900],[0.130804,-0.016679,0.991268]]
2025-10-27T16:51:19.422Z,1761583879.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074175,0.997215,0.007731],[-0.984779,-0.074467,0.157053],[0.157191,0.004036,0.987560]]
2025-10-27T16:51:19.825Z,1761583879.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041403,0.997446,0.058198],[-0.991596,-0.048166,0.120073],[0.122570,-0.052737,0.991058]]
2025-10-27T16:51:20.230Z,1761583880.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079018,0.989816,0.118404],[-0.994865,-0.085835,0.053620],[0.063238,-0.113559,0.991517]]
2025-10-27T16:51:20.636Z,1761583880.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089290,0.987681,0.128507],[-0.994830,-0.094706,0.036662],[0.048380,-0.124569,0.991031]]
2025-10-27T16:51:21.038Z,1761583881.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080889,0.988414,0.128431],[-0.993804,-0.089835,0.065451],[0.076230,-0.122341,0.989556]]
2025-10-27T16:51:21.442Z,1761583881.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100461,0.988444,0.113518],[-0.991977,-0.108308,0.065200],[0.076742,-0.106057,0.991394]]
2025-10-27T16:51:21.845Z,1761583881.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140429,0.985925,0.090727],[-0.989346,-0.143288,0.025771],[0.038408,-0.086141,0.995542]]
2025-10-27T16:51:22.250Z,1761583882.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172056,0.981863,0.079636],[-0.984800,-0.173396,0.010170],[0.023794,-0.076675,0.996772]]
2025-10-27T16:51:22.654Z,1761583882.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193797,0.977758,0.080206],[-0.980989,-0.193983,-0.005539],[0.010142,-0.079755,0.996763]]
2025-10-27T16:51:23.058Z,1761583883.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193129,0.979186,0.062420],[-0.981173,-0.192736,-0.012310],[-0.000023,-0.063622,0.997974]]
2025-10-27T16:51:23.462Z,1761583883.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180718,0.982774,0.038692],[-0.982399,-0.182260,0.040920],[0.047267,-0.030616,0.998413]]
2025-10-27T16:51:23.866Z,1761583883.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162786,0.986651,0.004492],[-0.984343,-0.162714,0.067776],[0.067602,0.006611,0.997690]]
2025-10-27T16:51:24.270Z,1761583884.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178898,0.983774,0.013608],[-0.983864,-0.178916,0.000090],[0.002523,-0.013372,0.999907]]
2025-10-27T16:51:24.673Z,1761583884.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197777,0.979904,0.025916],[-0.980078,-0.198165,0.013339],[0.018207,-0.022761,0.999575]]
2025-10-27T16:51:25.078Z,1761583885.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204148,0.978574,0.026785],[-0.970948,-0.205894,0.121930],[0.124833,-0.001115,0.992177]]
2025-10-27T16:51:25.481Z,1761583885.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208529,0.977675,0.025819],[-0.967862,-0.210087,0.138227],[0.140565,0.003835,0.990064]]
2025-10-27T16:51:25.886Z,1761583885.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224146,0.973345,0.048565],[-0.973922,-0.225518,0.024834],[0.035125,-0.041732,0.998511]]
2025-10-27T16:51:26.290Z,1761583886.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224529,0.971751,0.072715],[-0.974454,-0.223509,-0.021974],[-0.005101,-0.075791,0.997111]]
2025-10-27T16:51:26.695Z,1761583886.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228917,0.968299,0.099973],[-0.973378,-0.228903,-0.011767],[0.011490,-0.100005,0.994921]]
2025-10-27T16:51:27.098Z,1761583887.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245483,0.959499,0.138205],[-0.969395,-0.243457,-0.031645],[0.003284,-0.141744,0.989898]]
2025-10-27T16:51:27.502Z,1761583887.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266610,0.956086,0.121729],[-0.963111,-0.259494,-0.071271],[-0.036553,-0.136240,0.990001]]
2025-10-27T16:51:27.511Z,1761583887.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:27.906Z,1761583887.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281453,0.954315,0.100338],[-0.959428,-0.278034,-0.046853],[-0.016815,-0.109454,0.993850]]
2025-10-27T16:51:28.311Z,1761583888.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288428,0.952905,0.093711],[-0.955507,-0.292759,0.036027],[0.061765,-0.079150,0.994947]]
2025-10-27T16:51:28.715Z,1761583888.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299250,0.952731,0.052465],[-0.952418,-0.301582,0.044133],[0.057869,-0.036762,0.997647]]
2025-10-27T16:51:29.117Z,1761583889.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298560,0.954345,0.009385],[-0.954344,-0.298629,0.006995],[0.009478,-0.006868,0.999931]]
2025-10-27T16:51:29.553Z,1761583889.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314193,0.947975,0.051247],[-0.948607,-0.315634,0.022784],[0.037774,-0.041455,0.998426]]
2025-10-27T16:51:29.927Z,1761583889.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340518,0.932446,0.120799],[-0.936510,-0.347787,0.044653],[0.083649,-0.097924,0.991672]]
2025-10-27T16:51:30.330Z,1761583890.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313971,0.938704,0.142324],[-0.943983,-0.324680,0.058988],[0.101582,-0.115831,0.988061]]
2025-10-27T16:51:30.734Z,1761583890.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297465,0.944985,0.136083],[-0.948637,-0.308629,0.069541],[0.107715,-0.108407,0.988254]]
2025-10-27T16:51:31.141Z,1761583891.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317282,0.944719,0.082693],[-0.945561,-0.321810,0.048501],[0.072432,-0.062802,0.995394]]
2025-10-27T16:51:31.543Z,1761583891.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330956,0.943635,0.004613],[-0.943384,-0.330976,0.021931],[0.022222,0.002906,0.999749]]
2025-10-27T16:51:31.945Z,1761583891.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318184,0.947467,-0.032638],[-0.948027,-0.317921,0.013101],[0.002037,0.035110,0.999381]]
2025-10-27T16:51:32.350Z,1761583892.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318186,0.947942,-0.012761],[-0.947700,-0.317693,0.030577],[0.024931,0.021823,0.999451]]
2025-10-27T16:51:32.754Z,1761583892.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341520,0.939621,0.021826],[-0.939565,-0.341912,0.017738],[0.024130,-0.014450,0.999604]]
2025-10-27T16:51:33.158Z,1761583893.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333419,0.941858,0.041665],[-0.942742,-0.333471,-0.005882],[0.008354,-0.041241,0.999114]]
2025-10-27T16:51:33.965Z,1761583893.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346771,0.919127,0.186963],[-0.933173,-0.358173,0.030001],[0.094540,-0.164066,0.981909]]
2025-10-27T16:51:34.372Z,1761583894.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357971,0.919155,0.164351],[-0.928237,-0.369377,0.044010],[0.101159,-0.136802,0.985420]]
2025-10-27T16:51:35.178Z,1761583895.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364912,0.930682,0.025903],[-0.929116,-0.365804,0.054132],[0.059855,-0.004314,0.998198]]
2025-10-27T16:51:35.583Z,1761583895.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395877,0.917967,0.024838],[-0.915087,-0.396608,0.072928],[0.076797,0.006142,0.997028]]
2025-10-27T16:51:35.986Z,1761583895.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374878,0.926754,0.024368],[-0.926781,-0.375292,0.015302],[0.023327,-0.016847,0.999586]]
2025-10-27T16:51:36.390Z,1761583896.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365388,0.928917,0.060036],[-0.930852,-0.364452,-0.026257],[-0.002510,-0.065479,0.997851]]
2025-10-27T16:51:36.439Z,1761583896.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:36.795Z,1761583896.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383549,0.920107,0.079330],[-0.923208,-0.379768,-0.058839],[-0.024011,-0.095806,0.995110]]
2025-10-27T16:51:37.197Z,1761583897.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382166,0.920305,0.083595],[-0.923762,-0.378039,-0.061236],[-0.024753,-0.100624,0.994617]]
2025-10-27T16:51:37.602Z,1761583897.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383524,0.920303,0.077147],[-0.923406,-0.383507,-0.015627],[0.015204,-0.077231,0.996897]]
2025-10-27T16:51:38.006Z,1761583898.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394758,0.918349,0.028320],[-0.918750,-0.394826,-0.003360],[0.008096,-0.027346,0.999593]]
2025-10-27T16:51:38.821Z,1761583898.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374367,0.926325,0.042090],[-0.927273,-0.374155,-0.013117],[0.003597,-0.043939,0.999028]]
2025-10-27T16:51:39.224Z,1761583899.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388661,0.916471,0.094995],[-0.921374,-0.386978,-0.036297],[0.003496,-0.101633,0.994816]]
2025-10-27T16:51:39.628Z,1761583899.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434718,0.888605,0.146292],[-0.900041,-0.434242,-0.036873],[0.030760,-0.147698,0.988554]]
2025-10-27T16:51:40.030Z,1761583900.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419643,0.893704,0.158722],[-0.904446,-0.426470,0.010038],[0.076662,-0.139343,0.987272]]
2025-10-27T16:51:40.434Z,1761583900.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377667,0.917442,0.125169],[-0.923068,-0.383681,0.027101],[0.072888,-0.105305,0.991765]]
2025-10-27T16:51:40.846Z,1761583900.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388997,0.919106,0.062651],[-0.921201,-0.388697,-0.017415],[0.008346,-0.064489,0.997884]]
2025-10-27T16:51:41.238Z,1761583901.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389474,0.920990,0.009330],[-0.920906,-0.389570,0.012982],[0.015591,-0.003536,0.999872]]
2025-10-27T16:51:41.642Z,1761583901.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387471,0.921854,-0.007120],[-0.920837,-0.386653,0.050582],[0.043876,0.026155,0.998695]]
2025-10-27T16:51:42.046Z,1761583902.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402074,0.915335,-0.022337],[-0.915381,-0.401312,0.032054],[0.020376,0.033335,0.999237]]
2025-10-27T16:51:42.450Z,1761583902.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400446,0.915385,0.041395],[-0.916316,-0.400175,-0.014994],[0.002840,-0.043935,0.999030]]
2025-10-27T16:51:42.894Z,1761583902.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437578,0.882966,0.169987],[-0.898318,-0.437551,-0.039657],[0.039362,-0.170056,0.984648]]
2025-10-27T16:51:43.661Z,1761583903.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475484,0.870502,0.127049],[-0.877062,-0.480302,0.008461],[0.068387,-0.107407,0.991860]]
2025-10-27T16:51:44.066Z,1761583904.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438602,0.898376,0.023448],[-0.898207,-0.439069,0.021055],[0.029211,-0.011827,0.999503]]
2025-10-27T16:51:44.473Z,1761583904.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469533,0.882912,0.002315],[-0.881373,-0.468866,0.057841],[0.052153,0.025118,0.998323]]
2025-10-27T16:51:44.910Z,1761583904.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510100,0.860086,-0.007046],[-0.854583,-0.505875,0.117383],[0.097395,0.065898,0.993062]]
2025-10-27T16:51:45.278Z,1761583905.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474522,0.879691,-0.031196],[-0.877122,-0.469560,0.100846],[0.074065,0.075217,0.994413]]
2025-10-27T16:51:45.392Z,1761583905.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:45.681Z,1761583905.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453209,0.891404,-0.000996],[-0.890984,-0.452960,0.031213],[0.027372,0.015034,0.999512]]
2025-10-27T16:51:46.115Z,1761583906.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500943,0.858463,0.109984],[-0.862758,-0.505390,0.015153],[0.068593,-0.087299,0.993818]]
2025-10-27T16:51:46.491Z,1761583906.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532310,0.827608,0.178076],[-0.840133,-0.542305,0.009010],[0.104029,-0.144811,0.983975]]
2025-10-27T16:51:46.915Z,1761583906.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500673,0.856539,0.125171],[-0.862956,-0.505248,0.005640],[0.068074,-0.105193,0.992119]]
2025-10-27T16:51:47.298Z,1761583907.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466935,0.883901,0.026283],[-0.884264,-0.466949,-0.005979],[0.006988,-0.026033,0.999637]]
2025-10-27T16:51:47.703Z,1761583907.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454091,0.890453,-0.029912],[-0.890955,-0.453818,0.015736],[0.000437,0.033796,0.999429]]
2025-10-27T16:51:48.106Z,1761583908.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481654,0.875501,-0.038828],[-0.876318,-0.480712,0.031369],[0.008799,0.049135,0.998753]]
2025-10-27T16:51:48.510Z,1761583908.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468909,0.883241,0.003163],[-0.883174,-0.468914,0.011089],[0.011277,0.002406,0.999933]]
2025-10-27T16:51:48.920Z,1761583908.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453441,0.882957,0.121568],[-0.890329,-0.455040,-0.015879],[0.041298,-0.115436,0.992456]]
2025-10-27T16:51:49.319Z,1761583909.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480100,0.856645,0.188846],[-0.876943,-0.474046,-0.079067],[0.021789,-0.203567,0.978818]]
2025-10-27T16:51:49.722Z,1761583909.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479962,0.866352,0.138099],[-0.876204,-0.465565,-0.124560],[-0.043618,-0.180787,0.982555]]
2025-10-27T16:51:50.125Z,1761583910.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467232,0.879675,0.088687],[-0.884044,-0.463394,-0.061091],[-0.012643,-0.106946,0.994184]]
2025-10-27T16:51:50.530Z,1761583910.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505111,0.861688,0.048536],[-0.862166,-0.506343,0.016909],[0.039146,-0.033305,0.998678]]
2025-10-27T16:51:50.936Z,1761583910.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505884,0.862533,-0.010837],[-0.862412,-0.505469,0.027316],[0.018083,0.023165,0.999568]]
2025-10-27T16:51:51.340Z,1761583911.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492047,0.870126,-0.027755],[-0.870481,-0.492200,0.001458],[-0.012392,0.024877,0.999614]]
2025-10-27T16:51:51.742Z,1761583911.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520186,0.852661,0.048739],[-0.854044,-0.519071,-0.034269],[-0.003921,-0.059451,0.998223]]
2025-10-27T16:51:52.549Z,1761583912.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520184,0.832821,0.189256],[-0.845228,-0.533785,0.025751],[0.122468,-0.146569,0.981590]]
2025-10-27T16:51:52.954Z,1761583912.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500368,0.856309,0.127931],[-0.862151,-0.506358,0.017242],[0.079543,-0.101668,0.991633]]
2025-10-27T16:51:53.361Z,1761583913.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488246,0.872687,0.005791],[-0.872705,-0.488247,-0.001331],[0.001666,-0.005704,0.999982]]
2025-10-27T16:51:53.762Z,1761583913.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484111,0.871660,-0.076458],[-0.874638,-0.484592,0.013382],[-0.025387,0.073352,0.996983]]
2025-10-27T16:51:54.167Z,1761583914.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499499,0.864966,-0.048312],[-0.866290,-0.498290,0.035335],[0.006490,0.059502,0.998207]]
2025-10-27T16:51:54.572Z,1761583914.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514030,0.857702,0.010980],[-0.857688,-0.514117,0.007380],[0.011975,-0.005624,0.999913]]
2025-10-27T16:51:54.976Z,1761583914.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518521,0.850180,0.091267],[-0.854987,-0.516955,-0.041900],[0.011559,-0.099758,0.994945]]
2025-10-27T16:51:55.351Z,1761583915.351 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:51:55.378Z,1761583915.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525964,0.836531,0.153553],[-0.849681,-0.524774,-0.051524],[0.037479,-0.157571,0.986796]]
2025-10-27T16:51:55.782Z,1761583915.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523423,0.836775,0.160733],[-0.850425,-0.524757,-0.037510],[0.052959,-0.156325,0.986285]]
2025-10-27T16:51:56.187Z,1761583916.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506772,0.854480,0.114223],[-0.861066,-0.508138,-0.019000],[0.041806,-0.107982,0.993273]]
2025-10-27T16:51:56.590Z,1761583916.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503033,0.863750,0.029890],[-0.864197,-0.503133,-0.004618],[0.011049,-0.028154,0.999543]]
2025-10-27T16:51:56.996Z,1761583916.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534420,0.844918,-0.022567],[-0.845154,-0.533856,0.026706],[0.010517,0.033345,0.999389]]
2025-10-27T16:51:57.398Z,1761583917.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528047,0.848962,-0.020741],[-0.847181,-0.524936,0.082011],[0.058737,0.060877,0.996416]]
2025-10-27T16:51:57.802Z,1761583917.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505454,0.862743,0.013800],[-0.858560,-0.504467,0.091586],[0.085977,0.034444,0.995702]]
2025-10-27T16:51:58.206Z,1761583918.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500835,0.863715,0.056218],[-0.864253,-0.502577,0.021973],[0.047233,-0.037582,0.998177]]
2025-10-27T16:51:58.610Z,1761583918.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535218,0.839618,0.092650],[-0.844697,-0.532674,-0.052394],[0.005361,-0.106304,0.994319]]
2025-10-27T16:51:59.017Z,1761583919.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546621,0.822323,0.158084],[-0.836380,-0.545375,-0.055091],[0.040912,-0.162332,0.985888]]
2025-10-27T16:51:59.418Z,1761583919.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539415,0.819759,0.192423],[-0.837620,-0.545768,-0.023005],[0.086160,-0.173586,0.981042]]
2025-10-27T16:51:59.822Z,1761583919.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537750,0.833751,0.125237],[-0.840982,-0.540978,-0.009559],[0.059781,-0.110463,0.992081]]
2025-10-27T16:52:00.226Z,1761583920.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549798,0.834782,0.029355],[-0.834612,-0.550430,0.021173],[0.033833,-0.012859,0.999345]]
2025-10-27T16:52:00.631Z,1761583920.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549675,0.835372,0.003216],[-0.832620,-0.548169,0.079088],[0.067831,0.040795,0.996862]]
2025-10-27T16:52:01.035Z,1761583921.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546221,0.837640,0.001706],[-0.836493,-0.545578,0.051229],[0.043842,0.026555,0.998685]]
2025-10-27T16:52:01.437Z,1761583921.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557159,0.829569,-0.037278],[-0.826614,-0.558341,-0.070455],[-0.079261,-0.008440,0.996818]]
2025-10-27T16:52:01.846Z,1761583921.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570684,0.821118,-0.009218],[-0.808783,-0.563982,-0.166719],[-0.142095,-0.087689,0.985961]]
2025-10-27T16:52:02.247Z,1761583922.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593633,0.799867,0.088385],[-0.801393,-0.577592,-0.155424],[-0.073268,-0.163096,0.983886]]
2025-10-27T16:52:02.650Z,1761583922.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596429,0.784330,0.170584],[-0.801961,-0.591196,-0.085706],[0.033627,-0.187920,0.981609]]
2025-10-27T16:52:03.055Z,1761583923.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589168,0.790341,0.168054],[-0.805204,-0.591602,-0.040658],[0.067287,-0.159272,0.984939]]
2025-10-27T16:52:03.458Z,1761583923.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595515,0.794286,0.120296],[-0.801812,-0.596922,-0.027970],[0.049591,-0.113111,0.992344]]
2025-10-27T16:52:03.862Z,1761583923.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608065,0.792326,0.049759],[-0.792791,-0.609325,0.014376],[0.041710,-0.030707,0.998658]]
2025-10-27T16:52:04.269Z,1761583924.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620024,0.784564,-0.005481],[-0.784580,-0.619987,0.007142],[0.002205,0.008729,0.999959]]
2025-10-27T16:52:04.307Z,1761583924.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:04.671Z,1761583924.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645179,0.763737,0.021224],[-0.763982,-0.645203,-0.006584],[0.008665,-0.020463,0.999753]]
2025-10-27T16:52:05.074Z,1761583925.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630336,0.768770,0.108025],[-0.768435,-0.637646,0.053981],[0.110380,-0.048984,0.992682]]
2025-10-27T16:52:05.478Z,1761583925.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622685,0.770883,0.134176],[-0.764134,-0.635991,0.107769],[0.168412,-0.035422,0.985080]]
2025-10-27T16:52:06.285Z,1761583926.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602154,0.798375,-0.002749],[-0.796724,-0.600680,0.066436],[0.051389,0.042195,0.997787]]
2025-10-27T16:52:06.690Z,1761583926.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619633,0.784892,0.000106],[-0.783520,-0.618558,0.059021],[0.046390,0.036489,0.998257]]
2025-10-27T16:52:07.095Z,1761583927.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604365,0.795519,-0.043504],[-0.796212,-0.605014,-0.002231],[-0.028095,0.033290,0.999051]]
2025-10-27T16:52:07.499Z,1761583927.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576915,0.816194,-0.031559],[-0.815207,-0.577772,-0.040205],[-0.051049,0.002532,0.998693]]
2025-10-27T16:52:07.902Z,1761583927.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584439,0.810764,0.033056],[-0.810595,-0.581492,-0.069302],[-0.036966,-0.067298,0.997048]]
2025-10-27T16:52:08.306Z,1761583928.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606413,0.789181,0.097241],[-0.794456,-0.596232,-0.115527],[-0.033193,-0.147311,0.988533]]
2025-10-27T16:52:08.710Z,1761583928.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621396,0.772673,0.129786],[-0.782736,-0.604917,-0.146290],[-0.034524,-0.192492,0.980691]]
2025-10-27T16:52:09.114Z,1761583929.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643720,0.756428,0.115931],[-0.764278,-0.627800,-0.147467],[-0.038767,-0.183531,0.982249]]
2025-10-27T16:52:09.519Z,1761583929.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666288,0.740608,0.086947],[-0.745677,-0.662531,-0.070840],[0.005141,-0.112035,0.993691]]
2025-10-27T16:52:09.921Z,1761583929.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639366,0.765326,0.074075],[-0.764314,-0.643103,0.047358],[0.083882,-0.026338,0.996128]]
2025-10-27T16:52:10.326Z,1761583930.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617489,0.785671,0.037787],[-0.779354,-0.617607,0.105687],[0.106373,0.035811,0.993681]]
2025-10-27T16:52:10.730Z,1761583930.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643438,0.765145,-0.023261],[-0.764353,-0.640515,0.074195],[0.041871,0.065519,0.996972]]
2025-10-27T16:52:11.141Z,1761583931.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649246,0.760563,-0.004863],[-0.758791,-0.647270,0.072650],[0.052107,0.050858,0.997346]]
2025-10-27T16:52:11.538Z,1761583931.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636857,0.765495,0.091817],[-0.762933,-0.642887,0.068037],[0.111110,-0.026720,0.993449]]
2025-10-27T16:52:11.942Z,1761583931.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657682,0.732015,0.177790],[-0.745765,-0.666003,-0.016605],[0.106253,-0.143511,0.983928]]
2025-10-27T16:52:12.346Z,1761583932.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683108,0.714281,0.152202],[-0.729731,-0.675920,-0.103077],[0.029250,-0.181479,0.982960]]
2025-10-27T16:52:13.154Z,1761583933.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652242,0.752117,0.094348],[-0.752759,-0.657312,0.035983],[0.089079,-0.047552,0.994889]]
2025-10-27T16:52:13.191Z,1761583933.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:13.557Z,1761583933.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668828,0.743405,-0.004214],[-0.739402,-0.664616,0.107564],[0.077163,0.075057,0.994189]]
2025-10-27T16:52:13.963Z,1761583933.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662970,0.739338,-0.117687],[-0.748589,-0.656614,0.092042],[-0.009225,0.149120,0.988776]]
2025-10-27T16:52:14.366Z,1761583934.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621834,0.776152,-0.104454],[-0.783027,-0.618540,0.065403],[-0.013846,0.122460,0.992377]]
2025-10-27T16:52:14.770Z,1761583934.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606997,0.794456,0.019873],[-0.791859,-0.606749,0.069388],[0.067183,0.026382,0.997392]]
2025-10-27T16:52:15.173Z,1761583935.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611724,0.781440,0.123067],[-0.786551,-0.617431,0.010831],[0.084449,-0.090173,0.992339]]
2025-10-27T16:52:15.578Z,1761583935.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638514,0.757209,0.137602],[-0.769500,-0.631168,-0.097456],[0.013055,-0.168112,0.985681]]
2025-10-27T16:52:15.984Z,1761583935.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645332,0.751800,0.135437],[-0.763381,-0.628126,-0.150688],[-0.028215,-0.200634,0.979260]]
2025-10-27T16:52:16.386Z,1761583936.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627950,0.765084,0.142569],[-0.777925,-0.622390,-0.086393],[0.022635,-0.165159,0.986007]]
2025-10-27T16:52:16.790Z,1761583936.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639679,0.758814,0.122524],[-0.762154,-0.646837,0.026893],[0.099660,-0.076179,0.992101]]
2025-10-27T16:52:17.193Z,1761583937.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636552,0.771018,-0.018231],[-0.769193,-0.632972,0.087679],[0.056062,0.069836,0.995982]]
2025-10-27T16:52:17.599Z,1761583937.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592859,0.789276,-0.159876],[-0.805151,-0.577051,0.136909],[0.015802,0.209892,0.977597]]
2025-10-27T16:52:18.002Z,1761583938.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609782,0.780281,-0.139020],[-0.792259,-0.595192,0.134430],[0.022150,0.192113,0.981123]]
2025-10-27T16:52:18.406Z,1761583938.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622441,0.782536,-0.014311],[-0.781492,-0.620401,0.066120],[0.042863,0.052340,0.997709]]
2025-10-27T16:52:19.215Z,1761583939.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563006,0.814995,0.137139],[-0.826435,-0.554091,-0.099944],[-0.005466,-0.169606,0.985497]]
2025-10-27T16:52:19.618Z,1761583939.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571361,0.792262,0.214168],[-0.815935,-0.576437,-0.044381],[0.088293,-0.200104,0.975788]]
2025-10-27T16:52:20.022Z,1761583940.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583863,0.803790,0.114132],[-0.809931,-0.586362,-0.013816],[0.055817,-0.100506,0.993370]]
2025-10-27T16:52:20.425Z,1761583940.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530176,0.846928,-0.040342],[-0.847495,-0.530778,-0.005177],[-0.025798,0.031445,0.999173]]
2025-10-27T16:52:20.834Z,1761583940.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512744,0.856971,-0.051911],[-0.857975,-0.509272,0.067231],[0.031179,0.079011,0.996386]]
2025-10-27T16:52:21.233Z,1761583941.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535762,0.844357,-0.004449],[-0.840666,-0.532912,0.096359],[0.078990,0.055365,0.995337]]
2025-10-27T16:52:21.638Z,1761583941.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531690,0.846610,0.023586],[-0.846641,-0.532036,0.011716],[0.022467,-0.013740,0.999653]]
2025-10-27T16:52:22.042Z,1761583942.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469705,0.879959,0.071063],[-0.881379,-0.472017,0.019245],[0.050478,-0.053594,0.997286]]
2025-10-27T16:52:22.191Z,1761583942.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:22.448Z,1761583942.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465371,0.877970,0.112240],[-0.876921,-0.474556,0.076198],[0.120164,-0.062965,0.990755]]
2025-10-27T16:52:22.890Z,1761583942.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437003,0.899170,0.022822],[-0.897101,-0.437553,0.061292],[0.065098,0.006311,0.997859]]
2025-10-27T16:52:23.664Z,1761583943.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417667,0.907938,0.034672],[-0.904701,-0.419104,0.076604],[0.084083,0.000628,0.996459]]
2025-10-27T16:52:24.068Z,1761583944.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373695,0.926528,0.043570],[-0.926234,-0.375256,0.035698],[0.049425,-0.027016,0.998412]]
2025-10-27T16:52:24.472Z,1761583944.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356841,0.931405,0.071753],[-0.932991,-0.359190,0.022604],[0.046826,-0.058879,0.997166]]
2025-10-27T16:52:24.916Z,1761583944.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363970,0.931229,0.018413],[-0.931393,-0.363769,-0.013406],[-0.005786,-0.022029,0.999741]]
2025-10-27T16:52:25.280Z,1761583945.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345433,0.938315,-0.015517],[-0.938129,-0.345698,-0.020185],[-0.024304,0.007584,0.999676]]
2025-10-27T16:52:25.680Z,1761583945.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348866,0.936563,0.033798],[-0.936470,-0.349774,0.026105],[0.036271,-0.022544,0.999088]]
2025-10-27T16:52:26.082Z,1761583946.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344943,0.934547,0.087388],[-0.936923,-0.348425,0.027854],[0.056479,-0.072268,0.995785]]
2025-10-27T16:52:26.486Z,1761583946.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307201,0.948440,0.078033],[-0.951258,-0.308379,0.003224],[0.027122,-0.073239,0.996946]]
2025-10-27T16:52:26.923Z,1761583946.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314551,0.945788,0.080882],[-0.946770,-0.318735,0.045106],[0.068441,-0.062389,0.995703]]
2025-10-27T16:52:27.294Z,1761583947.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334026,0.938203,0.090567],[-0.936413,-0.341270,0.081643],[0.107505,-0.057538,0.992538]]
2025-10-27T16:52:27.698Z,1761583947.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339427,0.932535,0.123158],[-0.935407,-0.348418,0.060159],[0.099011,-0.094783,0.990562]]
2025-10-27T16:52:28.101Z,1761583948.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351321,0.928590,0.119563],[-0.935156,-0.354222,0.003244],[0.045364,-0.110670,0.992821]]
2025-10-27T16:52:28.508Z,1761583948.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370605,0.922014,0.111988],[-0.928783,-0.367426,-0.048575],[-0.003639,-0.122014,0.992522]]
2025-10-27T16:52:28.919Z,1761583948.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375282,0.919063,0.120362],[-0.926587,-0.375404,-0.022530],[0.024478,-0.119981,0.992474]]
2025-10-27T16:52:29.314Z,1761583949.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369168,0.924227,0.097572],[-0.928594,-0.371093,0.001708],[0.037787,-0.089975,0.995227]]
2025-10-27T16:52:29.719Z,1761583949.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382647,0.923347,0.031807],[-0.923866,-0.382678,-0.005353],[0.007229,-0.031434,0.999480]]
2025-10-27T16:52:30.124Z,1761583950.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393889,0.919090,-0.011218],[-0.917519,-0.392429,0.064494],[0.054874,0.035696,0.997855]]
2025-10-27T16:52:30.526Z,1761583950.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354245,0.935091,-0.010783],[-0.923409,-0.347951,0.162005],[0.147737,0.067346,0.986731]]
2025-10-27T16:52:30.929Z,1761583950.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349538,0.936912,-0.004382],[-0.923291,-0.343654,0.171567],[0.159238,0.064015,0.985163]]
2025-10-27T16:52:31.041Z,1761583951.041 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:31.334Z,1761583951.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358895,0.933318,0.010569],[-0.931432,-0.358854,0.060488],[0.060248,0.011864,0.998113]]
2025-10-27T16:52:31.738Z,1761583951.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309840,0.950373,0.028114],[-0.949566,-0.310805,0.041536],[0.048213,-0.013827,0.998741]]
2025-10-27T16:52:32.145Z,1761583952.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282445,0.958492,0.038967],[-0.950631,-0.285110,0.122528],[0.128552,-0.002435,0.991700]]
2025-10-27T16:52:32.546Z,1761583952.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260470,0.965481,-0.000977],[-0.960418,-0.259001,0.102549],[0.098756,0.027649,0.994728]]
2025-10-27T16:52:33.354Z,1761583953.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234206,0.970763,0.052604],[-0.972018,-0.234830,0.005930],[0.018110,-0.049743,0.998598]]
2025-10-27T16:52:33.759Z,1761583953.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242317,0.962243,0.123981],[-0.970068,-0.242382,-0.014792],[0.015817,-0.123855,0.992174]]
2025-10-27T16:52:34.162Z,1761583954.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228995,0.959344,0.164987],[-0.973425,-0.225301,-0.041021],[-0.002181,-0.169996,0.985442]]
2025-10-27T16:52:34.566Z,1761583954.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227931,0.952906,0.200043],[-0.972948,-0.230850,-0.008932],[0.037668,-0.196667,0.979747]]
2025-10-27T16:52:34.970Z,1761583954.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241385,0.941852,0.233767],[-0.959263,-0.268019,0.089330],[0.146790,-0.202681,0.968180]]
2025-10-27T16:52:35.375Z,1761583955.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224248,0.958071,0.178361],[-0.948772,-0.256436,0.184588],[0.222587,-0.127830,0.966496]]
2025-10-27T16:52:35.778Z,1761583955.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206865,0.977496,0.041341],[-0.963348,-0.210883,0.165795],[0.170782,-0.005529,0.985293]]
2025-10-27T16:52:36.182Z,1761583956.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227937,0.972729,-0.042925],[-0.972759,-0.225588,0.053384],[0.042245,0.053924,0.997651]]
2025-10-27T16:52:36.588Z,1761583956.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229892,0.972789,-0.028849],[-0.973216,-0.229807,0.006276],[-0.000524,0.029520,0.999564]]
2025-10-27T16:52:36.992Z,1761583956.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243849,0.969225,0.033768],[-0.969226,-0.244765,0.026275],[0.033732,-0.026322,0.999084]]
2025-10-27T16:52:37.394Z,1761583957.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263651,0.962449,0.064660],[-0.963871,-0.265491,0.021595],[0.037951,-0.056630,0.997674]]
2025-10-27T16:52:37.798Z,1761583957.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227984,0.969085,0.094329],[-0.972990,-0.230361,0.014991],[0.036257,-0.088364,0.995428]]
2025-10-27T16:52:38.202Z,1761583958.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189060,0.974978,0.116935],[-0.981817,-0.189756,-0.005257],[0.017064,-0.115803,0.993126]]
2025-10-27T16:52:38.608Z,1761583958.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204612,0.974817,0.088690],[-0.978804,-0.202946,-0.027503],[-0.008811,-0.092437,0.995680]]
2025-10-27T16:52:39.009Z,1761583959.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217848,0.975827,0.017451],[-0.975598,-0.217225,-0.031982],[-0.027418,-0.023992,0.999336]]
2025-10-27T16:52:39.414Z,1761583959.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211606,0.976972,-0.027347],[-0.976908,-0.212273,-0.024302],[-0.029548,0.021573,0.999331]]
2025-10-27T16:52:39.817Z,1761583959.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226371,0.973906,0.016251],[-0.973992,-0.226160,-0.013841],[-0.009804,-0.018962,0.999772]]
2025-10-27T16:52:40.080Z,1761583960.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:40.224Z,1761583960.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231523,0.968816,0.088270],[-0.971559,-0.234903,0.029902],[0.049705,-0.078837,0.995648]]
2025-10-27T16:52:40.626Z,1761583960.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228239,0.969067,0.093890],[-0.971807,-0.232614,0.038488],[0.059138,-0.082459,0.994838]]
2025-10-27T16:52:41.029Z,1761583961.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210625,0.975384,0.065297],[-0.975778,-0.213809,0.046285],[0.059107,-0.053966,0.996792]]
2025-10-27T16:52:41.434Z,1761583961.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190336,0.980577,0.047341],[-0.976946,-0.193939,0.089244],[0.096692,-0.029263,0.994884]]
2025-10-27T16:52:41.839Z,1761583961.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195270,0.978197,0.070716],[-0.968492,-0.203691,0.143296],[0.154576,-0.040506,0.987150]]
2025-10-27T16:52:42.243Z,1761583962.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196322,0.975334,0.100898],[-0.973205,-0.206382,0.101386],[0.119709,-0.078290,0.989717]]
2025-10-27T16:52:42.647Z,1761583962.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184864,0.973568,0.134128],[-0.981812,-0.188964,0.018397],[0.043256,-0.128287,0.990793]]
2025-10-27T16:52:43.050Z,1761583963.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186692,0.972875,0.136603],[-0.981805,-0.189676,0.009043],[0.034707,-0.132429,0.990585]]
2025-10-27T16:52:43.455Z,1761583963.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172627,0.978073,0.116507],[-0.982240,-0.179765,0.053752],[0.073517,-0.105159,0.991734]]
2025-10-27T16:52:44.262Z,1761583964.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171324,0.985201,-0.005247],[-0.985176,-0.171267,0.009833],[0.008788,0.006854,0.999938]]
2025-10-27T16:52:44.666Z,1761583964.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150128,0.988277,-0.027736],[-0.988485,-0.149504,0.023375],[0.018954,0.030926,0.999342]]
2025-10-27T16:52:45.071Z,1761583965.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174888,0.983991,0.034282],[-0.983000,-0.176477,0.050671],[0.055910,-0.024837,0.998127]]
2025-10-27T16:52:45.474Z,1761583965.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196587,0.973100,0.120125],[-0.976680,-0.205134,0.063382],[0.086318,-0.104864,0.990733]]
2025-10-27T16:52:45.878Z,1761583965.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199324,0.962989,0.181442],[-0.975786,-0.212066,0.053570],[0.090065,-0.166371,0.981941]]
2025-10-27T16:52:46.282Z,1761583966.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179756,0.969801,0.164841],[-0.980484,-0.190196,0.049771],[0.079620,-0.152678,0.985063]]
2025-10-27T16:52:46.687Z,1761583966.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160392,0.981212,0.107226],[-0.985950,-0.164400,0.029587],[0.046659,-0.100974,0.993794]]
2025-10-27T16:52:47.090Z,1761583967.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144581,0.989002,0.031168],[-0.989297,-0.143855,-0.024434],[-0.019682,-0.034367,0.999215]]
2025-10-27T16:52:47.494Z,1761583967.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124932,0.992137,-0.007447],[-0.988687,-0.125119,-0.082728],[-0.083010,-0.002973,0.996544]]
2025-10-27T16:52:47.898Z,1761583967.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136922,0.990577,-0.003014],[-0.990244,-0.136954,-0.025680],[-0.025850,-0.000532,0.999666]]
2025-10-27T16:52:48.706Z,1761583968.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137569,0.986933,0.083894],[-0.988064,-0.142666,0.058107],[0.069316,-0.074899,0.994779]]
2025-10-27T16:52:49.027Z,1761583969.027 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:49.110Z,1761583969.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120090,0.986663,0.109888],[-0.992553,-0.121603,0.007143],[0.020411,-0.108212,0.993918]]
2025-10-27T16:52:49.514Z,1761583969.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132327,0.984126,0.118262],[-0.990442,-0.135963,0.023193],[0.038904,-0.114063,0.992711]]
2025-10-27T16:52:49.919Z,1761583969.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149336,0.983122,0.105689],[-0.985441,-0.156764,0.065812],[0.081269,-0.094322,0.992219]]
2025-10-27T16:52:50.322Z,1761583970.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135625,0.986962,0.086670],[-0.989899,-0.138633,0.029666],[0.041294,-0.081771,0.995795]]
2025-10-27T16:52:50.726Z,1761583970.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123248,0.990144,0.066512],[-0.992360,-0.122588,-0.013926],[-0.005635,-0.067720,0.997688]]
2025-10-27T16:52:51.134Z,1761583971.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121034,0.989978,0.072764],[-0.992346,-0.122481,0.015736],[0.024491,-0.070302,0.997225]]
2025-10-27T16:52:51.534Z,1761583971.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132327,0.989498,0.058169],[-0.986935,-0.136972,0.084840],[0.091916,-0.046183,0.994695]]
2025-10-27T16:52:51.938Z,1761583971.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118150,0.992637,0.026699],[-0.985781,-0.120484,0.117126],[0.119481,-0.012481,0.992758]]
2025-10-27T16:52:52.342Z,1761583972.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094960,0.995370,0.014890],[-0.989855,-0.096000,0.104746],[0.105690,-0.004793,0.994388]]
2025-10-27T16:52:52.747Z,1761583972.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110774,0.992107,0.058753],[-0.987560,-0.116520,0.105586],[0.111599,-0.046326,0.992673]]
2025-10-27T16:52:53.149Z,1761583973.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135635,0.982613,0.126789],[-0.978327,-0.153041,0.139483],[0.156462,-0.105122,0.982074]]
2025-10-27T16:52:53.554Z,1761583973.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150727,0.976072,0.156731],[-0.973843,-0.173872,0.146285],[0.170036,-0.130582,0.976748]]
2025-10-27T16:52:54.363Z,1761583974.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143041,0.984012,0.106113],[-0.988288,-0.147771,0.038091],[0.053162,-0.099422,0.993624]]
2025-10-27T16:52:54.766Z,1761583974.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158940,0.985569,0.058236],[-0.983149,-0.163394,0.081985],[0.090317,-0.044224,0.994931]]
2025-10-27T16:52:55.169Z,1761583975.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159371,0.987129,0.013325],[-0.981448,-0.159882,0.105815],[0.106583,0.003786,0.994297]]
2025-10-27T16:52:55.574Z,1761583975.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157260,0.987530,0.007383],[-0.985600,-0.157415,0.061754],[0.062146,0.002434,0.998064]]
2025-10-27T16:52:55.979Z,1761583975.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178587,0.982521,0.052534],[-0.983153,-0.180305,0.029994],[0.038942,-0.046293,0.998169]]
2025-10-27T16:52:56.381Z,1761583976.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196723,0.974701,0.106104],[-0.977255,-0.203670,0.059081],[0.079197,-0.092068,0.992598]]
2025-10-27T16:52:56.786Z,1761583976.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175953,0.974651,0.138187],[-0.973955,-0.192756,0.119403],[0.143013,-0.113579,0.983182]]
2025-10-27T16:52:57.190Z,1761583977.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159070,0.980526,0.115174],[-0.972280,-0.175836,0.154120],[0.171370,-0.087466,0.981317]]
2025-10-27T16:52:57.595Z,1761583977.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167998,0.983541,0.066510],[-0.969275,-0.177104,0.170705],[0.179674,-0.035788,0.983075]]
2025-10-27T16:52:57.827Z,1761583977.827 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:52:57.998Z,1761583977.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175432,0.984158,0.025631],[-0.967905,-0.177177,0.178234],[0.179952,0.006460,0.983654]]
2025-10-27T16:52:58.402Z,1761583978.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149999,0.988141,0.032833],[-0.975050,-0.153345,0.160505],[0.163637,-0.007938,0.986489]]
2025-10-27T16:52:58.807Z,1761583978.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131071,0.988933,0.069512],[-0.980651,-0.139619,0.137223],[0.145409,-0.050181,0.988098]]
2025-10-27T16:52:59.209Z,1761583979.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141503,0.986677,0.080280],[-0.983976,-0.149075,0.097817],[0.108482,-0.065152,0.991961]]
2025-10-27T16:52:59.614Z,1761583979.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167934,0.981755,0.089194],[-0.984592,-0.171516,0.034080],[0.048756,-0.082097,0.995431]]
2025-10-27T16:53:00.018Z,1761583980.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189935,0.970738,0.146941],[-0.981795,-0.188105,-0.026378],[0.002034,-0.149276,0.988793]]
2025-10-27T16:53:00.423Z,1761583980.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177206,0.967938,0.178026],[-0.984102,-0.176457,-0.020161],[0.011899,-0.178769,0.983819]]
2025-10-27T16:53:00.829Z,1761583980.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187837,0.970508,0.151098],[-0.981363,-0.191793,0.011913],[0.040541,-0.146045,0.988447]]
2025-10-27T16:53:01.230Z,1761583981.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202943,0.976824,0.068031],[-0.978379,-0.205113,0.026512],[0.039852,-0.061180,0.997331]]
2025-10-27T16:53:01.634Z,1761583981.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210185,0.977647,0.005418],[-0.976728,-0.210223,0.042534],[0.042722,0.003648,0.999080]]
2025-10-27T16:53:02.040Z,1761583982.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219853,0.975525,-0.003994],[-0.974663,-0.219482,0.043113],[0.041181,0.013371,0.999062]]
2025-10-27T16:53:02.442Z,1761583982.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232730,0.972133,0.028200],[-0.972213,-0.233307,0.019243],[0.025286,-0.022938,0.999417]]
2025-10-27T16:53:02.887Z,1761583982.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260889,0.963094,0.066231],[-0.965263,-0.261260,-0.003152],[0.014267,-0.064752,0.997799]]
2025-10-27T16:53:03.250Z,1761583983.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265162,0.961181,0.076293],[-0.963666,-0.261541,-0.054257],[-0.032197,-0.087908,0.995608]]
2025-10-27T16:53:03.654Z,1761583983.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262064,0.961199,0.086139],[-0.964503,-0.257862,-0.056940],[-0.032519,-0.098003,0.994655]]
2025-10-27T16:53:04.058Z,1761583984.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255113,0.958974,0.123639],[-0.965030,-0.260499,0.029279],[0.060286,-0.111846,0.991895]]
2025-10-27T16:53:04.463Z,1761583984.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233538,0.964979,0.119482],[-0.959424,-0.248656,0.132952],[0.158006,-0.083584,0.983894]]
2025-10-27T16:53:04.906Z,1761583984.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252041,0.964939,0.073271],[-0.958635,-0.259308,0.117379],[0.132263,-0.040656,0.990381]]
2025-10-27T16:53:05.270Z,1761583985.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296382,0.954794,0.022923],[-0.954257,-0.297034,0.034114],[0.039381,-0.011764,0.999155]]
2025-10-27T16:53:05.675Z,1761583985.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276366,0.960898,0.017213],[-0.960886,-0.276607,0.013694],[0.017920,-0.012755,0.999758]]
2025-10-27T16:53:06.077Z,1761583986.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269370,0.962679,0.026251],[-0.961236,-0.270433,0.053773],[0.058865,-0.010748,0.998208]]
2025-10-27T16:53:06.481Z,1761583986.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265017,0.964214,-0.007533],[-0.962065,-0.263885,0.069256],[0.064790,0.025601,0.997570]]
2025-10-27T16:53:06.912Z,1761583986.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237939,0.971111,-0.018145],[-0.970326,-0.236836,0.048746],[0.043040,0.029205,0.998646]]
2025-10-27T16:53:06.955Z,1761583986.955 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:53:07.694Z,1761583987.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260544,0.963623,0.059569],[-0.965325,-0.261051,0.000766],[0.016288,-0.057304,0.998224]]
2025-10-27T16:53:08.098Z,1761583988.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283617,0.950514,0.126822],[-0.958502,-0.277011,-0.067373],[-0.028908,-0.140667,0.989635]]
2025-10-27T16:53:08.502Z,1761583988.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292679,0.940093,0.174826],[-0.956076,-0.290771,-0.037016],[0.016035,-0.177981,0.983903]]
2025-10-27T16:53:08.921Z,1761583988.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194981,0.976163,0.095331],[-0.977982,-0.200871,0.056590],[0.074391,-0.082198,0.993836]]
2025-10-27T16:53:09.316Z,1761583989.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264947,0.962570,0.057107],[-0.963112,-0.267059,0.033098],[0.047110,-0.046232,0.997819]]
2025-10-27T16:53:09.718Z,1761583989.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285411,0.958402,-0.002403],[-0.958366,-0.285421,-0.008393],[-0.008730,-0.000092,0.999962]]
2025-10-27T16:53:10.123Z,1761583990.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247759,0.968809,-0.005065],[-0.968822,-0.247757,0.001082],[-0.000207,0.005175,0.999987]]
2025-10-27T16:53:10.525Z,1761583990.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280138,0.958596,0.051149],[-0.958267,-0.282410,0.044375],[0.056983,-0.036583,0.997705]]
2025-10-27T16:53:10.928Z,1761583990.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293503,0.952962,0.075628],[-0.950828,-0.299198,0.080041],[0.098904,-0.048417,0.993918]]
2025-10-27T16:53:11.330Z,1761583991.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241742,0.968978,0.051395],[-0.962900,-0.246098,0.110719],[0.119932,-0.022722,0.992522]]
2025-10-27T16:53:11.734Z,1761583991.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199460,0.979464,0.029438],[-0.970751,-0.201604,0.130380],[0.133637,-0.002571,0.991027]]
2025-10-27T16:53:12.138Z,1761583992.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226197,0.971874,0.065546],[-0.960179,-0.233791,0.152962],[0.163984,-0.028337,0.986056]]
2025-10-27T16:53:12.542Z,1761583992.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236615,0.966664,0.097847],[-0.960417,-0.247939,0.126985],[0.147012,-0.063927,0.987067]]
2025-10-27T16:53:12.946Z,1761583992.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183365,0.979978,0.077590],[-0.979070,-0.189144,0.075140],[0.088311,-0.062188,0.994150]]
2025-10-27T16:53:13.350Z,1761583993.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165000,0.984045,0.066565],[-0.986293,-0.164601,-0.011472],[-0.000333,-0.067546,0.997716]]
2025-10-27T16:53:13.754Z,1761583993.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192454,0.979072,0.066174],[-0.980532,-0.189186,-0.052595],[-0.038975,-0.075007,0.996421]]
2025-10-27T16:53:14.160Z,1761583994.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214469,0.972601,0.089718],[-0.976391,-0.215911,0.006568],[0.025759,-0.086191,0.995946]]
2025-10-27T16:53:14.562Z,1761583994.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197836,0.975211,0.099117],[-0.978503,-0.202483,0.039148],[0.058247,-0.089241,0.994305]]
2025-10-27T16:53:14.966Z,1761583994.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202849,0.972866,0.111286],[-0.978212,-0.206459,0.021808],[0.044193,-0.104437,0.993549]]
2025-10-27T16:53:15.703Z,1761583995.703 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:53:15.775Z,1761583995.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286317,0.948207,0.137570],[-0.946550,-0.302184,0.112819],[0.148548,-0.097915,0.984046]]
2025-10-27T16:53:16.193Z,1761583996.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288240,0.946202,0.147033],[-0.937390,-0.310172,0.158410],[0.195493,-0.092167,0.976365]]
2025-10-27T16:53:16.581Z,1761583996.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302100,0.941115,0.151787],[-0.927603,-0.326918,0.180768],[0.219745,-0.086188,0.971743]]
2025-10-27T16:53:16.986Z,1761583996.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290129,0.947557,0.134019],[-0.925782,-0.313373,0.211484],[0.242391,-0.062715,0.968149]]
2025-10-27T16:53:17.392Z,1761583997.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248138,0.963935,0.096216],[-0.929276,-0.264911,0.257426],[0.273631,-0.025534,0.961496]]
2025-10-27T16:53:17.794Z,1761583997.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243385,0.968739,0.048046],[-0.927106,-0.246910,0.281975],[0.285023,0.024085,0.958218]]
2025-10-27T16:53:18.199Z,1761583998.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262538,0.964921,0.000875],[-0.922779,-0.251337,0.292077],[0.282051,0.075874,0.956394]]
2025-10-27T16:53:18.602Z,1761583998.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255945,0.966691,0.001022],[-0.930219,-0.246576,0.271832],[0.263030,0.068623,0.962344]]
2025-10-27T16:53:19.411Z,1761583999.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231419,0.968814,0.088574],[-0.959091,-0.242458,0.146148],[0.163066,-0.051129,0.985289]]
2025-10-27T16:53:19.814Z,1761583999.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255528,0.961256,0.103407],[-0.958267,-0.266000,0.104732],[0.128181,-0.072329,0.989110]]
2025-10-27T16:53:20.219Z,1761584000.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254736,0.959696,0.118715],[-0.957890,-0.267246,0.105007],[0.132500,-0.086966,0.987360]]
2025-10-27T16:53:20.623Z,1761584000.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252822,0.954548,0.157859],[-0.956742,-0.270936,0.106014],[0.143965,-0.124228,0.981754]]
2025-10-27T16:53:21.025Z,1761584001.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266036,0.956320,0.121149],[-0.955111,-0.278496,0.101009],[0.130337,-0.088838,0.987482]]
2025-10-27T16:53:21.430Z,1761584001.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301733,0.948520,0.096266],[-0.941754,-0.312255,0.124884],[0.148514,-0.052977,0.987490]]
2025-10-27T16:53:21.834Z,1761584001.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324396,0.937159,0.128454],[-0.919625,-0.344254,0.189154],[0.221488,-0.056768,0.973509]]
2025-10-27T16:53:22.240Z,1761584002.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309830,0.941382,0.133437],[-0.929920,-0.329274,0.163790],[0.198126,-0.073339,0.977429]]
2025-10-27T16:53:22.643Z,1761584002.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305520,0.947461,0.094736],[-0.946004,-0.313349,0.083001],[0.108326,-0.064262,0.992036]]
2025-10-27T16:53:23.045Z,1761584003.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330846,0.940273,0.080179],[-0.937795,-0.337070,0.083210],[0.105266,-0.047661,0.993301]]
2025-10-27T16:53:23.449Z,1761584003.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345226,0.932801,0.103449],[-0.930870,-0.354370,0.088901],[0.119586,-0.065607,0.990654]]
2025-10-27T16:53:23.854Z,1761584003.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339120,0.937240,0.081115],[-0.939574,-0.341735,0.020453],[0.046889,-0.069277,0.996495]]
2025-10-27T16:53:24.260Z,1761584004.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347244,0.935833,0.060322],[-0.937516,-0.347941,0.001124],[0.022040,-0.056162,0.998178]]
2025-10-27T16:53:24.591Z,1761584004.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:53:24.662Z,1761584004.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376321,0.923802,0.070516],[-0.925639,-0.378146,0.014104],[0.039694,-0.059965,0.997411]]
2025-10-27T16:53:25.065Z,1761584005.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370067,0.927881,0.045689],[-0.929004,-0.369683,-0.016900],[0.001209,-0.048700,0.998813]]
2025-10-27T16:53:25.470Z,1761584005.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376035,0.926032,0.032602],[-0.925734,-0.373924,-0.056552],[-0.040178,-0.051446,0.997867]]
2025-10-27T16:53:25.875Z,1761584005.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401278,0.914817,0.045668],[-0.915746,-0.399620,-0.041386],[-0.019610,-0.058427,0.998099]]
2025-10-27T16:53:26.278Z,1761584006.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425851,0.902071,0.070135],[-0.903633,-0.427950,0.017511],[0.045810,-0.055919,0.997384]]
2025-10-27T16:53:26.682Z,1761584006.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441730,0.895682,0.051279],[-0.893382,-0.444388,0.066239],[0.082116,-0.016552,0.996485]]
2025-10-27T16:53:27.086Z,1761584007.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439717,0.897502,0.033752],[-0.894902,-0.441011,0.068262],[0.076150,-0.000188,0.997096]]
2025-10-27T16:53:27.490Z,1761584007.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430174,0.902282,0.028955],[-0.900607,-0.431141,0.055007],[0.062115,-0.002415,0.998066]]
2025-10-27T16:53:27.895Z,1761584007.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437793,0.898587,0.029631],[-0.898069,-0.438624,0.032874],[0.042537,-0.012219,0.999020]]
2025-10-27T16:53:28.298Z,1761584008.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467180,0.881367,0.070253],[-0.883770,-0.467862,-0.007425],[0.026324,-0.065556,0.997502]]
2025-10-27T16:53:28.702Z,1761584008.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492762,0.861096,0.125299],[-0.868711,-0.495132,-0.013656],[0.050280,-0.115578,0.992025]]
2025-10-27T16:53:29.106Z,1761584009.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492287,0.861492,0.124438],[-0.868674,-0.495330,-0.007350],[0.055306,-0.111714,0.992200]]
2025-10-27T16:53:29.511Z,1761584009.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476871,0.872827,0.103766],[-0.874324,-0.483158,0.045999],[0.090285,-0.068790,0.993537]]
2025-10-27T16:53:29.918Z,1761584009.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500632,0.859532,0.102819],[-0.859476,-0.507709,0.059438],[0.103291,-0.058614,0.992923]]
2025-10-27T16:53:30.318Z,1761584010.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545050,0.836357,0.058536],[-0.838106,-0.545386,-0.011480],[0.022323,-0.055317,0.998219]]
2025-10-27T16:53:30.722Z,1761584010.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547104,0.837049,-0.005228],[-0.836554,-0.546977,-0.031506],[-0.029232,-0.012863,0.999490]]
2025-10-27T16:53:31.126Z,1761584011.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545446,0.837714,0.026900],[-0.837536,-0.545992,0.020640],[0.031977,-0.011272,0.999425]]
2025-10-27T16:53:31.529Z,1761584011.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587506,0.807810,0.047752],[-0.807324,-0.589145,0.033711],[0.055365,-0.018746,0.998290]]
2025-10-27T16:53:31.934Z,1761584011.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582628,0.812309,-0.026432],[-0.812653,-0.581784,0.033508],[0.011841,0.041003,0.999089]]
2025-10-27T16:53:32.340Z,1761584012.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540456,0.840310,-0.042271],[-0.839035,-0.534531,0.101472],[0.062673,0.090308,0.993940]]
2025-10-27T16:53:32.741Z,1761584012.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548939,0.835497,-0.024718],[-0.830934,-0.542258,0.124517],[0.090630,0.088892,0.991910]]
2025-10-27T16:53:33.145Z,1761584013.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550140,0.834467,-0.031797],[-0.833908,-0.546964,0.073667],[0.044081,0.067042,0.996776]]
2025-10-27T16:53:33.550Z,1761584013.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531583,0.846295,-0.034689],[-0.846977,-0.531461,0.013427],[-0.007073,0.036519,0.999308]]
2025-10-27T16:53:33.691Z,1761584013.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:53:33.955Z,1761584013.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526069,0.847502,0.070650],[-0.848680,-0.528509,0.020500],[0.054713,-0.049175,0.997290]]
2025-10-27T16:53:34.360Z,1761584014.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515710,0.832771,0.201334],[-0.836244,-0.540385,0.093169],[0.186387,-0.120316,0.975082]]
2025-10-27T16:53:35.165Z,1761584015.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522594,0.845995,0.105777],[-0.848177,-0.528472,0.036230],[0.086551,-0.070785,0.993730]]
2025-10-27T16:53:35.570Z,1761584015.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545570,0.829839,0.117131],[-0.835802,-0.549021,-0.003321],[0.061551,-0.099710,0.993111]]
2025-10-27T16:53:35.975Z,1761584015.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564751,0.807144,0.171973],[-0.822474,-0.567601,-0.036968],[0.067773,-0.162321,0.984408]]
2025-10-27T16:53:36.782Z,1761584016.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591767,0.797696,0.116161],[-0.805521,-0.590667,-0.047421],[0.030785,-0.121633,0.992098]]
2025-10-27T16:53:37.188Z,1761584017.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591424,0.801465,0.088726],[-0.803166,-0.595288,0.023569],[0.071708,-0.057322,0.995777]]
2025-10-27T16:53:37.590Z,1761584017.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559637,0.827191,0.050611],[-0.820480,-0.561626,0.106714],[0.116697,0.018195,0.993001]]
2025-10-27T16:53:37.994Z,1761584017.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552082,0.833109,0.033698],[-0.824255,-0.551417,0.128617],[0.125734,0.043231,0.991122]]
2025-10-27T16:53:38.399Z,1761584018.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572701,0.819692,0.010908],[-0.815903,-0.571243,0.089346],[0.079467,0.042269,0.995941]]
2025-10-27T16:53:38.804Z,1761584018.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579475,0.814618,0.024644],[-0.811563,-0.579544,0.074124],[0.074665,0.022952,0.996944]]
2025-10-27T16:53:39.206Z,1761584019.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577685,0.810125,0.099893],[-0.806725,-0.585296,0.081386],[0.124400,-0.033570,0.991664]]
2025-10-27T16:53:39.610Z,1761584019.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579082,0.807112,0.115040],[-0.808775,-0.586496,0.043645],[0.102697,-0.067767,0.992402]]
2025-10-27T16:53:40.014Z,1761584020.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556827,0.829320,0.046611],[-0.830613,-0.556281,-0.025159],[0.005064,-0.052724,0.998596]]
2025-10-27T16:53:40.418Z,1761584020.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557727,0.829960,0.010324],[-0.828902,-0.556283,-0.058903],[-0.043144,-0.041410,0.998210]]
2025-10-27T16:53:40.825Z,1761584020.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563536,0.825572,0.029284],[-0.826055,-0.562827,-0.029293],[-0.007701,-0.040698,0.999142]]
2025-10-27T16:53:41.226Z,1761584021.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570940,0.818456,0.064482],[-0.820929,-0.570105,-0.032498],[0.010163,-0.071489,0.997390]]
2025-10-27T16:53:41.457Z,1761584021.457 [DataOverHttps](IMPORTANT): SBD MTMSN=20251027T165340
2025-10-27T16:53:41.631Z,1761584021.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596894,0.800167,0.058741],[-0.801191,-0.590571,-0.096539],[-0.042556,-0.104686,0.993594]]
2025-10-27T16:53:42.034Z,1761584022.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603894,0.794495,0.063950],[-0.796608,-0.598890,-0.082135],[-0.026957,-0.100544,0.994567]]
2025-10-27T16:53:42.437Z,1761584022.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599663,0.797574,0.065416],[-0.799443,-0.600727,-0.004156],[0.035982,-0.054789,0.997849]]
2025-10-27T16:53:42.855Z,1761584022.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598353,0.800081,0.042943],[-0.800303,-0.599381,0.016055],[0.038585,-0.024761,0.998949]]
2025-10-27T16:53:43.651Z,1761584023.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610958,0.791440,0.018778],[-0.789653,-0.610925,0.056738],[0.056377,0.019836,0.998212]]
2025-10-27T16:53:44.053Z,1761584024.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616017,0.787056,0.032659],[-0.786537,-0.616836,0.029540],[0.043395,-0.007490,0.999030]]
2025-10-27T16:53:44.457Z,1761584024.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632369,0.769983,0.085068],[-0.774439,-0.631026,-0.045279],[0.018816,-0.094513,0.995346]]
2025-10-27T16:53:45.266Z,1761584025.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699246,0.713471,0.044875],[-0.714873,-0.698151,-0.039257],[0.003321,-0.059530,0.998221]]
2025-10-27T16:53:45.670Z,1761584025.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687152,0.725103,0.045253],[-0.724826,-0.688468,0.025280],[0.049486,-0.015430,0.998656]]
2025-10-27T16:53:46.074Z,1761584026.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663910,0.743601,0.079259],[-0.735450,-0.668449,0.110860],[0.135416,0.015311,0.990670]]
2025-10-27T16:53:46.479Z,1761584026.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665832,0.745428,0.031699],[-0.737441,-0.663963,0.123830],[0.113353,0.059074,0.991797]]
2025-10-27T16:53:46.920Z,1761584026.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671394,0.740425,-0.031628],[-0.740029,-0.667519,0.082318],[0.039838,0.078674,0.996104]]
2025-10-27T16:53:47.286Z,1761584027.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660101,0.751170,-0.003308],[-0.749635,-0.658457,0.066952],[0.048114,0.046675,0.997751]]
2025-10-27T16:53:48.913Z,1761584028.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622787,0.782391,-0.000906],[-0.782013,-0.622449,0.031828],[0.024338,0.020531,0.999493]]
2025-10-27T16:53:49.306Z,1761584029.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622539,0.782529,-0.009630],[-0.782314,-0.621947,0.034167],[0.020747,0.028804,0.999370]]
2025-10-27T16:53:49.357Z,1761584029.357 [DataOverHttps](INFO): Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree" 4k9la 1 2
2025-10-27T16:53:49.452Z,1761584029.452 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree" 4k9la 1 2.000000
2025-10-27T16:53:49.453Z,1761584029.453 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4k9la
2025-10-27T16:53:49.454Z,1761584029.454 [CommandExec](IMPORTANT): Scheduled #16 (#1 of 2 with id='4k9la'): "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree", ASAP
2025-10-27T16:53:50.114Z,1761584030.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646055,0.763230,-0.009655],[-0.760079,-0.644445,-0.083490],[-0.069944,-0.046601,0.996462]]
2025-10-27T16:53:50.357Z,1761584030.357 [DataOverHttps](IMPORTANT): SBD MTMSN=20251027T165349
2025-10-27T16:53:50.518Z,1761584030.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654696,0.748833,0.103066],[-0.755879,-0.649402,-0.083213],[0.004619,-0.132385,0.991188]]
2025-10-27T16:53:50.922Z,1761584030.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682071,0.716987,0.143907],[-0.730453,-0.677360,-0.087297],[0.034887,-0.164660,0.985733]]
2025-10-27T16:53:51.328Z,1761584031.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679229,0.727872,0.094072],[-0.733872,-0.675139,-0.074961],[0.008950,-0.119953,0.992739]]
2025-10-27T16:53:51.730Z,1761584031.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656634,0.752730,0.047222],[-0.754209,-0.655385,-0.040476],[0.000482,-0.062193,0.998064]]
2025-10-27T16:53:52.538Z,1761584032.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674070,0.738018,-0.030955],[-0.738428,-0.674327,0.002806],[-0.018802,0.024749,0.999517]]
2025-10-27T16:53:53.346Z,1761584033.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682775,0.729706,0.036699],[-0.729885,-0.683485,0.010785],[0.032953,-0.019422,0.999268]]
2025-10-27T16:53:53.756Z,1761584033.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670851,0.733124,0.111756],[-0.735565,-0.676974,0.025512],[0.094359,-0.065089,0.993408]]
2025-10-27T16:53:54.160Z,1761584034.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649412,0.754378,0.095800],[-0.756599,-0.653628,0.018145],[0.076306,-0.060699,0.995235]]
2025-10-27T16:53:54.565Z,1761584034.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674135,0.736207,0.059511],[-0.738343,-0.673859,-0.027617],[0.019771,-0.062557,0.997846]]
2025-10-27T16:53:54.966Z,1761584034.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685122,0.727407,0.038567],[-0.727665,-0.681022,-0.081930],[-0.033332,-0.084196,0.995892]]
2025-10-27T16:53:55.370Z,1761584035.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683675,0.728749,0.038898],[-0.729662,-0.681600,-0.054906],[-0.013500,-0.065920,0.997734]]
2025-10-27T16:53:55.773Z,1761584035.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693255,0.718113,0.060923],[-0.719684,-0.694278,-0.005810],[0.038125,-0.047873,0.998126]]
2025-10-27T16:53:56.175Z,1761584036.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712431,0.701409,0.021599],[-0.699728,-0.712381,0.053798],[0.053121,0.023214,0.998318]]
2025-10-27T16:53:56.578Z,1761584036.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678643,0.731126,-0.069985],[-0.731195,-0.663559,0.158254],[0.069264,0.158570,0.984915]]
2025-10-27T16:53:56.982Z,1761584036.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651506,0.749053,-0.120250],[-0.751321,-0.615092,0.239120],[0.105149,0.246134,0.963515]]
2025-10-27T16:53:57.386Z,1761584037.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676828,0.731969,-0.078270],[-0.728128,-0.650019,0.217497],[0.108324,0.204199,0.972918]]
2025-10-27T16:53:57.790Z,1761584037.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671852,0.739806,-0.036082],[-0.739142,-0.666514,0.097094],[0.047781,0.091903,0.994621]]
2025-10-27T16:53:58.194Z,1761584038.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652249,0.755906,0.056368],[-0.757996,-0.650076,-0.053321],[-0.003662,-0.077505,0.996985]]
2025-10-27T16:53:58.347Z,1761584038.347 [DataOverHttps](INFO): Received command: sched asap "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4k9la 2 2
2025-10-27T16:53:58.419Z,1761584038.419 [CommandExec](IMPORTANT): got command schedule asap "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4k9la 2 2.000000
2025-10-27T16:53:58.420Z,1761584038.420 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4k9la
2025-10-27T16:53:58.421Z,1761584038.421 [CommandExec](IMPORTANT): Scheduled #17 (#2 of 2 with id='4k9la'): "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAP
2025-10-27T16:53:58.542Z,1761584038.542 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl
2025-10-27T16:53:58.543Z,1761584038.543 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl
2025-10-27T16:53:58.543Z,1761584038.543 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl
2025-10-27T16:53:58.549Z,1761584038.549 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl
2025-10-27T16:53:58.609Z,1761584038.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667589,0.727808,0.156909],[-0.744514,-0.651221,-0.147004],[-0.004808,-0.214959,0.976611]]
2025-10-27T16:53:59.010Z,1761584039.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696689,0.684468,0.214773],[-0.716868,-0.675497,-0.172638],[0.026913,-0.274239,0.961285]]
2025-10-27T16:53:59.414Z,1761584039.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703580,0.694860,0.148811],[-0.710602,-0.689270,-0.141252],[0.004421,-0.205128,0.978725]]
2025-10-27T16:53:59.818Z,1761584039.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679210,0.733482,0.026033],[-0.733576,-0.677319,-0.055728],[-0.023243,-0.056948,0.998107]]
2025-10-27T16:54:00.223Z,1761584040.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678329,0.734672,-0.011257],[-0.733038,-0.675613,0.078749],[0.050249,0.061669,0.996831]]
2025-10-27T16:54:00.351Z,1761584040.351 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:54:00.626Z,1761584040.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698340,0.715556,0.017322],[-0.704306,-0.691271,0.161549],[0.127571,0.100616,0.986713]]
2025-10-27T16:54:01.030Z,1761584041.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697805,0.716269,0.005169],[-0.708898,-0.691622,0.138283],[0.102623,0.092831,0.990379]]
2025-10-27T16:54:01.434Z,1761584041.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693953,0.719914,-0.012408],[-0.719096,-0.692086,0.062600],[0.036480,0.052364,0.997962]]
2025-10-27T16:54:01.841Z,1761584041.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705749,0.706709,0.049815],[-0.707225,-0.706926,0.009400],[0.041858,-0.028596,0.998714]]
2025-10-27T16:54:02.242Z,1761584042.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712741,0.689892,0.126689],[-0.698048,-0.715350,-0.031681],[0.068771,-0.111015,0.991436]]
2025-10-27T16:54:02.655Z,1761584042.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684795,0.720015,0.112401],[-0.727071,-0.685475,-0.038628],[0.049235,-0.108176,0.992912]]
2025-10-27T16:54:03.049Z,1761584043.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665003,0.744426,0.060007],[-0.746543,-0.664857,-0.025270],[0.021084,-0.061602,0.997878]]
2025-10-27T16:54:03.479Z,1761584043.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681110,0.732138,0.007931],[-0.732088,-0.680812,-0.023292],[-0.011653,-0.021671,0.999697]]
2025-10-27T16:54:03.866Z,1761584043.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705268,0.707644,-0.042851],[-0.708114,-0.706076,-0.005622],[-0.034235,0.026378,0.999066]]
2025-10-27T16:54:04.284Z,1761584044.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705061,0.706021,-0.066500],[-0.709010,-0.699980,0.085636],[0.013912,0.107527,0.994105]]
2025-10-27T16:54:04.681Z,1761584044.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706546,0.706751,-0.036002],[-0.704424,-0.697531,0.131288],[0.067676,0.118121,0.990690]]
2025-10-27T16:54:05.087Z,1761584045.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698451,0.714958,-0.031664],[-0.715229,-0.695816,0.065480],[0.024783,0.068382,0.997351]]
2025-10-27T16:54:05.489Z,1761584045.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688534,0.725197,-0.003177],[-0.725158,-0.688533,-0.008249],[-0.008170,-0.003376,0.999961]]
2025-10-27T16:54:05.894Z,1761584045.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699153,0.711626,0.069093],[-0.714823,-0.697711,-0.047201],[0.014617,-0.082390,0.996493]]
2025-10-27T16:54:06.297Z,1761584046.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695466,0.713487,0.085225],[-0.718074,-0.694447,-0.045966],[0.026388,-0.093166,0.995301]]
2025-10-27T16:54:06.703Z,1761584046.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691556,0.719721,0.061261],[-0.720272,-0.693494,0.016551],[0.054397,-0.032679,0.997985]]
2025-10-27T16:54:07.106Z,1761584047.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704342,0.708102,0.049933],[-0.708145,-0.705787,0.019880],[0.049319,-0.021358,0.998555]]
2025-10-27T16:54:07.510Z,1761584047.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701054,0.712798,0.021023],[-0.713107,-0.700781,-0.019594],[0.000766,-0.028728,0.999587]]
2025-10-27T16:54:08.318Z,1761584048.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678357,0.729672,0.086085],[-0.730820,-0.682173,0.023303],[0.075729,-0.047105,0.996015]]
2025-10-27T16:54:08.722Z,1761584048.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699070,0.709836,0.086220],[-0.714206,-0.699015,-0.035881],[0.034800,-0.086663,0.995630]]
2025-10-27T16:54:08.926Z,1761584048.926 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="marl">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ContactLabel">
        <Units:count />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="SendDataLabel">
        <Units:count />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="ContactDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CenterLatitude">
        <Units:degree />
        <Value>36.81544</Value>
    </DefineArg>
    <DefineArg Name="CenterLongitude">
        <Units:degree />
        <Value>-121.82506</Value>
    </DefineArg>
    <DefineArg Name="CenterNorthingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CenterEastingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="SpeedUpdateTimeout">
        <Units:second />
        <Value>240</Value>
    </DefineArg>
    <DefineArg Name="StateUpdateDelay">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="HorizontalCommandMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="AcousticContactTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SendObservationDataInterval">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MyTempVar">
        <Units:none_str />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="KwpHeading">
        <Units:radian_per_meter />
        <Value>0.010</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1.5</Value>
    </DefineArg>
    <DefineOutput Name="HeadingMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderMode">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Heading">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="TimeLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="ElapsedSinceLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/AbortDrift.tl">
        <RedefineArg Name="AcousticTimeout">
            <Arg Name="AcousticContactTimeout" />
        </RedefineArg>
    </Insert>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactDepthSetting />
            <Arg Name="ContactDepth" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="ContactLabel" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="SendObservationData">
        <When>
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
            <Ge>
                <Arg Name="SendObservationDataInterval" />
            </Ge>
        </When>
        <Syslog Severity="Info">
            Got test_good : 
            <CustomUri Uri="_.send_observations" />
            <Units:none_str />
             and temp var is 
            <Arg Name="MyTempVar" />
            <Units:none_str />
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceLastSendData" />
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="MyTempVar" />
            <CustomUri Uri="_.send_observations" />
        </Assign>
        <Sensor:SendDirect>
            <Parallel />
            <Setting>
                <Sensor:SendDirect.destType />
                <String>modem</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.destId />
                <Arg Name="SendDataLabel" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.destName />
                <String>_.others_observations</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.value />
                <Arg Name="MyTempVar" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.unit />
                <String>none_str</String>
            </Setting>
        </Sensor:SendDirect>
        <Syslog Severity="Info">
            SendData: sent send_observations : 
            <Arg Name="MyTempVar" />
            <Units:none_str />
             to nearby vehicles. Elapsed time 
            <Arg Name="ElapsedSinceLastSendData" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateContactLabel">
        <When>
            <Elapsed>
                <CustomUri Uri="_.contactLabelSetting" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="ContactLabel" />
                </Elapsed>
            </Lt>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="ContactLabel" />
            <Abs>
                <CustomUri Uri="_.contactLabelSetting" />
            </Abs>
        </Assign>
        <Syslog Severity="Info">
            Upadating ContactLabel 
            <CustomUri Uri="_.contactLabelSetting" />
            <Units:count />
        </Syslog>
    </Aggregate>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Aggregate Id="SpeedTimeout">
        <When>
            <Elapsed>
                <Arg Name="Speed" />
            </Elapsed>
            <Ge>
                <Arg Name="SpeedUpdateTimeout" />
            </Ge>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <Units:meter_per_second />
            <Value>0</Value>
        </Assign>
        <Syslog Severity="Fault">
            Speed timeout reached. Stopping vehicle (speed 
            <Arg Name="Speed" />
            <Units:meter_per_second />
            ).
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateSpeed">
        <When>
            <Elapsed>
                <CustomUri Uri="_.speedCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <CustomUri Uri="_.speedCmd" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateCommandMode">
        <When>
            <Elapsed>
                <CustomUri Uri="_.horizontalCmdMode" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
            </Lt>
            <And>
                <CustomUri Uri="_.horizontalCmdMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
                <Or>
                    <CustomUri Uri="_.horizontalCmdMode" />
                    <Eq>
                        <Arg Name="RudderMode" />
                    </Eq>
                </Or>
            </And>
            <And>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="HorizontalCommandMode" />
            <CustomUri Uri="_.horizontalCmdMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateHeading">
        <When>
            <Elapsed>
                <CustomUri Uri="_.headingCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Heading" />
            <CustomUri Uri="_.headingCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating heading 
            <Arg Name="Heading" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateRudder">
        <When>
            <Elapsed>
                <CustomUri Uri="_.rudderAngleCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="RudderAngle" />
            <CustomUri Uri="_.rudderAngleCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating rudder angle 
            <Arg Name="RudderAngle" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="JoystickControl">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <While>
                <Arg Name="MassHold" />
            </While>
            <Setting>
                <Guidance:Pitch.massPosition />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Pitch>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Aggregate Id="CmdHeading">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.heading />
                    <Arg Name="Heading" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
        <Aggregate Id="CmdRudder">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="RudderMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
    </Aggregate>
</Mission>

2025-10-27T16:54:08.980Z,1761584048.980 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h
2025-10-27T16:54:08.991Z,1761584048.991 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h
2025-10-27T16:54:08.994Z,1761584048.994 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count
2025-10-27T16:54:09.005Z,1761584049.005 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count
2025-10-27T16:54:09.037Z,1761584049.037 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m
2025-10-27T16:54:09.046Z,1761584049.046 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg
2025-10-27T16:54:09.053Z,1761584049.053 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg
2025-10-27T16:54:09.078Z,1761584049.078 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m
2025-10-27T16:54:09.087Z,1761584049.087 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m
2025-10-27T16:54:09.106Z,1761584049.106 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m
2025-10-27T16:54:09.125Z,1761584049.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725955,0.686920,0.033619],[-0.686909,-0.721802,-0.084604],[-0.033850,-0.084512,0.995847]]
2025-10-27T16:54:09.129Z,1761584049.129 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s
2025-10-27T16:54:09.152Z,1761584049.152 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s
2025-10-27T16:54:09.164Z,1761584049.164 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count
2025-10-27T16:54:09.179Z,1761584049.179 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h
2025-10-27T16:54:09.182Z,1761584049.182 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min
2025-10-27T16:54:09.197Z,1761584049.197 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s
2025-10-27T16:54:09.209Z,1761584049.209 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m
2025-10-27T16:54:09.236Z,1761584049.236 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m
2025-10-27T16:54:09.245Z,1761584049.245 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m
2025-10-27T16:54:09.257Z,1761584049.257 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool
2025-10-27T16:54:09.289Z,1761584049.289 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool
2025-10-27T16:54:09.313Z,1761584049.313 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count
2025-10-27T16:54:09.320Z,1761584049.320 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m
2025-10-27T16:54:09.339Z,1761584049.339 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool
2025-10-27T16:54:09.342Z,1761584049.342 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s
2025-10-27T16:54:09.354Z,1761584049.354 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str
2025-10-27T16:54:09.361Z,1761584049.361 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m
2025-10-27T16:54:09.373Z,1761584049.373 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km
2025-10-27T16:54:09.393Z,1761584049.393 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count
2025-10-27T16:54:09.400Z,1761584049.400 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count
2025-10-27T16:54:09.428Z,1761584049.428 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg
2025-10-27T16:54:09.439Z,1761584049.439 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg
2025-10-27T16:54:09.442Z,1761584049.442 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s
2025-10-27T16:54:09.456Z,1761584049.456 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s
2025-10-27T16:54:09.457Z,1761584049.457 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl
2025-10-27T16:54:09.457Z,1761584049.457 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl
2025-10-27T16:54:09.458Z,1761584049.458 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl
2025-10-27T16:54:09.641Z,1761584049.641 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="AbortDrift">
    <DefineArg Name="AcousticTimeout">
        <Units:hour />
        <Value>96</Value>
    </DefineArg>
    <Parallel />
    <Syslog Severity="Info">
        Insert acoustic timeout set to 
        <Arg Name="AcousticTimeout" />
        <Units:hour />
        .
    </Syslog>
    <Guidance:AbortDrift>
        <Sequence />
        <Setting>
            <Guidance:AbortDrift.acousticTimeout />
            <Arg Name="AcousticTimeout" />
        </Setting>
    </Guidance:AbortDrift>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>stop</String>
        </Setting>
    </Guidance:Execute>
</Aggregate>

2025-10-27T16:54:09.673Z,1761584049.673 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h
2025-10-27T16:54:09.680Z,1761584049.680 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2025-10-27T16:54:09.692Z,1761584049.692 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute.
2025-10-27T16:54:09.706Z,1761584049.706 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout
2025-10-27T16:54:09.849Z,1761584049.849 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-27T16:54:09.849Z,1761584049.849 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-27T16:54:09.850Z,1761584049.850 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-27T16:54:09.933Z,1761584049.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705767,0.698158,0.120284],[-0.695966,-0.714996,0.066430],[0.132381,-0.036830,0.990515]]
2025-10-27T16:54:10.338Z,1761584050.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681113,0.731671,0.027267],[-0.727157,-0.680326,0.091652],[0.085610,0.042598,0.995418]]
2025-10-27T16:54:10.584Z,1761584050.584 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-10-27T16:54:10.598Z,1761584050.598 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h
2025-10-27T16:54:10.605Z,1761584050.605 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-27T16:54:10.612Z,1761584050.612 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-27T16:54:10.632Z,1761584050.632 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s
2025-10-27T16:54:10.635Z,1761584050.635 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-27T16:54:10.646Z,1761584050.646 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-27T16:54:10.669Z,1761584050.669 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min
2025-10-27T16:54:10.672Z,1761584050.672 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min
2025-10-27T16:54:10.700Z,1761584050.700 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-27T16:54:10.741Z,1761584050.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651648,0.754495,-0.078048],[-0.757177,-0.640916,0.126132],[0.045143,0.141290,0.988938]]
2025-10-27T16:54:10.794Z,1761584050.794 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-27T16:54:10.794Z,1761584050.794 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-27T16:54:10.808Z,1761584050.808 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-27T16:54:11.104Z,1761584051.104 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-27T16:54:11.117Z,1761584051.117 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-27T16:54:11.124Z,1761584051.124 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-27T16:54:11.146Z,1761584051.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648392,0.757102,-0.079894],[-0.759930,-0.637340,0.127686],[0.045751,0.143505,0.988592]]
2025-10-27T16:54:11.192Z,1761584051.192 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-27T16:54:11.208Z,1761584051.208 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-27T16:54:11.228Z,1761584051.228 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-27T16:54:11.265Z,1761584051.265 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-27T16:54:11.301Z,1761584051.301 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-27T16:54:11.532Z,1761584051.532 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-27T16:54:11.532Z,1761584051.532 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-27T16:54:11.549Z,1761584051.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648079,0.761094,-0.027018],[-0.761408,-0.646792,0.043790],[0.015853,0.048951,0.998675]]
2025-10-27T16:54:11.566Z,1761584051.566 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-27T16:54:11.953Z,1761584051.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651768,0.758312,0.012691],[-0.757091,-0.649546,-0.070027],[-0.044859,-0.055250,0.997464]]
2025-10-27T16:54:12.358Z,1761584052.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653704,0.750959,0.093448],[-0.755733,-0.641429,-0.132043],[-0.039219,-0.156939,0.986829]]
2025-10-27T16:54:12.762Z,1761584052.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667682,0.725856,0.165331],[-0.743680,-0.660414,-0.103891],[0.033777,-0.192319,0.980751]]
2025-10-27T16:54:13.166Z,1761584053.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686214,0.717351,0.120494],[-0.726770,-0.683041,-0.072529],[0.030274,-0.137342,0.990061]]
2025-10-27T16:54:13.570Z,1761584053.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666800,0.743212,0.054909],[-0.744425,-0.667702,-0.002525],[0.034787,-0.042559,0.998488]]
2025-10-27T16:54:13.974Z,1761584053.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635441,0.770612,0.048696],[-0.760425,-0.635495,0.133789],[0.134045,0.047985,0.989813]]
2025-10-27T16:54:14.782Z,1761584054.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607946,0.793706,-0.020786],[-0.792674,-0.605240,0.073161],[0.045488,0.060955,0.997103]]
2025-10-27T16:54:15.186Z,1761584055.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629982,0.774311,0.059698],[-0.776510,-0.626808,-0.064378],[-0.012429,-0.086913,0.996138]]
2025-10-27T16:54:15.591Z,1761584055.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655851,0.722210,0.219711],[-0.750712,-0.654565,-0.089306],[0.079318,-0.223511,0.971469]]
2025-10-27T16:54:15.994Z,1761584055.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662440,0.676962,0.320775],[-0.728666,-0.681661,-0.066210],[0.173839,-0.277598,0.944838]]
2025-10-27T16:54:16.398Z,1761584056.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639401,0.716186,0.279721],[-0.747773,-0.663886,-0.009516],[0.178888,-0.215252,0.960034]]
2025-10-27T16:54:16.511Z,1761584056.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:54:16.706Z,1761584056.706 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-27T16:54:16.750Z,1761584056.750 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool
2025-10-27T16:54:16.757Z,1761584056.757 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-27T16:54:16.768Z,1761584056.768 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool
2025-10-27T16:54:16.775Z,1761584056.775 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min
2025-10-27T16:54:16.778Z,1761584056.778 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool
2025-10-27T16:54:16.785Z,1761584056.785 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool
2025-10-27T16:54:16.802Z,1761584056.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600907,0.788354,0.131939],[-0.787122,-0.612346,0.073961],[0.139100,-0.059409,0.988495]]
2025-10-27T16:54:16.821Z,1761584056.821 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool
2025-10-27T16:54:16.853Z,1761584056.853 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool
2025-10-27T16:54:16.896Z,1761584056.896 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count
2025-10-27T16:54:16.921Z,1761584056.921 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-27T16:54:16.932Z,1761584056.932 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-27T16:54:16.934Z,1761584056.934 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool
2025-10-27T16:54:16.954Z,1761584056.954 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool
2025-10-27T16:54:16.986Z,1761584056.986 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool
2025-10-27T16:54:16.989Z,1761584056.989 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool
2025-10-27T16:54:17.000Z,1761584057.000 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T16:54:17.007Z,1761584057.007 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T16:54:17.010Z,1761584057.010 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T16:54:17.024Z,1761584057.024 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T16:54:17.031Z,1761584057.031 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T16:54:17.034Z,1761584057.034 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T16:54:17.037Z,1761584057.037 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T16:54:17.048Z,1761584057.048 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T16:54:17.050Z,1761584057.050 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-27T16:54:17.058Z,1761584057.058 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool
2025-10-27T16:54:17.071Z,1761584057.071 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool
2025-10-27T16:54:17.074Z,1761584057.074 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool
2025-10-27T16:54:17.082Z,1761584057.082 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool
2025-10-27T16:54:17.086Z,1761584057.086 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-27T16:54:17.097Z,1761584057.097 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-27T16:54:17.106Z,1761584057.106 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool
2025-10-27T16:54:17.109Z,1761584057.109 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count
2025-10-27T16:54:17.124Z,1761584057.124 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count
2025-10-27T16:54:17.132Z,1761584057.132 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m
2025-10-27T16:54:17.135Z,1761584057.135 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m
2025-10-27T16:54:17.142Z,1761584057.142 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-27T16:54:17.145Z,1761584057.145 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan %
2025-10-27T16:54:17.156Z,1761584057.156 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan %
2025-10-27T16:54:17.164Z,1761584057.164 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-27T16:54:17.167Z,1761584057.167 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count
2025-10-27T16:54:17.174Z,1761584057.174 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool
2025-10-27T16:54:17.206Z,1761584057.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556471,0.830589,0.021525],[-0.821635,-0.553954,0.134358],[0.123520,0.057081,0.990699]]
2025-10-27T16:54:17.227Z,1761584057.227 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l
2025-10-27T16:54:17.231Z,1761584057.231 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l
2025-10-27T16:54:17.238Z,1761584057.238 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count
2025-10-27T16:54:17.249Z,1761584057.249 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-27T16:54:17.260Z,1761584057.260 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-27T16:54:17.276Z,1761584057.276 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-27T16:54:17.287Z,1761584057.287 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-27T16:54:17.290Z,1761584057.290 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool
2025-10-27T16:54:17.306Z,1761584057.306 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l
2025-10-27T16:54:17.323Z,1761584057.323 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m
2025-10-27T16:54:17.329Z,1761584057.329 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC
2025-10-27T16:54:17.353Z,1761584057.353 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg
2025-10-27T16:54:17.360Z,1761584057.360 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg
2025-10-27T16:54:17.367Z,1761584057.367 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l
2025-10-27T16:54:17.371Z,1761584057.371 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m
2025-10-27T16:54:17.390Z,1761584057.390 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l
2025-10-27T16:54:17.405Z,1761584057.405 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m
2025-10-27T16:54:17.413Z,1761584057.413 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC
2025-10-27T16:54:17.428Z,1761584057.428 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg
2025-10-27T16:54:17.435Z,1761584057.435 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg
2025-10-27T16:54:17.438Z,1761584057.438 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l
2025-10-27T16:54:17.445Z,1761584057.445 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m
2025-10-27T16:54:17.450Z,1761584057.450 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg
2025-10-27T16:54:17.465Z,1761584057.465 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg
2025-10-27T16:54:17.477Z,1761584057.477 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3
2025-10-27T16:54:17.484Z,1761584057.484 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m
2025-10-27T16:54:17.491Z,1761584057.491 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg
2025-10-27T16:54:17.497Z,1761584057.497 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg
2025-10-27T16:54:17.501Z,1761584057.501 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb
2025-10-27T16:54:17.508Z,1761584057.508 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m
2025-10-27T16:54:17.524Z,1761584057.524 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC
2025-10-27T16:54:17.531Z,1761584057.531 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg
2025-10-27T16:54:17.534Z,1761584057.534 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg
2025-10-27T16:54:17.541Z,1761584057.541 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu
2025-10-27T16:54:17.546Z,1761584057.546 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m
2025-10-27T16:54:17.561Z,1761584057.561 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC
2025-10-27T16:54:17.573Z,1761584057.573 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg
2025-10-27T16:54:17.580Z,1761584057.580 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg
2025-10-27T16:54:17.587Z,1761584057.587 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-27T16:54:17.590Z,1761584057.590 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-27T16:54:17.610Z,1761584057.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524678,0.851046,-0.020828],[-0.839078,-0.512859,0.181450],[0.143740,0.112679,0.983180]]
2025-10-27T16:54:17.630Z,1761584057.630 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-27T16:54:17.660Z,1761584057.660 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T16:54:17.671Z,1761584057.671 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T16:54:17.674Z,1761584057.674 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-27T16:54:17.682Z,1761584057.682 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-27T16:54:17.695Z,1761584057.695 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-27T16:54:17.706Z,1761584057.706 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T16:54:17.734Z,1761584057.734 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T16:54:17.752Z,1761584057.752 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-27T16:54:17.757Z,1761584057.757 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-27T16:54:17.773Z,1761584057.773 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-27T16:54:17.781Z,1761584057.781 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T16:54:17.795Z,1761584057.795 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T16:54:17.799Z,1761584057.799 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-27T16:54:17.810Z,1761584057.810 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-27T16:54:17.817Z,1761584057.817 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-27T16:54:17.836Z,1761584057.836 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T16:54:17.840Z,1761584057.840 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T16:54:17.852Z,1761584057.852 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-27T16:54:17.859Z,1761584057.859 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-27T16:54:17.862Z,1761584057.862 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-27T16:54:17.870Z,1761584057.870 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T16:54:17.873Z,1761584057.873 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T16:54:17.885Z,1761584057.885 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-27T16:54:17.896Z,1761584057.896 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-27T16:54:17.904Z,1761584057.904 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-27T16:54:17.911Z,1761584057.911 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T16:54:17.914Z,1761584057.914 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T16:54:17.922Z,1761584057.922 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-27T16:54:17.930Z,1761584057.930 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-27T16:54:17.934Z,1761584057.934 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T16:54:17.945Z,1761584057.945 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T16:54:17.965Z,1761584057.965 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T16:54:17.976Z,1761584057.976 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-27T16:54:17.984Z,1761584057.984 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-27T16:54:17.991Z,1761584057.991 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T16:54:17.994Z,1761584057.994 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T16:54:18.014Z,1761584058.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521354,0.852895,-0.027580],[-0.844598,-0.511128,0.159381],[0.121838,0.106388,0.986832]]
2025-10-27T16:54:18.030Z,1761584058.030 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T16:54:18.046Z,1761584058.046 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l
2025-10-27T16:54:18.069Z,1761584058.069 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m
2025-10-27T16:54:18.078Z,1761584058.078 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg
2025-10-27T16:54:18.092Z,1761584058.092 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg
2025-10-27T16:54:18.101Z,1761584058.101 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m
2025-10-27T16:54:18.127Z,1761584058.127 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu
2025-10-27T16:54:18.130Z,1761584058.130 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m
2025-10-27T16:54:18.138Z,1761584058.138 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg
2025-10-27T16:54:18.146Z,1761584058.146 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg
2025-10-27T16:54:18.150Z,1761584058.150 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m
2025-10-27T16:54:18.162Z,1761584058.162 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu
2025-10-27T16:54:18.169Z,1761584058.169 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m
2025-10-27T16:54:18.182Z,1761584058.182 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg
2025-10-27T16:54:18.195Z,1761584058.195 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg
2025-10-27T16:54:18.198Z,1761584058.198 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m
2025-10-27T16:54:18.206Z,1761584058.206 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool
2025-10-27T16:54:18.210Z,1761584058.210 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l
2025-10-27T16:54:18.272Z,1761584058.272 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.318Z,1761584058.318 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T16:54:18.369Z,1761584058.369 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T16:54:18.401Z,1761584058.401 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T16:54:18.462Z,1761584058.462 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.506Z,1761584058.506 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.584Z,1761584058.584 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T16:54:18.637Z,1761584058.637 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.678Z,1761584058.678 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.723Z,1761584058.723 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T16:54:18.762Z,1761584058.762 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:18.824Z,1761584058.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447618,0.893054,-0.045751],[-0.893357,-0.448851,-0.021098],[-0.039377,0.031428,0.998730]]
2025-10-27T16:54:18.828Z,1761584058.828 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T16:54:18.987Z,1761584058.987 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:19.045Z,1761584059.045 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T16:54:19.116Z,1761584059.116 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:19.154Z,1761584059.154 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T16:54:19.226Z,1761584059.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462367,0.886665,0.006468],[-0.884415,-0.460647,-0.074932],[-0.063460,-0.040367,0.997168]]
2025-10-27T16:54:19.256Z,1761584059.256 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T16:54:19.305Z,1761584059.305 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T16:54:19.425Z,1761584059.425 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-27T16:54:19.457Z,1761584059.457 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-27T16:54:19.457Z,1761584059.457 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-27T16:54:19.458Z,1761584059.458 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-27T16:54:19.522Z,1761584059.522 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-27T16:54:19.543Z,1761584059.543 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool
2025-10-27T16:54:19.545Z,1761584059.545 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-27T16:54:19.569Z,1761584059.569 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-27T16:54:19.569Z,1761584059.569 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-27T16:54:19.570Z,1761584059.570 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-27T16:54:19.950Z,1761584059.950 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-27T16:54:19.972Z,1761584059.972 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool
2025-10-27T16:54:19.974Z,1761584059.974 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool
2025-10-27T16:54:19.986Z,1761584059.986 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool
2025-10-27T16:54:20.007Z,1761584060.007 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool
2025-10-27T16:54:20.011Z,1761584060.011 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-27T16:54:20.033Z,1761584060.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453453,0.886217,0.094872],[-0.890107,-0.444824,-0.099198],[-0.045710,-0.129428,0.990535]]
2025-10-27T16:54:20.079Z,1761584060.079 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-27T16:54:20.083Z,1761584060.083 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-27T16:54:20.104Z,1761584060.104 [marl:JoystickControl:B.Pitch](DEBUG): Construct.
2025-10-27T16:54:20.156Z,1761584060.156 [marl:JoystickControl:C.Pitch](DEBUG): Construct.
2025-10-27T16:54:20.180Z,1761584060.180 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct.
2025-10-27T16:54:20.205Z,1761584060.205 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct.
2025-10-27T16:54:20.230Z,1761584060.230 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct.
2025-10-27T16:54:20.438Z,1761584060.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428235,0.896772,0.111427],[-0.903650,-0.425732,-0.046572],[0.005674,-0.120635,0.992681]]
2025-10-27T16:54:20.450Z,1761584060.450 [MissionManager](DEBUG): 
mission marl {
  """
  This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
  """

  arguments {
    # Mission-wide settings

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

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

    # You probably need to change these.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


      #  You probably do not need to change these.


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

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

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

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

    MyTempVar = NaN none_str

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

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

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

  }

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

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

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

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

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

  # Missions should always start with a timeout.

  timeout duration=MissionTimeout

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

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

  behavior Estimation:TrackAcousticContact {
    run in parallel

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

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

  aggregate SendObservationData {

     run when ( elapsed (MyTempVar) >= SendObservationDataInterval )

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

     assign in sequence MyTempVar = customUri "_.send_observations"

     behavior Sensor:SendDirect {
        run in parallel

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

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

  }


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

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

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

  # Most missions have the NeedComms aggregate at high priority.

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime


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

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Add guidance update directives high in the stack.

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

    assign in sequence Speed = 0 meter_per_second

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

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

    assign in sequence Speed = customUri "_.speedCmd"

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

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

    assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode"

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

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

    assign in sequence Heading = customUri "_.headingCmd"

    syslog info "Updating heading " + Heading~degree
  }

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

    assign in sequence RudderAngle = customUri "_.rudderAngleCmd"

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

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

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

  aggregate JoystickControl {
    run in sequence

    behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set depth = Depth
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = Speed
  }

    aggregate CmdHeading {
      run while ( HorizontalCommandMode == HeadingMode )

      behavior Guidance:Point {
        run in parallel

        set forceUpdate = true
        set heading = Heading
      }
    }

    aggregate CmdRudder {
      run while ( HorizontalCommandMode == RudderMode )

      behavior Guidance:Point {
        run in parallel

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


2025-10-27T16:54:20.463Z,1761584060.463 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl
2025-10-27T16:54:20.897Z,1761584060.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416374,0.906008,0.076036],[-0.909149,-0.415719,-0.025009],[0.008951,-0.079541,0.996791]]
2025-10-27T16:54:21.246Z,1761584061.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400851,0.915346,0.038214],[-0.916142,-0.400419,-0.018684],[-0.001800,-0.042499,0.999095]]
2025-10-27T16:54:21.649Z,1761584061.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383807,0.922727,0.035609],[-0.923190,-0.384277,0.007206],[0.020332,-0.030108,0.999340]]
2025-10-27T16:54:22.590Z,1761584062.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368664,0.918270,0.144454],[-0.929506,-0.365878,-0.046389],[0.010255,-0.151373,0.988424]]
2025-10-27T16:54:22.994Z,1761584062.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378360,0.910953,0.164343],[-0.925501,-0.369006,-0.085343],[-0.017100,-0.184390,0.982704]]
2025-10-27T16:54:23.403Z,1761584063.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344214,0.929796,0.130369],[-0.938138,-0.335045,-0.087420],[-0.037604,-0.152396,0.987604]]
2025-10-27T16:54:23.801Z,1761584063.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345033,0.936793,0.058057],[-0.938250,-0.342581,-0.048216],[-0.025279,-0.071108,0.997148]]
2025-10-27T16:54:24.202Z,1761584064.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371977,0.927520,0.036593],[-0.928066,-0.372385,0.004779],[0.018059,-0.032183,0.999319]]
2025-10-27T16:54:24.605Z,1761584064.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370468,0.928523,0.024462],[-0.928631,-0.370820,0.011720],[0.019953,-0.018374,0.999632]]
2025-10-27T16:54:25.010Z,1761584065.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378123,0.925367,0.026813],[-0.924373,-0.375818,-0.065535],[-0.050567,-0.049566,0.997490]]
2025-10-27T16:54:25.416Z,1761584065.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366123,0.926325,0.088749],[-0.930566,-0.364553,-0.033878],[0.000971,-0.094990,0.995478]]
2025-10-27T16:54:25.818Z,1761584065.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338533,0.927955,0.155867],[-0.928489,-0.356307,0.104660],[0.152656,-0.109290,0.982218]]
2025-10-27T16:54:26.250Z,1761584066.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344828,0.929112,0.133583],[-0.915590,-0.364289,0.170263],[0.206856,-0.063596,0.976302]]
2025-10-27T16:54:26.626Z,1761584066.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333949,0.940489,0.062913],[-0.930778,-0.339562,0.135461],[0.148763,-0.013321,0.988783]]
2025-10-27T16:54:27.030Z,1761584067.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278678,0.960267,0.015006],[-0.957450,-0.279013,0.073765],[0.075021,0.006189,0.997163]]
2025-10-27T16:54:27.435Z,1761584067.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255399,0.966504,-0.025332],[-0.966763,-0.254970,0.018945],[0.011851,0.029328,0.999500]]
2025-10-27T16:54:27.838Z,1761584067.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246026,0.967701,-0.054999],[-0.967811,-0.248367,-0.040683],[-0.053029,0.043220,0.997657]]
2025-10-27T16:54:28.241Z,1761584068.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253220,0.966722,-0.036446],[-0.964707,-0.255147,-0.065109],[-0.072241,0.018673,0.997212]]
2025-10-27T16:54:28.647Z,1761584068.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255575,0.962665,0.089201],[-0.965849,-0.250171,-0.067452],[-0.042618,-0.103394,0.993727]]
2025-10-27T16:54:29.049Z,1761584069.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276315,0.938328,0.207824],[-0.960956,-0.266462,-0.074571],[-0.014595,-0.220315,0.975320]]
2025-10-27T16:54:29.454Z,1761584069.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271648,0.941766,0.198203],[-0.962205,-0.261665,-0.075450],[-0.019193,-0.211208,0.977253]]
2025-10-27T16:54:29.858Z,1761584069.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244222,0.965128,0.094256],[-0.969409,-0.240530,-0.048895],[-0.024519,-0.103314,0.994347]]
2025-10-27T16:54:30.263Z,1761584070.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224151,0.974491,0.011132],[-0.973522,-0.224424,0.043448],[0.044838,-0.001098,0.998994]]
2025-10-27T16:54:30.665Z,1761584070.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220100,0.974681,-0.039402],[-0.971954,-0.215696,0.093710],[0.082839,0.058923,0.994820]]
2025-10-27T16:54:30.967Z,1761584070.967 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:54:31.070Z,1761584071.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220832,0.974757,-0.032885],[-0.974558,-0.219210,0.046723],[0.038335,0.042367,0.998366]]
2025-10-27T16:54:31.474Z,1761584071.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221369,0.973697,0.053949],[-0.975122,-0.221667,-0.000470],[0.011501,-0.052711,0.998544]]
2025-10-27T16:54:31.878Z,1761584071.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207433,0.968408,0.138411],[-0.977738,-0.209812,0.002664],[0.031620,-0.134777,0.990371]]
2025-10-27T16:54:32.282Z,1761584072.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209294,0.959763,0.187221],[-0.977729,-0.208447,-0.024423],[0.015585,-0.188163,0.982014]]
2025-10-27T16:54:32.686Z,1761584072.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231684,0.957235,0.173273],[-0.971696,-0.219274,-0.087897],[-0.046144,-0.188733,0.980944]]
2025-10-27T16:54:33.090Z,1761584073.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255481,0.959866,0.115699],[-0.963480,-0.242841,-0.112849],[-0.080223,-0.140304,0.986853]]
2025-10-27T16:54:33.495Z,1761584073.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267999,0.962817,0.034059],[-0.962368,-0.265888,-0.056144],[-0.045000,-0.047824,0.997842]]
2025-10-27T16:54:34.302Z,1761584074.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211280,0.974229,-0.078982],[-0.977233,-0.212152,-0.002722],[-0.019408,0.076609,0.996872]]
2025-10-27T16:54:34.706Z,1761584074.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233011,0.971284,-0.048091],[-0.972464,-0.232953,0.006870],[-0.004530,0.048367,0.998819]]
2025-10-27T16:54:35.111Z,1761584075.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220384,0.975413,0.000587],[-0.974824,-0.220272,0.034618],[0.033896,0.007057,0.999400]]
2025-10-27T16:54:35.515Z,1761584075.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173615,0.981365,0.082342],[-0.981808,-0.179006,0.063318],[0.076878,-0.069851,0.994591]]
2025-10-27T16:54:35.918Z,1761584075.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185635,0.967712,0.170507],[-0.982424,-0.186237,-0.012600],[0.019562,-0.169849,0.985276]]
2025-10-27T16:54:36.322Z,1761584076.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230241,0.951773,0.202774],[-0.972904,-0.220610,-0.069199],[-0.021128,-0.213212,0.976778]]
2025-10-27T16:54:36.727Z,1761584076.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240345,0.952928,0.184830],[-0.970573,-0.238850,-0.030652],[0.014937,-0.186758,0.982292]]
2025-10-27T16:54:37.131Z,1761584077.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241804,0.963401,0.115713],[-0.970325,-0.240138,-0.028346],[0.000478,-0.119134,0.992878]]
2025-10-27T16:54:37.534Z,1761584077.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242586,0.968945,0.047939],[-0.969975,-0.241368,-0.029819],[-0.017322,-0.053734,0.998405]]
2025-10-27T16:54:37.938Z,1761584077.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264859,0.964282,0.003044],[-0.964285,-0.264864,0.001344],[0.002103,-0.002579,0.999994]]
2025-10-27T16:54:38.342Z,1761584078.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295936,0.955134,-0.011865],[-0.955143,-0.295748,0.015334],[0.011137,0.015870,0.999812]]
2025-10-27T16:54:38.746Z,1761584078.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316642,0.948024,0.031430],[-0.948447,-0.316911,0.003843],[0.013604,-0.028593,0.999499]]
2025-10-27T16:54:39.151Z,1761584079.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323340,0.936990,0.132292],[-0.943741,-0.329545,0.027445],[0.069312,-0.115975,0.990831]]
2025-10-27T16:54:39.555Z,1761584079.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313670,0.931997,0.181640],[-0.942781,-0.328459,0.057263],[0.113031,-0.153285,0.981696]]
2025-10-27T16:54:39.958Z,1761584079.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296422,0.941754,0.158850],[-0.945647,-0.312704,0.089267],[0.133741,-0.123755,0.983259]]
2025-10-27T16:54:40.362Z,1761584080.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290564,0.952676,0.089342],[-0.944101,-0.300633,0.135254],[0.155713,-0.045048,0.986775]]
2025-10-27T16:54:40.767Z,1761584080.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298414,0.954413,0.006618],[-0.938547,-0.294699,0.179671],[0.173431,0.047405,0.983704]]
2025-10-27T16:54:41.574Z,1761584081.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284977,0.958154,-0.027002],[-0.945078,-0.276162,0.174822],[0.160050,0.075339,0.984230]]
2025-10-27T16:54:41.978Z,1761584081.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296602,0.952276,0.072102],[-0.943040,-0.303963,0.135210],[0.150674,-0.027891,0.988190]]
2025-10-27T16:54:42.382Z,1761584082.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340144,0.924833,0.170252],[-0.930395,-0.357277,0.081959],[0.136625,-0.130523,0.981986]]
2025-10-27T16:54:42.787Z,1761584082.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325117,0.925477,0.194400],[-0.938263,-0.341365,0.055968],[0.118159,-0.164203,0.979324]]
2025-10-27T16:54:43.190Z,1761584083.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312393,0.937812,0.151392],[-0.943181,-0.325197,0.068240],[0.113229,-0.121472,0.986116]]
2025-10-27T16:54:43.947Z,1761584083.947 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:54:43.999Z,1761584083.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327022,0.943696,0.049952],[-0.936026,-0.330732,0.120302],[0.130050,-0.007415,0.991480]]
2025-10-27T16:54:44.402Z,1761584084.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338073,0.940360,0.037820],[-0.934709,-0.340181,0.102932],[0.109659,-0.000552,0.993969]]
2025-10-27T16:54:44.806Z,1761584084.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335736,0.939336,0.070204],[-0.935352,-0.341265,0.093030],[0.111344,-0.034432,0.993185]]
2025-10-27T16:54:45.210Z,1761584085.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326385,0.935338,0.136439],[-0.939288,-0.337104,0.064028],[0.105882,-0.107258,0.988577]]
2025-10-27T16:54:45.614Z,1761584085.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327355,0.936431,0.126235],[-0.943579,-0.331033,0.008750],[0.049982,-0.116249,0.991962]]
2025-10-27T16:54:46.019Z,1761584086.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362024,0.924983,0.115521],[-0.932014,-0.361433,-0.026764],[0.016996,-0.117357,0.992944]]
2025-10-27T16:54:46.422Z,1761584086.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364180,0.921057,0.137936],[-0.929810,-0.368032,0.002613],[0.053171,-0.127303,0.990438]]
2025-10-27T16:54:46.831Z,1761584086.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384917,0.910835,0.149060],[-0.922530,-0.384571,-0.032314],[0.027891,-0.149950,0.988300]]
2025-10-27T16:54:47.230Z,1761584087.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400985,0.910574,0.100332],[-0.916083,-0.398370,-0.045752],[-0.001691,-0.110258,0.993902]]
2025-10-27T16:54:47.635Z,1761584087.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383330,0.922127,0.052336],[-0.922992,-0.384532,0.014850],[0.033818,-0.042614,0.998519]]
2025-10-27T16:54:48.038Z,1761584088.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381768,0.924255,0.002442],[-0.924213,-0.381774,0.008855],[0.009116,0.001124,0.999958]]
2025-10-27T16:54:48.442Z,1761584088.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400465,0.916280,-0.007701],[-0.914632,-0.400225,-0.057174],[-0.055469,-0.015853,0.998335]]
2025-10-27T16:54:48.876Z,1761584088.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430907,0.900732,0.054780],[-0.902360,-0.429552,-0.035086],[-0.008072,-0.064550,0.997882]]
2025-10-27T16:54:49.654Z,1761584089.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453476,0.876668,0.160665],[-0.890231,-0.454222,-0.034212],[0.042985,-0.158543,0.986416]]
2025-10-27T16:54:50.058Z,1761584090.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496888,0.854272,0.152715],[-0.867589,-0.493019,-0.064970],[0.019790,-0.164777,0.986132]]
2025-10-27T16:54:50.462Z,1761584090.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500826,0.848123,0.172801],[-0.861969,-0.506852,-0.010550],[0.078637,-0.154233,0.984900]]
2025-10-27T16:54:50.913Z,1761584090.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445017,0.879308,0.169640],[-0.880103,-0.464437,0.098573],[0.165463,-0.105434,0.980564]]
2025-10-27T16:54:51.270Z,1761584091.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418716,0.902108,0.104297],[-0.892990,-0.429892,0.133272],[0.165062,-0.037333,0.985576]]
2025-10-27T16:54:51.674Z,1761584091.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443603,0.896186,0.008175],[-0.894892,-0.443422,0.050454],[0.048841,0.015066,0.998693]]
2025-10-27T16:54:52.078Z,1761584092.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468852,0.882545,0.035947],[-0.883102,-0.469180,0.000760],[0.017536,-0.031388,0.999353]]
2025-10-27T16:54:52.483Z,1761584092.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465541,0.879904,0.095077],[-0.884450,-0.466423,-0.014098],[0.031942,-0.090654,0.995370]]
2025-10-27T16:54:52.910Z,1761584092.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435953,0.892015,0.119393],[-0.899949,-0.432991,-0.051102],[0.006112,-0.129726,0.991531]]
2025-10-27T16:54:53.290Z,1761584093.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421198,0.898308,0.125042],[-0.906878,-0.415188,-0.072048],[-0.012805,-0.143744,0.989532]]
2025-10-27T16:54:53.695Z,1761584093.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442629,0.888783,0.118932],[-0.896172,-0.443028,-0.024519],[0.030898,-0.117436,0.992600]]
2025-10-27T16:54:54.098Z,1761584094.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446235,0.891554,0.077496],[-0.891805,-0.450227,0.044478],[0.074546,-0.049264,0.996000]]
2025-10-27T16:54:54.412Z,1761584094.412 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 30 minute
2025-10-27T16:54:54.413Z,1761584094.413 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count
2025-10-27T16:54:54.413Z,1761584094.413 [CommandExec](IMPORTANT): got command set marl.SendDataLabel 6 count
2025-10-27T16:54:54.414Z,1761584094.414 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree
2025-10-27T16:54:54.415Z,1761584094.415 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree
2025-10-27T16:54:54.502Z,1761584094.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414489,0.909820,0.020654],[-0.910006,-0.414593,0.000862],[0.009347,-0.018438,0.999786]]
2025-10-27T16:54:54.550Z,1761584094.550 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-10-27T16:54:54.550Z,1761584094.550 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-27T16:54:54.550Z,1761584094.550 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T16:54:54.550Z,1761584094.550 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-10-27T16:54:54.917Z,1761584094.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431096,0.900971,0.049067],[-0.901325,-0.427454,-0.069975],[-0.042072,-0.074392,0.996341]]
2025-10-27T16:54:55.021Z,1761584095.021 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-10-27T16:54:55.021Z,1761584095.021 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-10-27T16:54:55.311Z,1761584095.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489732,0.867688,0.085326],[-0.871469,-0.484174,-0.078212],[-0.026551,-0.112662,0.993279]]
2025-10-27T16:54:55.336Z,1761584095.336 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  12.039007 min 
2025-10-27T16:54:55.336Z,1761584095.336 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T16:54:55.337Z,1761584095.337 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-27T16:54:56.118Z,1761584096.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489319,0.848568,0.201243],[-0.872105,-0.476169,-0.112678],[0.000211,-0.230640,0.973039]]
2025-10-27T16:54:56.522Z,1761584096.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492102,0.844213,0.212463],[-0.869949,-0.485869,-0.084379],[0.031995,-0.226356,0.973519]]
2025-10-27T16:54:56.911Z,1761584096.911 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:54:56.927Z,1761584096.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503152,0.854787,0.127188],[-0.861551,-0.507659,0.003540],[0.067594,-0.107798,0.991872]]
2025-10-27T16:54:57.330Z,1761584097.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479136,0.877690,0.009453],[-0.872717,-0.477517,0.101697],[0.093772,0.040477,0.994770]]
2025-10-27T16:54:57.338Z,1761584097.338 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165456.00,A,3646.79166,N,12151.68901,W,0.603,263.97,271025,,,A*7E
2025-10-27T16:54:57.340Z,1761584097.340 [NAL9602](INFO): GPS fix at 20251027T165456: (36.779861, -121.861484)
2025-10-27T16:54:57.360Z,1761584097.360 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-27T16:54:57.360Z,1761584097.360 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-27T16:54:57.734Z,1761584097.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477406,0.876159,-0.066548],[-0.875257,-0.467496,0.123989],[0.077523,0.117440,0.990050]]
2025-10-27T16:54:58.162Z,1761584098.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493226,0.868565,-0.048206],[-0.868829,-0.489111,0.076846],[0.043168,0.079785,0.995877]]
2025-10-27T16:54:58.542Z,1761584098.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498150,0.867080,0.004405],[-0.865281,-0.497432,0.062050],[0.055994,0.027099,0.998063]]
2025-10-27T16:54:58.955Z,1761584098.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507425,0.859909,0.055459],[-0.861172,-0.508309,0.002151],[0.030040,-0.046668,0.998459]]
2025-10-27T16:54:59.350Z,1761584099.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486734,0.870660,0.071000],[-0.873499,-0.484211,-0.050397],[-0.009500,-0.086548,0.996202]]
2025-10-27T16:54:59.753Z,1761584099.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474724,0.874258,0.101537],[-0.879876,-0.468616,-0.078851],[-0.021354,-0.126772,0.991702]]
2025-10-27T16:55:00.158Z,1761584100.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494453,0.863748,0.097245],[-0.868223,-0.485478,-0.102469],[-0.041297,-0.135096,0.989972]]
2025-10-27T16:55:00.563Z,1761584100.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503512,0.860783,0.074352],[-0.862675,-0.496138,-0.098184],[-0.047626,-0.113578,0.992387]]
2025-10-27T16:55:00.966Z,1761584100.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519076,0.849512,0.094283],[-0.854728,-0.516000,-0.056429],[0.000713,-0.109877,0.993945]]
2025-10-27T16:55:01.370Z,1761584101.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535806,0.841027,0.074738],[-0.844049,-0.535845,-0.021224],[0.022198,-0.074455,0.996977]]
2025-10-27T16:55:01.774Z,1761584101.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542019,0.839070,0.046654],[-0.840362,-0.541006,-0.033224],[-0.002637,-0.057214,0.998358]]
2025-10-27T16:55:02.180Z,1761584102.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579280,0.809423,0.096276],[-0.815072,-0.573800,-0.080064],[-0.009563,-0.124851,0.992129]]
2025-10-27T16:55:02.582Z,1761584102.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609454,0.787193,0.094302],[-0.792683,-0.602799,-0.091034],[-0.014816,-0.130233,0.991373]]
2025-10-27T16:55:02.986Z,1761584102.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582811,0.810796,0.054226],[-0.812213,-0.583310,-0.007757],[0.025341,-0.048564,0.998498]]
2025-10-27T16:55:03.390Z,1761584103.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573492,0.818875,0.023471],[-0.813372,-0.572586,0.102814],[0.097631,0.039873,0.994424]]
2025-10-27T16:55:03.796Z,1761584103.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594302,0.802365,-0.054910],[-0.802626,-0.587397,0.103715],[0.050963,0.105710,0.993090]]
2025-10-27T16:55:04.602Z,1761584104.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557147,0.827019,-0.075013],[-0.830283,-0.553178,0.068004],[0.014745,0.100170,0.994861]]
2025-10-27T16:55:06.622Z,1761584106.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573668,0.809685,0.123753],[-0.816660,-0.577026,-0.010363],[0.063018,-0.107009,0.992259]]
2025-10-27T16:55:07.031Z,1761584107.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595624,0.803264,0.000348],[-0.803146,-0.595529,-0.017341],[-0.013722,-0.010608,0.999850]]
2025-10-27T16:55:07.437Z,1761584107.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543498,0.838828,0.031259],[-0.839017,-0.544007,0.010354],[0.025691,-0.020599,0.999458]]
2025-10-27T16:55:07.839Z,1761584107.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550524,0.831529,0.074049],[-0.833056,-0.552958,0.015977],[0.054231,-0.052891,0.997127]]
2025-10-27T16:55:08.242Z,1761584108.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548948,0.833548,0.062080],[-0.835000,-0.550232,0.004386],[0.037814,-0.049429,0.998062]]
2025-10-27T16:55:08.646Z,1761584108.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535513,0.839225,0.094482],[-0.843290,-0.537424,-0.006065],[0.045686,-0.082924,0.995508]]
2025-10-27T16:55:09.042Z,1761584109.042 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251027T151843/Courier0003.lzma
2025-10-27T16:55:09.057Z,1761584109.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506803,0.849785,0.144969],[-0.858289,-0.513116,0.007273],[0.080567,-0.120739,0.989409]]
2025-10-27T16:55:09.450Z,1761584109.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493229,0.857105,0.148650],[-0.866663,-0.498893,0.000943],[0.074969,-0.128364,0.988889]]
2025-10-27T16:55:10.045Z,1761584110.045 [DataOverHttps](INFO): Moved sent file to Logs/20251027T151843/Courier0003.lzma.bak
2025-10-27T16:55:10.045Z,1761584110.045 [DataOverHttps](INFO): SBD MOMSN=26246730
2025-10-27T16:55:10.258Z,1761584110.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455919,0.889848,-0.017566],[-0.886830,-0.455866,-0.075622],[-0.075300,-0.018899,0.996982]]
2025-10-27T16:55:10.664Z,1761584110.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454963,0.888026,-0.066469],[-0.881316,-0.459708,-0.109320],[-0.127636,0.008843,0.991782]]
2025-10-27T16:55:10.669Z,1761584110.669 [NAL9602](INFO): SBD MO Status=0, MOMSN=3055, MT Status=0, MTMSN=0
2025-10-27T16:55:10.670Z,1761584110.670 [NAL9602](INFO): No messages in MT queue
2025-10-27T16:55:11.065Z,1761584111.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497012,0.867327,-0.026899],[-0.862547,-0.497185,-0.093911],[-0.094825,-0.023473,0.995217]]
2025-10-27T16:55:11.470Z,1761584111.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522265,0.847263,0.096878],[-0.852704,-0.520388,-0.045747],[0.011654,-0.106500,0.994244]]
2025-10-27T16:55:11.877Z,1761584111.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496024,0.853221,0.161165],[-0.866443,-0.498518,-0.027490],[0.056888,-0.153276,0.986545]]
2025-10-27T16:55:12.278Z,1761584112.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452700,0.874057,0.176317],[-0.889464,-0.456545,-0.020497],[0.062581,-0.166106,0.984120]]
2025-10-27T16:55:12.683Z,1761584112.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434832,0.882448,0.179461],[-0.894736,-0.445912,0.024709],[0.101828,-0.149826,0.983455]]
2025-10-27T16:55:13.086Z,1761584113.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449166,0.883379,0.133759],[-0.883574,-0.461392,0.080093],[0.132468,-0.082211,0.987772]]
2025-10-27T16:55:13.491Z,1761584113.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435898,0.899995,0.001264],[-0.899605,-0.435750,0.028864],[0.026528,0.011445,0.999582]]
2025-10-27T16:55:13.894Z,1761584113.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386909,0.918718,-0.079106],[-0.920898,-0.389384,-0.018072],[-0.047406,0.065856,0.996702]]
2025-10-27T16:55:14.298Z,1761584114.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414847,0.909647,-0.021088],[-0.909665,-0.415149,-0.012687],[-0.020295,0.013920,0.999697]]
2025-10-27T16:55:14.703Z,1761584114.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431950,0.899439,0.066551],[-0.901303,-0.427811,-0.068045],[-0.032731,-0.089375,0.995460]]
2025-10-27T16:55:15.106Z,1761584115.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385834,0.913051,0.132175],[-0.919437,-0.368764,-0.136563],[-0.075948,-0.174217,0.981774]]
2025-10-27T16:55:15.511Z,1761584115.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369662,0.904543,0.212490],[-0.928631,-0.351894,-0.117539],[-0.031545,-0.240774,0.970068]]
2025-10-27T16:55:15.914Z,1761584115.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420394,0.879125,0.224520],[-0.906631,-0.416796,-0.065589],[0.035918,-0.231130,0.972260]]
2025-10-27T16:55:16.318Z,1761584116.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424338,0.894655,0.139751],[-0.904624,-0.425650,-0.021873],[0.039917,-0.135704,0.989945]]
2025-10-27T16:55:16.722Z,1761584116.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407993,0.912688,0.023278],[-0.912841,-0.408249,0.007375],[0.016234,-0.018241,0.999702]]
2025-10-27T16:55:17.127Z,1761584117.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430847,0.902361,-0.010745],[-0.902326,-0.430945,-0.009685],[-0.013370,0.005523,0.999895]]
2025-10-27T16:55:17.530Z,1761584117.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425300,0.904416,0.033936],[-0.904469,-0.426074,0.019945],[0.032498,-0.022212,0.999225]]
2025-10-27T16:55:17.934Z,1761584117.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412499,0.907275,0.081836],[-0.904459,-0.418612,0.081962],[0.108620,-0.040208,0.993270]]
2025-10-27T16:55:18.338Z,1761584118.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431162,0.900043,0.063424],[-0.899028,-0.434506,0.054351],[0.076476,-0.033586,0.996506]]
2025-10-27T16:55:18.743Z,1761584118.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403728,0.914732,0.016410],[-0.914522,-0.404006,0.020677],[0.025544,-0.006660,0.999652]]
2025-10-27T16:55:19.146Z,1761584119.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402473,0.915431,-0.001152],[-0.914860,-0.402177,0.035839],[0.032344,0.015478,0.999357]]
2025-10-27T16:55:19.550Z,1761584119.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418508,0.908095,-0.014663],[-0.908189,-0.418324,0.014089],[0.006660,0.019213,0.999793]]
2025-10-27T16:55:19.954Z,1761584119.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397369,0.917657,0.002079],[-0.917595,-0.397314,-0.012688],[-0.010817,-0.006949,0.999917]]
2025-10-27T16:55:20.359Z,1761584120.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406005,0.909898,0.085123],[-0.913696,-0.402342,-0.057275],[-0.017866,-0.101031,0.994723]]
2025-10-27T16:55:20.762Z,1761584120.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435873,0.888960,0.140585],[-0.899992,-0.429590,-0.073939],[-0.005335,-0.158754,0.987304]]
2025-10-27T16:55:21.166Z,1761584121.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433604,0.894178,0.111501],[-0.900736,-0.433630,-0.025292],[0.025735,-0.111400,0.993442]]
2025-10-27T16:55:21.570Z,1761584121.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387460,0.921386,0.030383],[-0.920290,-0.388517,0.046047],[0.054231,-0.010119,0.998477]]
2025-10-27T16:55:22.377Z,1761584122.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424650,0.905344,0.004863],[-0.904617,-0.424514,0.038164],[0.036616,0.011807,0.999260]]
2025-10-27T16:55:22.782Z,1761584122.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403368,0.913759,0.048369],[-0.914252,-0.404648,0.020061],[0.037903,-0.036130,0.998628]]
2025-10-27T16:55:23.186Z,1761584123.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393269,0.911929,0.117151],[-0.914864,-0.400803,0.048798],[0.091455,-0.087986,0.991915]]
2025-10-27T16:55:23.590Z,1761584123.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427587,0.889286,0.162294],[-0.898186,-0.438231,0.034876],[0.102137,-0.130858,0.986126]]
2025-10-27T16:55:23.994Z,1761584123.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445613,0.883732,0.142992],[-0.891404,-0.452757,0.020244],[0.082631,-0.118443,0.989517]]
2025-10-27T16:55:24.398Z,1761584124.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422412,0.894414,0.146943],[-0.899413,-0.433706,0.054369],[0.112359,-0.109196,0.987650]]
2025-10-27T16:55:24.803Z,1761584124.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430206,0.895825,0.111443],[-0.897920,-0.437368,0.049488],[0.093074,-0.078777,0.992538]]
2025-10-27T16:55:25.206Z,1761584125.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405156,0.914247,-0.000781],[-0.914244,-0.405157,-0.002497],[-0.002600,-0.000298,0.999997]]
2025-10-27T16:55:25.610Z,1761584125.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379939,0.920642,-0.089800],[-0.924968,-0.379073,0.027170],[-0.009027,0.093385,0.995589]]
2025-10-27T16:55:26.418Z,1761584126.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400564,0.916024,0.021179],[-0.915684,-0.401027,0.026452],[0.032724,-0.008798,0.999426]]
2025-10-27T16:55:26.826Z,1761584126.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364332,0.924716,0.110283],[-0.930644,-0.365864,-0.006738],[0.034117,-0.105089,0.993877]]
2025-10-27T16:55:27.226Z,1761584127.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392557,0.905164,0.163023],[-0.919478,-0.390366,-0.046627],[0.021434,-0.168200,0.985520]]
2025-10-27T16:55:27.630Z,1761584127.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422311,0.896236,0.135702],[-0.905995,-0.412593,-0.094554],[-0.028753,-0.162876,0.986227]]
2025-10-27T16:55:28.034Z,1761584128.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425756,0.902110,0.070214],[-0.903537,-0.419701,-0.086442],[-0.048511,-0.100244,0.993780]]
2025-10-27T16:55:28.440Z,1761584128.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397184,0.917544,0.018925],[-0.917499,-0.396524,-0.031035],[-0.020972,-0.029691,0.999339]]
2025-10-27T16:55:28.862Z,1761584128.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390260,0.920664,0.008626],[-0.920028,-0.390315,0.034689],[0.035304,0.005601,0.999361]]
2025-10-27T16:55:29.246Z,1761584129.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399103,0.916839,0.011041],[-0.913115,-0.398518,0.086047],[0.083292,0.024260,0.996230]]
2025-10-27T16:55:29.650Z,1761584129.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405458,0.913610,0.030341],[-0.910619,-0.406585,0.073907],[0.079859,0.002337,0.996803]]
2025-10-27T16:55:30.055Z,1761584130.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400955,0.912720,0.078592],[-0.914026,-0.404339,0.032644],[0.061573,-0.058747,0.996372]]
2025-10-27T16:55:30.458Z,1761584130.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392921,0.910452,0.129189],[-0.912186,-0.403670,0.070481],[0.116319,-0.090151,0.989112]]
2025-10-27T16:55:30.905Z,1761584130.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382294,0.912927,0.142884],[-0.898577,-0.403339,0.172852],[0.215432,-0.062312,0.974529]]
2025-10-27T16:55:31.288Z,1761584131.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365091,0.924925,0.105935],[-0.896922,-0.379946,0.226213],[0.249480,-0.012427,0.968300]]
2025-10-27T16:55:31.670Z,1761584131.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355826,0.932276,0.065191],[-0.916329,-0.361746,0.171700],[0.183654,0.001359,0.982990]]
2025-10-27T16:55:32.076Z,1761584132.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348463,0.934154,0.077007],[-0.925669,-0.355882,0.128392],[0.147343,-0.026543,0.988729]]
2025-10-27T16:55:32.478Z,1761584132.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358359,0.924974,0.126501],[-0.919061,-0.373338,0.126276],[0.164030,-0.071010,0.983896]]
2025-10-27T16:55:32.922Z,1761584132.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362868,0.923337,0.125599],[-0.921348,-0.375678,0.099920],[0.139445,-0.079462,0.987036]]
2025-10-27T16:55:33.286Z,1761584133.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344699,0.936947,0.057558],[-0.935606,-0.347897,0.060083],[0.076319,-0.033142,0.996533]]
2025-10-27T16:55:33.691Z,1761584133.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343338,0.937147,0.062246],[-0.933863,-0.347695,0.083710],[0.100091,-0.029389,0.994544]]
2025-10-27T16:55:34.095Z,1761584134.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353076,0.930262,0.099747],[-0.927549,-0.361996,0.092802],[0.122438,-0.059754,0.990676]]
2025-10-27T16:55:34.498Z,1761584134.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342406,0.934169,0.100437],[-0.936666,-0.347771,0.041388],[0.073592,-0.079904,0.994082]]
2025-10-27T16:55:34.912Z,1761584134.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333467,0.938100,0.093639],[-0.942502,-0.334058,-0.009762],[0.022124,-0.091510,0.995558]]
2025-10-27T16:55:35.306Z,1761584135.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354454,0.931477,0.081927],[-0.935048,-0.352441,-0.038341],[-0.006840,-0.090196,0.995901]]
2025-10-27T16:55:35.327Z,1761584135.327 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20251027T165046/Courier0000.lzma
2025-10-27T16:55:35.709Z,1761584135.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385061,0.917683,0.097911],[-0.922264,-0.386538,-0.004176],[0.034014,-0.091908,0.995186]]
2025-10-27T16:55:36.114Z,1761584136.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395683,0.909248,0.129238],[-0.913088,-0.404581,0.050846],[0.098519,-0.097887,0.990309]]
2025-10-27T16:55:36.329Z,1761584136.329 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Courier0000.lzma.bak
2025-10-27T16:55:36.329Z,1761584136.329 [DataOverHttps](INFO): SBD MOMSN=26246782
2025-10-27T16:55:36.518Z,1761584136.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378864,0.919122,0.108060],[-0.921430,-0.385512,0.048452],[0.086192,-0.081213,0.992963]]
2025-10-27T16:55:36.923Z,1761584136.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386515,0.917799,0.090837],[-0.921014,-0.389271,0.014162],[0.048358,-0.078188,0.995765]]
2025-10-27T16:55:37.326Z,1761584137.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419271,0.903541,0.088466],[-0.907021,-0.421082,0.002001],[0.039060,-0.079401,0.996077]]
2025-10-27T16:55:37.731Z,1761584137.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419508,0.905948,0.057196],[-0.907446,-0.420169,-0.000518],[0.023563,-0.052120,0.998363]]
2025-10-27T16:55:38.135Z,1761584138.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402286,0.915198,0.024070],[-0.915388,-0.402528,0.006060],[0.015235,-0.019596,0.999692]]
2025-10-27T16:55:38.942Z,1761584138.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452295,0.889391,0.066427],[-0.890935,-0.453974,0.011962],[0.040795,-0.053771,0.997720]]
2025-10-27T16:55:39.189Z,1761584139.189 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute
2025-10-27T16:55:39.190Z,1761584139.190 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour
2025-10-27T16:55:39.190Z,1761584139.190 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 10 minute
2025-10-27T16:55:39.191Z,1761584139.191 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 60 second
2025-10-27T16:55:39.192Z,1761584139.192 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter
2025-10-27T16:55:39.193Z,1761584139.193 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter
2025-10-27T16:55:39.193Z,1761584139.193 [CommandExec](IMPORTANT): got command run
2025-10-27T16:55:39.198Z,1761584139.198 [CommandExec](IMPORTANT): Running 
2025-10-27T16:55:39.345Z,1761584139.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477280,0.873547,0.095496],[-0.878605,-0.472389,-0.070011],[-0.016047,-0.117318,0.992965]]
2025-10-27T16:55:39.380Z,1761584139.380 [DefaultWithUndock] Stopped
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T16:55:39.381Z,1761584139.381 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-27T16:55:39.381Z,1761584139.381 [MissionManager](IMPORTANT): Started mission marl
2025-10-27T16:55:39.382Z,1761584139.382 [marl] Running Loop=1
2025-10-27T16:55:39.382Z,1761584139.382 [marl](DEBUG): Aggregate::initialize marl
2025-10-27T16:55:39.382Z,1761584139.382 [marl:AbortDrift] Running Loop=1
2025-10-27T16:55:39.382Z,1761584139.382 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift
2025-10-27T16:55:39.382Z,1761584139.382 [marl:AbortDrift:A] Running Loop=1
2025-10-27T16:55:39.382Z,1761584139.382 [marl:B.] Running Loop=1
2025-10-27T16:55:39.382Z,1761584139.382 [marl:B.](INFO): Initializing TrackAcousticContact.
2025-10-27T16:55:39.382Z,1761584139.382 [marl:StandardEnvelopes] Running Loop=1
2025-10-27T16:55:39.382Z,1761584139.382 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes
2025-10-27T16:55:39.382Z,1761584139.382 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T16:55:39.383Z,1761584139.383 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-27T16:55:39.387Z,1761584139.387 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T16:55:39.387Z,1761584139.387 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-27T16:55:39.387Z,1761584139.387 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T16:55:39.387Z,1761584139.387 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-27T16:55:39.387Z,1761584139.387 [marl:Science] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science](DEBUG): Aggregate::initialize marl:Science
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:A] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:B] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:C] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:D] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:E] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:F] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:Read_Oil] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:PeakDetectChl] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:PeakDetectChl:A] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:EdgeDetectChl] Running Loop=1
2025-10-27T16:55:39.388Z,1761584139.388 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:EdgeDetectChl:A] Running Loop=1
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:HighestChlPeakReport] Running Loop=1
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T16:55:39.389Z,1761584139.389 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectNO3] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectNO3:A] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectOil] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:PeakDetectOil:A] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:HighestOilPeakReport] Running Loop=1
2025-10-27T16:55:39.390Z,1761584139.390 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport
2025-10-27T16:55:39.391Z,1761584139.391 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T16:55:39.395Z,1761584139.395 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T16:55:39.395Z,1761584139.395 [marl:Science:PeakDetectFDOM] Running Loop=1
2025-10-27T16:55:39.395Z,1761584139.395 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM
2025-10-27T16:55:39.396Z,1761584139.396 [marl:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-27T16:55:39.396Z,1761584139.396 [marl:Science:PeakDetectSalinity] Running Loop=1
2025-10-27T16:55:39.396Z,1761584139.396 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:HighestSaltPeakReport] Running Loop=1
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T16:55:39.397Z,1761584139.397 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T16:55:39.398Z,1761584139.398 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T16:55:39.399Z,1761584139.399 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T16:55:39.399Z,1761584139.399 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T16:55:39.407Z,1761584139.407 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:ChlThreshTrigger] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-27T16:55:39.408Z,1761584139.408 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-27T16:55:39.409Z,1761584139.409 [marl:Science:OceanCurrent] Running Loop=1
2025-10-27T16:55:39.409Z,1761584139.409 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent
2025-10-27T16:55:39.409Z,1761584139.409 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T16:55:39.409Z,1761584139.409 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-27T16:55:39.409Z,1761584139.409 [marl:BackseatDriver] Running Loop=1
2025-10-27T16:55:39.409Z,1761584139.409 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver
2025-10-27T16:55:39.409Z,1761584139.409 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:A] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:B] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:C] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:D] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:E.Wait] Running Loop=1
2025-10-27T16:55:39.410Z,1761584139.410 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-27T16:55:39.410Z,1761584139.410 [marl:F] Running Loop=1
2025-10-27T16:55:39.412Z,1761584139.412 [marl:PowerOnly] Running Loop=1
2025-10-27T16:55:39.412Z,1761584139.412 [marl:PowerOnly:D] Stopped
2025-10-27T16:55:39.412Z,1761584139.412 [marl:PowerOnly:C] Stopped
2025-10-27T16:55:39.412Z,1761584139.412 [marl:PowerOnly:B] Stopped
2025-10-27T16:55:39.412Z,1761584139.412 [marl:PowerOnly:A] Stopped
2025-10-27T16:55:39.412Z,1761584139.412 [marl:BackseatDriver] Running Loop=1
2025-10-27T16:55:39.413Z,1761584139.413 [marl:Science] Running Loop=1
2025-10-27T16:55:39.414Z,1761584139.414 [marl:Science:ChlThreshTrigger] Stopped
2025-10-27T16:55:39.414Z,1761584139.414 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger
2025-10-27T16:55:39.414Z,1761584139.414 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-27T16:55:39.414Z,1761584139.414 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-27T16:55:39.414Z,1761584139.414 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T16:55:39.415Z,1761584139.415 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T16:55:39.415Z,1761584139.415 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T16:55:39.419Z,1761584139.419 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-27T16:55:39.420Z,1761584139.420 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestSaltPeakReport] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectSalinity] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectSalinity:A] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectFDOM] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:PeakDetectFDOM:A] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestOilPeakReport] Stopped
2025-10-27T16:55:39.421Z,1761584139.421 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectOil] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectOil:A] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectNO3] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDetectNO3:A] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:HighestChlPeakReport] Stopped
2025-10-27T16:55:39.422Z,1761584139.422 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport
2025-10-27T16:55:39.423Z,1761584139.423 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T16:55:39.423Z,1761584139.423 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:EdgeDetectChl] Stopped
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:EdgeDetectChl:A] Stopped
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:PeakDetectChl] Stopped
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:PeakDetectChl:A] Stopped
2025-10-27T16:55:39.427Z,1761584139.427 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T16:55:39.429Z,1761584139.429 [marl:Science:Read_Oil] Stopped
2025-10-27T16:55:39.429Z,1761584139.429 [marl:Science:F] Stopped
2025-10-27T16:55:39.429Z,1761584139.429 [marl:Science:E] Running Loop=1
2025-10-27T16:55:39.430Z,1761584139.430 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-27T16:55:39.430Z,1761584139.430 [marl:Science:D] Stopped
2025-10-27T16:55:39.430Z,1761584139.430 [marl:Science:C] Running Loop=1
2025-10-27T16:55:39.431Z,1761584139.431 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-27T16:55:39.433Z,1761584139.433 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-27T16:55:39.433Z,1761584139.433 [marl:Science:B] Running Loop=1
2025-10-27T16:55:39.433Z,1761584139.433 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-27T16:55:39.434Z,1761584139.434 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-27T16:55:39.434Z,1761584139.434 [marl:Science:A] Stopped
2025-10-27T16:55:39.435Z,1761584139.435 [marl:StandardEnvelopes] Running Loop=1
2025-10-27T16:55:39.435Z,1761584139.435 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T16:55:39.443Z,1761584139.443 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T16:55:39.444Z,1761584139.444 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T16:55:39.444Z,1761584139.444 [marl:F] Stopped
2025-10-27T16:55:39.444Z,1761584139.444 [marl:H] Running Loop=1
2025-10-27T16:55:39.444Z,1761584139.444 [marl:B.] Running Loop=1
2025-10-27T16:55:39.445Z,1761584139.445 [marl:B.](INFO): DAT did not provide matching contact label.
2025-10-27T16:55:39.445Z,1761584139.445 [marl:AbortDrift] Running Loop=1
2025-10-27T16:55:39.446Z,1761584139.446 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to  0.500000 h .
2025-10-27T16:55:39.446Z,1761584139.446 [marl:AbortDrift:A] Stopped
2025-10-27T16:55:39.446Z,1761584139.446 [marl:AbortDrift:B.AbortDrift] Running Loop=1
2025-10-27T16:55:39.446Z,1761584139.446 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2025-10-27T16:55:39.451Z,1761584139.451 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours.
2025-10-27T16:55:39.750Z,1761584139.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477732,0.868341,0.133252],[-0.878105,-0.467412,-0.102259],[-0.026512,-0.165862,0.985793]]
2025-10-27T16:55:39.785Z,1761584139.785 [marl:H] Stopped
2025-10-27T16:55:39.785Z,1761584139.785 [marl:I] Running Loop=1
2025-10-27T16:55:39.791Z,1761584139.791 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584128.00. Resetting abort timer.
2025-10-27T16:55:39.791Z,1761584139.791 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761583488.00. Resetting abort timer.
2025-10-27T16:55:40.072Z,1761584140.072 [WetLabsBB2FL](INFO): Powering up
2025-10-27T16:55:40.154Z,1761584140.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473066,0.859608,0.193089],[-0.878101,-0.477879,-0.023882],[0.071745,-0.180850,0.980891]]
2025-10-27T16:55:40.184Z,1761584140.184 [marl:I] Stopped
2025-10-27T16:55:40.184Z,1761584140.184 [marl:J] Running Loop=1
2025-10-27T16:55:40.558Z,1761584140.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482692,0.863596,0.145639],[-0.866581,-0.495019,0.063200],[0.126673,-0.095702,0.987317]]
2025-10-27T16:55:40.605Z,1761584140.605 [marl:J] Stopped
2025-10-27T16:55:40.605Z,1761584140.605 [marl:U] Running Loop=1
2025-10-27T16:55:40.962Z,1761584140.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485233,0.874370,-0.005097],[-0.870491,-0.482515,0.097083],[0.082427,0.051545,0.995263]]
2025-10-27T16:55:41.055Z,1761584141.055 [marl:U] Stopped
2025-10-27T16:55:41.056Z,1761584141.056 [marl:StartingMission] Running Loop=1
2025-10-27T16:55:41.056Z,1761584141.056 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission
2025-10-27T16:55:41.056Z,1761584141.056 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-27T16:55:41.400Z,1761584141.400 [BackseatComponent](INFO): Powering up
2025-10-27T16:55:41.401Z,1761584141.401 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-27T16:55:41.830Z,1761584141.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476183,0.876197,-0.074354],[-0.873708,-0.461877,0.152654],[0.099413,0.137655,0.985479]]
2025-10-27T16:55:41.852Z,1761584141.852 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T16:55:41.925Z,1761584141.925 [marl:NeedComms] Running Loop=1
2025-10-27T16:55:41.925Z,1761584141.925 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T16:55:41.926Z,1761584141.926 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T16:55:41.926Z,1761584141.926 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T16:55:41.926Z,1761584141.926 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T16:55:41.926Z,1761584141.926 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T16:55:41.943Z,1761584141.943 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T16:55:41.943Z,1761584141.943 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T16:55:41.944Z,1761584141.944 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T16:55:41.944Z,1761584141.944 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T16:55:41.944Z,1761584141.944 [marl:NeedComms:A] Running Loop=1
2025-10-27T16:55:41.945Z,1761584141.945 [marl:NeedComms:A](INFO): last time_fix was:  1761584096.000000 second since 1970/01/01T00:00:00Z 
2025-10-27T16:55:41.945Z,1761584141.945 [marl:NeedComms:A] Stopped
2025-10-27T16:55:42.219Z,1761584142.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438236,0.897318,-0.052623],[-0.892014,-0.426941,0.148436],[0.110727,0.111991,0.987521]]
2025-10-27T16:55:42.273Z,1761584142.273 [marl:NeedComms:C] Running Loop=1
2025-10-27T16:55:42.622Z,1761584142.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439617,0.898183,0.002000],[-0.894177,-0.437864,0.093397],[0.084764,0.039270,0.995627]]
2025-10-27T16:55:42.682Z,1761584142.682 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-27T16:55:42.741Z,1761584142.741 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-27T16:55:43.027Z,1761584143.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439653,0.896122,0.060585],[-0.895967,-0.442296,0.040215],[0.062834,-0.036602,0.997353]]
2025-10-27T16:55:43.834Z,1761584143.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446514,0.889271,0.099110],[-0.894323,-0.447068,-0.017792],[0.028487,-0.096581,0.994917]]
2025-10-27T16:55:44.238Z,1761584144.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439905,0.893919,0.085976],[-0.898044,-0.437824,-0.042749],[-0.000572,-0.096016,0.995380]]
2025-10-27T16:55:44.250Z,1761584144.250 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165543.00,A,3646.79520,N,12151.69612,W,2.313,300.54,271025,,,A*7C
2025-10-27T16:55:44.252Z,1761584144.252 [NAL9602](INFO): GPS fix at 20251027T165543: (36.779920, -121.861602)
2025-10-27T16:55:44.310Z,1761584144.310 [marl:NeedComms:C] Stopped
2025-10-27T16:55:44.311Z,1761584144.311 [marl:NeedComms:D] Running Loop=1
2025-10-27T16:55:44.313Z,1761584144.313 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584128.00. Resetting abort timer.
2025-10-27T16:55:44.643Z,1761584144.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469678,0.878816,0.084177],[-0.881749,-0.462226,-0.094159],[-0.043840,-0.118447,0.991992]]
2025-10-27T16:55:44.740Z,1761584144.740 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-27T16:55:45.322Z,1761584145.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511236,0.858195,0.046254],[-0.859375,-0.509797,-0.039761],[-0.010542,-0.060076,0.998138]]
2025-10-27T16:55:45.709Z,1761584145.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523402,0.851939,0.015794],[-0.852024,-0.523050,-0.021778],[-0.010292,-0.024856,0.999638]]
2025-10-27T16:55:46.114Z,1761584146.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492846,0.869732,-0.025860],[-0.869234,-0.490790,0.059646],[0.039184,0.051875,0.997885]]
2025-10-27T16:55:46.520Z,1761584146.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484597,0.874293,-0.027900],[-0.868281,-0.476907,0.136555],[0.106084,0.090399,0.990240]]
2025-10-27T16:55:46.922Z,1761584146.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498464,0.866734,-0.017509],[-0.861884,-0.493301,0.117514],[0.093216,0.073668,0.992917]]
2025-10-27T16:55:47.326Z,1761584147.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484620,0.874724,-0.001415],[-0.873579,-0.483902,0.051945],[0.044753,0.026410,0.998649]]
2025-10-27T16:55:47.744Z,1761584147.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477104,0.876773,0.060341],[-0.877768,-0.478795,0.016700],[0.043534,-0.044998,0.998038]]
2025-10-27T16:55:48.134Z,1761584148.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484724,0.866469,0.119472],[-0.869803,-0.491896,0.038487],[0.092116,-0.085261,0.992091]]
2025-10-27T16:55:48.548Z,1761584148.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482242,0.870140,0.101481],[-0.871254,-0.488469,0.048100],[0.091424,-0.065220,0.993674]]
2025-10-27T16:55:48.941Z,1761584148.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438263,0.895944,0.072179],[-0.896486,-0.441517,0.037099],[0.065107,-0.048448,0.996702]]
2025-10-27T16:55:49.349Z,1761584149.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418442,0.904524,0.082118],[-0.905471,-0.422515,0.040036],[0.070909,-0.057603,0.995818]]
2025-10-27T16:55:49.755Z,1761584149.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438630,0.894999,0.081126],[-0.897286,-0.441172,0.015678],[0.049822,-0.065917,0.996580]]
2025-10-27T16:55:50.155Z,1761584150.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437699,0.898439,0.035026],[-0.898955,-0.438036,0.002186],[0.017307,-0.030530,0.999384]]
2025-10-27T16:55:50.561Z,1761584150.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450451,0.891995,0.037937],[-0.892595,-0.450853,0.002312],[0.019167,-0.032821,0.999277]]
2025-10-27T16:55:50.961Z,1761584150.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461595,0.883570,0.078959],[-0.885536,-0.464225,0.017938],[0.052504,-0.061641,0.996716]]
2025-10-27T16:55:51.366Z,1761584151.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456571,0.880138,0.130001],[-0.885476,-0.463732,0.029735],[0.086456,-0.101537,0.991068]]
2025-10-27T16:55:51.772Z,1761584151.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479653,0.874572,0.071111],[-0.877055,-0.480312,-0.008642],[0.026597,-0.066513,0.997431]]
2025-10-27T16:55:52.174Z,1761584152.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454377,0.889932,0.039532],[-0.890339,-0.455132,0.012311],[0.028949,-0.029603,0.999142]]
2025-10-27T16:55:52.578Z,1761584152.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457060,0.885829,0.080017],[-0.880577,-0.463339,0.099504],[0.125218,-0.024981,0.991815]]
2025-10-27T16:55:52.984Z,1761584152.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473616,0.879538,0.045843],[-0.871559,-0.475541,0.119359],[0.126781,0.016575,0.991792]]
2025-10-27T16:55:53.387Z,1761584153.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432574,0.900868,-0.036290],[-0.898294,-0.427197,0.102810],[0.077116,0.077072,0.994039]]
2025-10-27T16:55:53.794Z,1761584153.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415324,0.908594,-0.044298],[-0.909527,-0.413893,0.038113],[0.016295,0.056119,0.998291]]
2025-10-27T16:55:54.194Z,1761584154.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414026,0.910202,0.010727],[-0.909958,-0.413551,-0.030835],[-0.023630,-0.022528,0.999467]]
2025-10-27T16:55:54.598Z,1761584154.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406869,0.912979,0.030450],[-0.912670,-0.404870,-0.055811],[-0.038626,-0.050498,0.997977]]
2025-10-27T16:55:55.003Z,1761584155.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404503,0.912322,0.063607],[-0.914184,-0.401435,-0.055842],[-0.025411,-0.080737,0.996412]]
2025-10-27T16:55:55.406Z,1761584155.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398526,0.910480,0.110473],[-0.917086,-0.394091,-0.060385],[-0.011443,-0.125378,0.992043]]
2025-10-27T16:55:55.674Z,1761584155.674 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20251027T151843/Express0004.lzma
2025-10-27T16:55:55.810Z,1761584155.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373972,0.921988,0.100415],[-0.927425,-0.371141,-0.046241],[-0.005365,-0.110420,0.993870]]
2025-10-27T16:55:56.214Z,1761584156.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357742,0.932472,0.050159],[-0.933467,-0.358568,0.008257],[0.025685,-0.043868,0.998707]]
2025-10-27T16:55:56.617Z,1761584156.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374595,0.927136,-0.009891],[-0.926192,-0.373677,0.050332],[0.042969,0.028015,0.998684]]
2025-10-27T16:55:56.681Z,1761584156.681 [DataOverHttps](INFO): Moved sent file to Logs/20251027T151843/Express0004.lzma.bak
2025-10-27T16:55:56.682Z,1761584156.682 [DataOverHttps](INFO): SBD MOMSN=26246828
2025-10-27T16:55:57.033Z,1761584157.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369509,0.928330,-0.040817],[-0.929227,-0.369144,0.016419],[0.000174,0.043995,0.999032]]
2025-10-27T16:55:57.425Z,1761584157.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351480,0.936127,0.011297],[-0.936157,-0.351549,0.004777],[0.008443,-0.008897,0.999925]]
2025-10-27T16:55:57.834Z,1761584157.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339507,0.933355,0.116547],[-0.933999,-0.349182,0.075614],[0.111270,-0.083183,0.990303]]
2025-10-27T16:55:58.237Z,1761584158.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312019,0.943094,0.114965],[-0.941612,-0.323084,0.094786],[0.126536,-0.078677,0.988837]]
2025-10-27T16:55:58.641Z,1761584158.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277640,0.959604,0.045567],[-0.958575,-0.279861,0.053036],[0.063646,-0.028954,0.997552]]
2025-10-27T16:55:59.059Z,1761584159.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269964,0.962638,0.021148],[-0.961269,-0.270716,0.051717],[0.055510,-0.006367,0.998438]]
2025-10-27T16:55:59.449Z,1761584159.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301348,0.952009,0.053559],[-0.950285,-0.304472,0.065228],[0.078405,-0.031240,0.996432]]
2025-10-27T16:55:59.858Z,1761584159.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313902,0.942947,0.110977],[-0.947003,-0.319340,0.034739],[0.068197,-0.094191,0.993216]]
2025-10-27T16:56:00.262Z,1761584160.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310989,0.935994,0.164924],[-0.949601,-0.313181,-0.013219],[0.039279,-0.160723,0.986218]]
2025-10-27T16:56:00.666Z,1761584160.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317318,0.934410,0.161822],[-0.946384,-0.322922,0.008882],[0.060556,-0.150328,0.986780]]
2025-10-27T16:56:01.071Z,1761584161.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296421,0.949604,0.101920],[-0.946395,-0.306395,0.102263],[0.128337,-0.066143,0.989522]]
2025-10-27T16:56:01.078Z,1761584161.078 [NAL9602](INFO): SBD MO Status=0, MOMSN=3056, MT Status=0, MTMSN=0
2025-10-27T16:56:01.078Z,1761584161.078 [NAL9602](INFO): No messages in MT queue
2025-10-27T16:56:01.475Z,1761584161.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286157,0.957812,0.026666],[-0.949169,-0.287164,0.128897],[0.131116,0.011574,0.991299]]
2025-10-27T16:56:01.901Z,1761584161.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323839,0.945858,0.021952],[-0.945734,-0.324278,0.020749],[0.026744,-0.014042,0.999544]]
2025-10-27T16:56:02.299Z,1761584162.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327978,0.940934,0.084102],[-0.942428,-0.332045,0.039683],[0.065265,-0.066245,0.995667]]
2025-10-27T16:56:02.696Z,1761584162.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344015,0.929171,0.135257],[-0.931051,-0.356220,0.079069],[0.121649,-0.098730,0.987651]]
2025-10-27T16:56:03.105Z,1761584163.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361611,0.918576,0.159549],[-0.921588,-0.378074,0.087952],[0.141112,-0.115234,0.983264]]
2025-10-27T16:56:03.522Z,1761584163.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326882,0.929996,0.168096],[-0.929979,-0.348189,0.117914],[0.168189,-0.117782,0.978693]]
2025-10-27T16:56:03.906Z,1761584163.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297697,0.945406,0.132602],[-0.935080,-0.316752,0.159041],[0.192360,-0.076648,0.978326]]
2025-10-27T16:56:04.314Z,1761584164.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283802,0.958001,0.041104],[-0.946579,-0.286748,0.147524],[0.153114,0.002960,0.988204]]
2025-10-27T16:56:04.713Z,1761584164.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274403,0.960496,-0.046382],[-0.960347,-0.271246,0.064492],[0.049363,0.062239,0.996840]]
2025-10-27T16:56:05.120Z,1761584165.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287639,0.957050,-0.036329],[-0.957689,-0.287803,0.000731],[-0.009756,0.035002,0.999340]]
2025-10-27T16:56:05.540Z,1761584165.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276244,0.960534,0.032621],[-0.960767,-0.275116,-0.035194],[-0.024830,-0.041063,0.998848]]
2025-10-27T16:56:05.938Z,1761584165.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288062,0.953029,0.093574],[-0.957106,-0.283358,-0.060465],[-0.031110,-0.106978,0.993775]]
2025-10-27T16:56:06.333Z,1761584166.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303047,0.947509,0.101923],[-0.952526,-0.297884,-0.062920],[-0.029256,-0.116152,0.992800]]
2025-10-27T16:56:06.740Z,1761584166.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291375,0.952488,0.088702],[-0.956162,-0.287149,-0.057449],[-0.029249,-0.101553,0.994400]]
2025-10-27T16:56:07.139Z,1761584167.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314521,0.943487,0.104443],[-0.949207,-0.311537,-0.044178],[-0.009144,-0.113033,0.993549]]
2025-10-27T16:56:07.542Z,1761584167.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324734,0.941465,0.090502],[-0.945742,-0.324329,-0.019559],[0.010939,-0.091943,0.995704]]
2025-10-27T16:56:08.353Z,1761584168.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292717,0.955513,0.036211],[-0.956030,-0.293168,0.007713],[0.017985,-0.032361,0.999314]]
2025-10-27T16:56:08.761Z,1761584168.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297753,0.953236,0.051812],[-0.951804,-0.300612,0.060839],[0.073569,-0.031200,0.996802]]
2025-10-27T16:56:09.159Z,1761584169.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285133,0.956984,0.053671],[-0.951428,-0.289373,0.105107],[0.116117,-0.021095,0.993012]]
2025-10-27T16:56:09.561Z,1761584169.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283394,0.958928,0.012041],[-0.954528,-0.283260,0.092948],[0.092541,0.014848,0.995598]]
2025-10-27T16:56:09.965Z,1761584169.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264835,0.963869,-0.028620],[-0.961930,-0.261993,0.077784],[0.067475,0.048130,0.996559]]
2025-10-27T16:56:10.373Z,1761584170.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256736,0.966450,-0.007774],[-0.964146,-0.255548,0.071543],[0.067156,0.025863,0.997407]]
2025-10-27T16:56:10.775Z,1761584170.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262509,0.962146,0.073244],[-0.964235,-0.264443,0.017907],[0.036598,-0.065923,0.997153]]
2025-10-27T16:56:11.177Z,1761584171.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255386,0.958304,0.128188],[-0.966387,-0.248959,-0.064151],[-0.029562,-0.140262,0.989673]]
2025-10-27T16:56:11.583Z,1761584171.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276511,0.948835,0.152488],[-0.956519,-0.256409,-0.139014],[-0.092802,-0.184297,0.978480]]
2025-10-27T16:56:11.997Z,1761584171.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301862,0.942420,0.143957],[-0.952507,-0.291784,-0.087130],[-0.040108,-0.163421,0.985741]]
2025-10-27T16:56:12.394Z,1761584172.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306153,0.947191,0.095391],[-0.950179,-0.310199,0.030586],[0.058561,-0.081275,0.994970]]
2025-10-27T16:56:13.200Z,1761584173.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276024,0.961109,-0.008989],[-0.959332,-0.274915,0.064057],[0.059094,0.026304,0.997906]]
2025-10-27T16:56:13.602Z,1761584173.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267717,0.963300,0.019494],[-0.956384,-0.268140,0.115889],[0.116863,0.012382,0.993071]]
2025-10-27T16:56:14.013Z,1761584174.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313723,0.945596,0.086174],[-0.934893,-0.323483,0.146062],[0.165991,-0.034740,0.985515]]
2025-10-27T16:56:14.815Z,1761584174.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316764,0.931713,0.177681],[-0.948075,-0.305378,-0.088874],[-0.028545,-0.196607,0.980067]]
2025-10-27T16:56:15.219Z,1761584175.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336540,0.919596,0.202693],[-0.941444,-0.323860,-0.093800],[-0.020614,-0.222392,0.974739]]
2025-10-27T16:56:15.622Z,1761584175.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346395,0.928785,0.131789],[-0.938070,-0.343850,-0.042337],[0.005994,-0.138293,0.990373]]
2025-10-27T16:56:16.026Z,1761584176.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342511,0.939228,0.023162],[-0.939288,-0.342865,0.013477],[0.020600,-0.017140,0.999641]]
2025-10-27T16:56:16.430Z,1761584176.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358266,0.933111,-0.030816],[-0.932262,-0.355770,0.065694],[0.050336,0.052264,0.997364]]
2025-10-27T16:56:16.851Z,1761584176.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353995,0.934788,-0.029324],[-0.930906,-0.349161,0.107237],[0.090005,0.065259,0.993801]]
2025-10-27T16:56:17.240Z,1761584177.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326479,0.945103,-0.013815],[-0.942299,-0.324296,0.083091],[0.074049,0.040146,0.996446]]
2025-10-27T16:56:17.641Z,1761584177.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309157,0.950942,-0.011506],[-0.950989,-0.309044,0.010605],[0.006529,0.014221,0.999878]]
2025-10-27T16:56:18.045Z,1761584178.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326522,0.944509,0.035875],[-0.944202,-0.324211,-0.058050],[-0.043198,-0.052827,0.997669]]
2025-10-27T16:56:18.451Z,1761584178.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355474,0.930306,0.090389],[-0.933372,-0.348184,-0.087085],[-0.049544,-0.115323,0.992092]]
2025-10-27T16:56:18.474Z,1761584178.474 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251027T165046/Courier0003.lzma
2025-10-27T16:56:18.902Z,1761584178.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393875,0.906006,0.154971],[-0.919130,-0.386765,-0.074920],[-0.007941,-0.171947,0.985074]]
2025-10-27T16:56:19.475Z,1761584179.475 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Courier0003.lzma.bak
2025-10-27T16:56:19.475Z,1761584179.475 [DataOverHttps](INFO): SBD MOMSN=26246877
2025-10-27T16:56:19.661Z,1761584179.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424930,0.899120,0.104967],[-0.905082,-0.419930,-0.066968],[-0.016134,-0.123460,0.992218]]
2025-10-27T16:56:20.065Z,1761584180.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416872,0.904522,0.089764],[-0.904719,-0.422431,0.055100],[0.087758,-0.058242,0.994438]]
2025-10-27T16:56:20.491Z,1761584180.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403449,0.914321,0.035298],[-0.903916,-0.404250,0.139707],[0.142006,0.024458,0.989564]]
2025-10-27T16:56:20.916Z,1761584180.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366754,0.928006,-0.065540],[-0.927170,-0.358815,0.107735],[0.076462,0.100279,0.992017]]
2025-10-27T16:56:21.279Z,1761584181.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343275,0.936988,-0.064930],[-0.939142,-0.341450,0.037733],[0.013185,0.073931,0.997176]]
2025-10-27T16:56:21.681Z,1761584181.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347426,0.937676,-0.007645],[-0.937615,-0.347266,0.016856],[0.013151,0.013025,0.999829]]
2025-10-27T16:56:22.089Z,1761584182.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336765,0.940527,0.044700],[-0.941570,-0.336682,-0.009591],[0.006029,-0.045318,0.998954]]
2025-10-27T16:56:22.536Z,1761584182.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309368,0.946850,0.088125],[-0.950543,-0.305221,-0.057519],[-0.027565,-0.101561,0.994447]]
2025-10-27T16:56:22.913Z,1761584182.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302946,0.946848,0.108182],[-0.952787,-0.298474,-0.055769],[-0.020515,-0.119970,0.992566]]
2025-10-27T16:56:23.300Z,1761584183.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307639,0.944424,0.115853],[-0.951466,-0.306417,-0.028659],[0.008433,-0.119046,0.992853]]
2025-10-27T16:56:23.702Z,1761584183.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322105,0.943051,0.083091],[-0.946685,-0.321405,-0.022035],[0.005926,-0.085758,0.996298]]
2025-10-27T16:56:24.106Z,1761584184.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352782,0.934656,0.044305],[-0.935356,-0.350961,-0.043994],[-0.025571,-0.056961,0.998049]]
2025-10-27T16:56:24.511Z,1761584184.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370026,0.927745,0.048686],[-0.928513,-0.367583,-0.052399],[-0.030717,-0.064595,0.997439]]
2025-10-27T16:56:24.922Z,1761584184.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357262,0.928346,0.102648],[-0.934000,-0.355418,-0.036358],[0.002731,-0.108863,0.994053]]
2025-10-27T16:56:25.318Z,1761584185.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362684,0.920374,0.146192],[-0.930669,-0.365815,-0.005827],[0.048116,-0.138169,0.989239]]
2025-10-27T16:56:25.723Z,1761584185.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397938,0.907118,0.137045],[-0.914670,-0.403838,0.017122],[0.070876,-0.118537,0.990417]]
2025-10-27T16:56:26.127Z,1761584186.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409857,0.909395,0.070836],[-0.911222,-0.411705,0.013147],[0.041119,-0.059159,0.997401]]
2025-10-27T16:56:26.531Z,1761584186.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388743,0.920351,0.042811],[-0.918741,-0.390717,0.057065],[0.069247,-0.017148,0.997452]]
2025-10-27T16:56:26.938Z,1761584186.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361600,0.929885,0.067526],[-0.918893,-0.367705,0.142931],[0.157739,-0.010365,0.987426]]
2025-10-27T16:56:27.337Z,1761584187.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354294,0.932738,0.066896],[-0.915071,-0.360544,0.180705],[0.192669,0.002808,0.981260]]
2025-10-27T16:56:27.749Z,1761584187.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362966,0.931562,0.021145],[-0.921189,-0.362155,0.142317],[0.140235,0.032178,0.989595]]
2025-10-27T16:56:28.147Z,1761584188.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376544,0.925575,0.039050],[-0.920438,-0.378563,0.097383],[0.104919,0.000726,0.994481]]
2025-10-27T16:56:28.549Z,1761584188.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358623,0.924991,0.125627],[-0.922812,-0.371589,0.101685],[0.140739,-0.079463,0.986853]]
2025-10-27T16:56:28.958Z,1761584188.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355845,0.914275,0.193587],[-0.924135,-0.375081,0.072724],[0.139100,-0.153022,0.978384]]
2025-10-27T16:56:29.357Z,1761584189.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380094,0.911601,0.156564],[-0.921397,-0.387988,0.022178],[0.080963,-0.135828,0.987419]]
2025-10-27T16:56:30.165Z,1761584190.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360999,0.932366,0.019333],[-0.926982,-0.361026,0.101807],[0.101901,0.018831,0.994616]]
2025-10-27T16:56:30.570Z,1761584190.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378367,0.925230,0.028063],[-0.916824,-0.378763,0.126380],[0.127560,0.022089,0.991585]]
2025-10-27T16:56:31.377Z,1761584191.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327809,0.943826,0.041638],[-0.943856,-0.329093,0.028868],[0.040949,-0.029837,0.998716]]
2025-10-27T16:56:31.781Z,1761584191.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316161,0.946845,0.059390],[-0.948687,-0.315142,-0.026055],[-0.005954,-0.064580,0.997895]]
2025-10-27T16:56:31.785Z,1761584191.785 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T16:56:32.187Z,1761584192.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325300,0.941922,0.083447],[-0.944863,-0.320265,-0.068297],[-0.037605,-0.101063,0.994169]]
2025-10-27T16:56:32.590Z,1761584192.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343664,0.931856,0.116355],[-0.938654,-0.337069,-0.072896],[-0.028709,-0.134269,0.990529]]
2025-10-27T16:56:32.994Z,1761584192.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330530,0.932587,0.145022],[-0.943526,-0.330186,-0.027148],[0.022566,-0.145805,0.989056]]
2025-10-27T16:56:33.398Z,1761584193.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316479,0.931893,0.177247],[-0.946525,-0.322575,0.005926],[0.062698,-0.165893,0.984149]]
2025-10-27T16:56:33.803Z,1761584193.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332932,0.929675,0.157674],[-0.941317,-0.337515,0.002436],[0.055482,-0.147610,0.987488]]
2025-10-27T16:56:34.207Z,1761584194.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367268,0.926612,0.080651],[-0.930112,-0.366125,-0.029074],[0.002588,-0.085692,0.996318]]
2025-10-27T16:56:34.609Z,1761584194.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366031,0.930485,0.014786],[-0.928018,-0.363786,-0.080262],[-0.069303,-0.043100,0.996664]]
2025-10-27T16:56:35.014Z,1761584195.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382539,0.922832,0.045226],[-0.921527,-0.377547,-0.090810],[-0.066728,-0.076415,0.994841]]
2025-10-27T16:56:35.419Z,1761584195.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416330,0.907383,0.057657],[-0.908886,-0.413641,-0.053176],[-0.024401,-0.074542,0.996919]]
2025-10-27T16:56:35.821Z,1761584195.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417309,0.906594,0.062777],[-0.908558,-0.417689,-0.007565],[0.019363,-0.060193,0.997999]]
2025-10-27T16:56:36.225Z,1761584196.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373778,0.925853,0.055549],[-0.925644,-0.376159,0.041078],[0.058928,-0.036064,0.997611]]
2025-10-27T16:56:37.184Z,1761584197.184 [DataOverHttps](INFO): Sending 947 bytes from file Logs/20251027T165046/Express0001.lzma
2025-10-27T16:56:37.449Z,1761584197.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350108,0.936616,0.013203],[-0.930215,-0.349303,0.112643],[0.110115,0.027156,0.993548]]
2025-10-27T16:56:37.842Z,1761584197.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315753,0.948763,-0.012190],[-0.946651,-0.314125,0.071958],[0.064442,0.034260,0.997333]]
2025-10-27T16:56:38.185Z,1761584198.185 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0001.lzma.bak
2025-10-27T16:56:38.185Z,1761584198.185 [DataOverHttps](INFO): SBD MOMSN=26246963
2025-10-27T16:56:38.247Z,1761584198.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335713,0.941298,0.035416],[-0.940336,-0.337106,0.046125],[0.055356,-0.017818,0.998308]]
2025-10-27T16:56:38.651Z,1761584198.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316577,0.941280,0.117345],[-0.948474,-0.315840,-0.025323],[0.013226,-0.119315,0.992768]]
2025-10-27T16:56:39.053Z,1761584199.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300021,0.937842,0.174470],[-0.953706,-0.290904,-0.076288],[-0.020792,-0.189281,0.981703]]
2025-10-27T16:56:39.466Z,1761584199.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311465,0.932751,0.181563],[-0.950257,-0.305506,-0.060646],[-0.001099,-0.191421,0.981507]]
2025-10-27T16:56:39.516Z,1761584199.516 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T16:56:39.708Z,1761584199.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T16:56:39.708Z,1761584199.708 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T16:56:39.861Z,1761584199.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318649,0.938091,0.135820],[-0.947416,-0.319656,-0.014919],[0.029421,-0.133432,0.990621]]
2025-10-27T16:56:39.961Z,1761584199.961 [DAT](INFO): DAT read: user:1084>

2025-10-27T16:56:39.962Z,1761584199.962 [DAT](INFO): DAT read: Tx time:16:56:38.9786

2025-10-27T16:56:39.962Z,1761584199.962 [DAT](INFO): Ping request sent.
2025-10-27T16:56:39.963Z,1761584199.963 [DAT](INFO): transmitted an acoustic signal
2025-10-27T16:56:39.963Z,1761584199.963 [DAT](INFO): publishing transmit ping time
2025-10-27T16:56:39.964Z,1761584199.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001127
2025-10-27T16:56:40.212Z,1761584200.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249319
2025-10-27T16:56:40.464Z,1761584200.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501296
2025-10-27T16:56:40.669Z,1761584200.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336961,0.940579,-0.042042],[-0.940393,-0.338406,-0.033811],[-0.046029,0.028143,0.998544]]
2025-10-27T16:56:40.716Z,1761584200.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753297
2025-10-27T16:56:40.968Z,1761584200.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005300
2025-10-27T16:56:41.073Z,1761584201.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363722,0.930949,-0.032259],[-0.929630,-0.364969,-0.050845],[-0.059108,0.011496,0.998185]]
2025-10-27T16:56:41.220Z,1761584201.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257195
2025-10-27T16:56:41.472Z,1761584201.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509336
2025-10-27T16:56:41.479Z,1761584201.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398090,0.916533,0.038613],[-0.917342,-0.397615,-0.019619],[-0.002628,-0.043232,0.999062]]
2025-10-27T16:56:41.725Z,1761584201.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761700
2025-10-27T16:56:41.883Z,1761584201.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400596,0.908290,0.120550],[-0.912506,-0.407378,0.037091],[0.082799,-0.095144,0.992014]]
2025-10-27T16:56:41.976Z,1761584201.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013388
2025-10-27T16:56:42.228Z,1761584202.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265292
2025-10-27T16:56:42.286Z,1761584202.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360269,0.914386,0.184673],[-0.919072,-0.381821,0.097567],[0.159726,-0.134577,0.977945]]
2025-10-27T16:56:42.480Z,1761584202.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517347
2025-10-27T16:56:42.732Z,1761584202.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769866
2025-10-27T16:56:42.984Z,1761584202.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021320
2025-10-27T16:56:43.094Z,1761584203.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313822,0.944021,0.101684],[-0.948694,-0.316121,0.006923],[0.038680,-0.094295,0.994793]]
2025-10-27T16:56:43.237Z,1761584203.237 [DAT](INFO): DAT read: Rx Time:16:56:41.7992

2025-10-27T16:56:43.238Z,1761584203.238 [DAT](INFO): Rx dataTimestamp_ set to:1761584203.236966
2025-10-27T16:56:43.238Z,1761584203.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275445
2025-10-27T16:56:43.488Z,1761584203.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525320
2025-10-27T16:56:43.504Z,1761584203.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319280,0.947045,0.034132],[-0.946225,-0.316608,-0.066473],[-0.052146,-0.053520,0.997204]]
2025-10-27T16:56:43.741Z,1761584203.741 [DAT](INFO): DAT read: Bearing 198, -18 (Remote)

2025-10-27T16:56:43.742Z,1761584203.742 [DAT](INFO): Remote Bearing received:Bearing 198, -18 (Remote)

2025-10-27T16:56:43.744Z,1761584203.744 [DAT](INFO): DAT read: Range 11 to 20 : 593.6 m  (Round-trip  791.5 ms) speed  0.0 m/s

2025-10-27T16:56:43.744Z,1761584203.744 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T16:56:43.902Z,1761584203.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340181,0.940356,0.002683],[-0.936432,-0.338498,-0.092272],[-0.085860,-0.033902,0.995730]]
2025-10-27T16:56:43.977Z,1761584203.977 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584256.00. Resetting abort timer.
2025-10-27T16:56:44.306Z,1761584204.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357446,0.933923,-0.004482],[-0.928100,-0.355744,-0.109891],[-0.104224,-0.035120,0.993934]]
2025-10-27T16:56:44.710Z,1761584204.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361025,0.932552,-0.002675],[-0.926800,-0.359113,-0.109907],[-0.103455,-0.037200,0.993938]]
2025-10-27T16:56:45.115Z,1761584205.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360001,0.932262,0.035856],[-0.931691,-0.357252,-0.065751],[-0.048487,-0.057077,0.997192]]
2025-10-27T16:56:45.518Z,1761584205.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360464,0.928773,0.086293],[-0.932632,-0.360474,-0.016017],[0.016231,-0.086253,0.996141]]
2025-10-27T16:56:45.931Z,1761584205.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367622,0.924903,0.096999],[-0.929954,-0.366325,-0.031505],[0.006394,-0.101787,0.994786]]
2025-10-27T16:56:46.750Z,1761584206.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360356,0.932388,0.028212],[-0.932680,-0.359624,-0.027909],[-0.015876,-0.036369,0.999212]]
2025-10-27T16:56:47.138Z,1761584207.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384288,0.922715,0.030314],[-0.922772,-0.382882,-0.043518],[-0.028548,-0.044696,0.998593]]
2025-10-27T16:56:47.544Z,1761584207.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403639,0.914171,0.036977],[-0.914891,-0.402980,-0.024130],[-0.007158,-0.043570,0.999025]]
2025-10-27T16:56:47.952Z,1761584207.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392567,0.917973,0.056720],[-0.915479,-0.395930,0.071678],[0.088256,-0.023787,0.995814]]
2025-10-27T16:56:48.351Z,1761584208.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380258,0.922953,0.059675],[-0.911001,-0.384907,0.148066],[0.159627,0.001940,0.987176]]
2025-10-27T16:56:48.762Z,1761584208.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358943,0.932714,0.034711],[-0.922980,-0.360237,0.135418],[0.138810,0.016570,0.990180]]
2025-10-27T16:56:49.154Z,1761584209.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327981,0.944136,0.032185],[-0.939145,-0.329552,0.096960],[0.102151,0.001575,0.994768]]
2025-10-27T16:56:49.559Z,1761584209.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301841,0.952431,0.042040],[-0.947644,-0.304561,0.095986],[0.104224,-0.010866,0.994494]]
2025-10-27T16:56:49.963Z,1761584209.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301897,0.951878,0.052782],[-0.951321,-0.304397,0.048275],[0.062019,-0.035639,0.997438]]
2025-10-27T16:56:50.365Z,1761584210.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311962,0.945331,0.095024],[-0.946468,-0.317944,0.055776],[0.082939,-0.072537,0.993911]]
2025-10-27T16:56:50.771Z,1761584210.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314175,0.940788,0.127327],[-0.935820,-0.329470,0.125265],[0.159799,-0.079800,0.983919]]
2025-10-27T16:56:51.174Z,1761584211.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295217,0.949958,0.102114],[-0.948611,-0.304178,0.087254],[0.113949,-0.071108,0.990939]]
2025-10-27T16:56:51.578Z,1761584211.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285401,0.953914,0.092705],[-0.956847,-0.289119,0.029233],[0.054689,-0.080361,0.995264]]
2025-10-27T16:56:51.982Z,1761584211.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313178,0.942109,0.119790],[-0.945265,-0.321395,0.056381],[0.091617,-0.095576,0.991197]]
2025-10-27T16:56:52.387Z,1761584212.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321976,0.937502,0.131990],[-0.942683,-0.330368,0.046968],[0.087638,-0.109302,0.990138]]
2025-10-27T16:56:53.194Z,1761584213.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343639,0.929766,0.132090],[-0.938415,-0.345352,-0.010445],[0.035907,-0.127544,0.991183]]
2025-10-27T16:56:53.599Z,1761584213.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348695,0.929806,0.117781],[-0.932368,-0.356926,0.057391],[0.095402,-0.089803,0.991380]]
2025-10-27T16:56:54.001Z,1761584214.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354274,0.931246,0.085274],[-0.926216,-0.361999,0.105266],[0.128898,-0.041690,0.990781]]
2025-10-27T16:56:54.410Z,1761584214.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361794,0.929882,0.066513],[-0.927110,-0.366366,0.079008],[0.097836,-0.033080,0.994653]]
2025-10-27T16:56:54.810Z,1761584214.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359394,0.932496,0.035880],[-0.930827,-0.360953,0.057214],[0.066303,-0.012835,0.997717]]
2025-10-27T16:56:55.214Z,1761584215.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357016,0.932476,0.055020],[-0.928298,-0.360737,0.090170],[0.103929,-0.018883,0.994405]]
2025-10-27T16:56:55.618Z,1761584215.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376613,0.922399,0.085691],[-0.917509,-0.384175,0.102891],[0.127827,-0.039872,0.990995]]
2025-10-27T16:56:56.022Z,1761584216.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384179,0.920028,0.077171],[-0.919603,-0.388750,0.056605],[0.082078,-0.049220,0.995410]]
2025-10-27T16:56:56.435Z,1761584216.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345752,0.938221,0.014028],[-0.937817,-0.346019,0.027768],[0.030907,-0.003555,0.999516]]
2025-10-27T16:56:56.837Z,1761584216.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316659,0.947903,-0.034735],[-0.948367,-0.315690,0.030659],[0.018096,0.042650,0.998926]]
2025-10-27T16:56:57.215Z,1761584217.215 [DataOverHttps](INFO): Sending 383 bytes from file Logs/20251027T165046/Express0005.lzma
2025-10-27T16:56:57.238Z,1761584217.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318345,0.947127,-0.040100],[-0.947704,-0.318980,-0.010416],[-0.022656,0.034687,0.999141]]
2025-10-27T16:56:57.639Z,1761584217.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306284,0.951711,-0.020879],[-0.949293,-0.306993,-0.067803],[-0.070938,-0.000947,0.997480]]
2025-10-27T16:56:58.041Z,1761584218.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310677,0.949587,0.041998],[-0.949057,-0.307451,-0.069023],[-0.052631,-0.061302,0.996731]]
2025-10-27T16:56:58.217Z,1761584218.217 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0005.lzma.bak
2025-10-27T16:56:58.217Z,1761584218.217 [DataOverHttps](INFO): SBD MOMSN=26246986
2025-10-27T16:56:58.445Z,1761584218.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337397,0.935125,0.108192],[-0.941359,-0.334858,-0.041382],[-0.002468,-0.115810,0.993268]]
2025-10-27T16:56:58.912Z,1761584218.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360506,0.920554,0.150387],[-0.932757,-0.355814,-0.057976],[0.000140,-0.161175,0.986926]]
2025-10-27T16:56:59.276Z,1761584219.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340175,0.927268,0.156384],[-0.940307,-0.337216,-0.045910],[0.010164,-0.162667,0.986629]]
2025-10-27T16:56:59.658Z,1761584219.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333940,0.937832,0.094629],[-0.942353,-0.329895,-0.056047],[-0.021345,-0.107890,0.993934]]
2025-10-27T16:57:00.065Z,1761584220.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333134,0.942549,-0.024983],[-0.940325,-0.334063,-0.064728],[-0.069355,0.001929,0.997590]]
2025-10-27T16:57:00.110Z,1761584220.110 [marl:NeedComms:D] Stopped
2025-10-27T16:57:00.111Z,1761584220.111 [marl:NeedComms:E] Running Loop=1
2025-10-27T16:57:00.465Z,1761584220.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331279,0.937722,-0.104552],[-0.942481,-0.334103,-0.010245],[-0.044538,0.095144,0.994467]]
2025-10-27T16:57:00.487Z,1761584220.487 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-27T16:57:00.919Z,1761584220.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335279,0.940008,-0.063029],[-0.940727,-0.330399,0.076606],[0.051185,0.084978,0.995067]]
2025-10-27T16:57:01.274Z,1761584221.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348136,0.937247,0.019193],[-0.932567,-0.348338,0.094758],[0.095498,0.015090,0.995315]]
2025-10-27T16:57:01.678Z,1761584221.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356360,0.932667,0.056032],[-0.932956,-0.358462,0.033142],[0.050995,-0.040465,0.997879]]
2025-10-27T16:57:02.082Z,1761584222.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328034,0.942969,0.056602],[-0.944631,-0.326915,-0.028280],[-0.008163,-0.062745,0.997996]]
2025-10-27T16:57:02.096Z,1761584222.096 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165701.00,A,3646.80103,N,12151.70816,W,0.583,266.45,271025,,,A*75
2025-10-27T16:57:02.098Z,1761584222.098 [NAL9602](INFO): GPS fix at 20251027T165701: (36.780017, -121.861803)
2025-10-27T16:57:02.134Z,1761584222.134 [marl:NeedComms:E] Stopped
2025-10-27T16:57:02.134Z,1761584222.134 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T16:57:02.134Z,1761584222.134 [marl:NeedComms] Stopped
2025-10-27T16:57:02.134Z,1761584222.134 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T16:57:02.135Z,1761584222.135 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T16:57:02.135Z,1761584222.135 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T16:57:02.160Z,1761584222.160 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:02.486Z,1761584222.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317006,0.945656,0.072406],[-0.948336,-0.317089,-0.010659],[0.012880,-0.072045,0.997318]]
2025-10-27T16:57:02.532Z,1761584222.532 [marl:StartingMission](INFO): Completed marl:StartingMission
2025-10-27T16:57:02.532Z,1761584222.532 [marl:StartingMission] Stopped
2025-10-27T16:57:02.533Z,1761584222.533 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl] Running Loop=1
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:B.Pitch](DEBUG): Initialize.
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-27T16:57:02.533Z,1761584222.533 [marl:JoystickControl:C.Pitch](DEBUG): Initialize.
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize.
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize.
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-27T16:57:02.534Z,1761584222.534 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-27T16:57:02.535Z,1761584222.535 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize.
2025-10-27T16:57:02.926Z,1761584222.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313668,0.946874,0.071002],[-0.949196,-0.314670,0.003101],[0.025278,-0.066422,0.997471]]
2025-10-27T16:57:03.016Z,1761584223.016 [marl:JoystickControl:CmdRudder] Stopped
2025-10-27T16:57:03.017Z,1761584223.017 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-27T16:57:03.017Z,1761584223.017 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-27T16:57:03.017Z,1761584223.017 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-27T16:57:03.017Z,1761584223.017 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-27T16:57:03.018Z,1761584223.018 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-27T16:57:03.018Z,1761584223.018 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-27T16:57:03.018Z,1761584223.018 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-27T16:57:03.018Z,1761584223.018 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-27T16:57:03.063Z,1761584223.063 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-10-27T16:57:03.064Z,1761584223.064 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-10-27T16:57:03.294Z,1761584223.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298183,0.954508,0.001273],[-0.953086,-0.297665,-0.054978],[-0.052099,-0.017607,0.998487]]
2025-10-27T16:57:03.698Z,1761584223.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269289,0.962038,-0.044335],[-0.959302,-0.272017,-0.075809],[-0.084990,0.022116,0.996136]]
2025-10-27T16:57:04.102Z,1761584224.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267807,0.963469,0.002438],[-0.963469,-0.267799,-0.003261],[-0.002489,-0.003222,0.999992]]
2025-10-27T16:57:04.507Z,1761584224.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295032,0.952725,0.072600],[-0.954816,-0.296821,0.014979],[0.035820,-0.064901,0.997249]]
2025-10-27T16:57:04.930Z,1761584224.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307365,0.946375,0.099504],[-0.951468,-0.303959,-0.048133],[-0.015307,-0.109469,0.993872]]
2025-10-27T16:57:05.314Z,1761584225.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309467,0.943690,0.116963],[-0.950222,-0.302214,-0.075800],[-0.036184,-0.134598,0.990239]]
2025-10-27T16:57:05.718Z,1761584225.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324885,0.933083,0.154295],[-0.945736,-0.321516,-0.047019],[0.005736,-0.161198,0.986905]]
2025-10-27T16:57:06.126Z,1761584226.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327689,0.935808,0.129936],[-0.944626,-0.327050,-0.026840],[0.017378,-0.131536,0.991159]]
2025-10-27T16:57:06.933Z,1761584226.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286694,0.958020,-0.002197],[-0.952779,-0.284884,0.105129],[0.100090,0.032233,0.994456]]
2025-10-27T16:57:07.333Z,1761584227.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263768,0.963738,-0.040445],[-0.958235,-0.256997,0.125450],[0.110507,0.071846,0.991275]]
2025-10-27T16:57:07.744Z,1761584227.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272519,0.961494,-0.035546],[-0.958507,-0.268089,0.096913],[0.083652,0.060481,0.994658]]
2025-10-27T16:57:08.145Z,1761584228.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253271,0.967088,-0.024400],[-0.965886,-0.251387,0.062204],[0.054022,0.039322,0.997765]]
2025-10-27T16:57:08.958Z,1761584228.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258549,0.965314,0.036339],[-0.962023,-0.253894,-0.100247],[-0.087543,-0.060878,0.994299]]
2025-10-27T16:57:08.983Z,1761584228.983 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:09.354Z,1761584229.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249015,0.966103,0.068090],[-0.965975,-0.242679,-0.089435],[-0.069879,-0.088044,0.993662]]
2025-10-27T16:57:09.761Z,1761584229.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262437,0.962406,0.070010],[-0.964404,-0.259160,-0.052541],[-0.032422,-0.081307,0.996162]]
2025-10-27T16:57:10.167Z,1761584230.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246154,0.968976,0.022220],[-0.966992,-0.243964,-0.073539],[-0.065836,-0.039589,0.997045]]
2025-10-27T16:57:10.565Z,1761584230.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232790,0.972170,-0.026364],[-0.968490,-0.234205,-0.084702],[-0.088519,0.005815,0.996058]]
2025-10-27T16:57:10.970Z,1761584230.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239816,0.970797,-0.006417],[-0.966099,-0.239296,-0.096899],[-0.095604,-0.017038,0.995274]]
2025-10-27T16:57:11.377Z,1761584231.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275233,0.959311,0.063008],[-0.957633,-0.267792,-0.105958],[-0.084773,-0.089501,0.992372]]
2025-10-27T16:57:11.779Z,1761584231.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290147,0.949592,0.118702],[-0.955631,-0.280909,-0.088659],[-0.050845,-0.139159,0.988964]]
2025-10-27T16:57:12.181Z,1761584232.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267021,0.958941,0.095563],[-0.962768,-0.261111,-0.069999],[-0.042172,-0.110696,0.992959]]
2025-10-27T16:57:12.586Z,1761584232.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213694,0.976700,0.019806],[-0.972743,-0.210872,-0.096460],[-0.090036,-0.039879,0.995140]]
2025-10-27T16:57:12.990Z,1761584232.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219050,0.975287,-0.028837],[-0.969286,-0.220899,-0.108112],[-0.111810,0.004270,0.993720]]
2025-10-27T16:57:13.403Z,1761584233.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250744,0.967629,-0.028663],[-0.967377,-0.251565,-0.029938],[-0.036179,0.020222,0.999141]]
2025-10-27T16:57:13.799Z,1761584233.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234953,0.971901,-0.014354],[-0.970627,-0.233807,0.056732],[0.051782,0.027262,0.998286]]
2025-10-27T16:57:14.202Z,1761584234.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213627,0.976842,0.011953],[-0.973925,-0.213913,0.075577],[0.076384,0.004504,0.997068]]
2025-10-27T16:57:14.606Z,1761584234.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195155,0.980599,0.018471],[-0.978072,-0.195980,0.070482],[0.072734,-0.004311,0.997342]]
2025-10-27T16:57:15.010Z,1761584235.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186252,0.981228,0.050020],[-0.978328,-0.189908,0.082519],[0.090469,-0.033567,0.995333]]
2025-10-27T16:57:15.414Z,1761584235.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152293,0.985756,0.071363],[-0.985277,-0.157101,0.067438],[0.077688,-0.060042,0.995168]]
2025-10-27T16:57:15.818Z,1761584235.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140505,0.987467,0.071886],[-0.989136,-0.143171,0.033357],[0.043231,-0.066418,0.996855]]
2025-10-27T16:57:16.222Z,1761584236.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181371,0.981081,0.067704],[-0.980821,-0.185461,0.059956],[0.071378,-0.055531,0.995902]]
2025-10-27T16:57:17.030Z,1761584237.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158287,0.981350,0.109078],[-0.978468,-0.170716,0.116002],[0.132460,-0.088368,0.987241]]
2025-10-27T16:57:17.434Z,1761584237.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127081,0.990186,0.058151],[-0.987708,-0.131707,0.084177],[0.091009,-0.046739,0.994753]]
2025-10-27T16:57:17.838Z,1761584237.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107777,0.993817,0.026674],[-0.991922,-0.109299,0.064381],[0.066898,-0.019520,0.997569]]
2025-10-27T16:57:18.243Z,1761584238.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143600,0.988169,0.053856],[-0.986658,-0.147174,0.069609],[0.076712,-0.043142,0.996119]]
2025-10-27T16:57:18.367Z,1761584238.367 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:18.646Z,1761584238.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153932,0.983815,0.091718],[-0.984198,-0.160886,0.073960],[0.087519,-0.078884,0.993035]]
2025-10-27T16:57:18.651Z,1761584238.651 [NAL9602](INFO): SBD MO Status=0, MOMSN=3057, MT Status=0, MTMSN=0
2025-10-27T16:57:18.651Z,1761584238.651 [NAL9602](INFO): No messages in MT queue
2025-10-27T16:57:19.050Z,1761584239.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152671,0.979961,0.127939],[-0.981640,-0.165348,0.095094],[0.114343,-0.111072,0.987213]]
2025-10-27T16:57:19.454Z,1761584239.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148452,0.980552,0.128371],[-0.981367,-0.162084,0.103184],[0.121984,-0.110661,0.986344]]
2025-10-27T16:57:19.864Z,1761584239.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126110,0.985729,0.111510],[-0.983253,-0.139112,0.117734],[0.131566,-0.094795,0.986764]]
2025-10-27T16:57:20.261Z,1761584240.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131519,0.988550,0.073976],[-0.984493,-0.138988,0.107030],[0.116087,-0.058753,0.991500]]
2025-10-27T16:57:21.070Z,1761584241.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089966,0.995870,0.012246],[-0.989583,-0.090772,0.111739],[0.112389,-0.002065,0.993662]]
2025-10-27T16:57:21.475Z,1761584241.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100011,0.993360,0.056860],[-0.983654,-0.107311,0.144600],[0.149741,-0.041469,0.987855]]
2025-10-27T16:57:21.886Z,1761584241.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095400,0.992924,0.070722],[-0.983583,-0.104958,0.146792],[0.153176,-0.055557,0.986636]]
2025-10-27T16:57:22.282Z,1761584242.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064471,0.995742,0.065887],[-0.990876,-0.071707,0.114117],[0.118356,-0.057928,0.991280]]
2025-10-27T16:57:22.686Z,1761584242.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039418,0.998685,0.032788],[-0.996089,-0.041870,0.077810],[0.079080,-0.029592,0.996429]]
2025-10-27T16:57:23.096Z,1761584243.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029225,0.999238,0.025871],[-0.996533,-0.031143,0.077144],[0.077891,-0.023527,0.996684]]
2025-10-27T16:57:23.494Z,1761584243.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019713,0.999200,0.034785],[-0.995707,-0.022767,0.089714],[0.090435,-0.032868,0.995360]]
2025-10-27T16:57:23.898Z,1761584243.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023663,0.998928,0.039793],[-0.997177,0.020747,0.072159],[0.071256,-0.041389,0.996599]]
2025-10-27T16:57:24.302Z,1761584244.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044971,0.997399,0.056334],[-0.998297,0.042771,0.039664],[0.037152,-0.058022,0.997624]]
2025-10-27T16:57:25.110Z,1761584245.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026582,0.998193,0.053882],[-0.999272,0.028010,-0.025917],[-0.027380,-0.053154,0.998211]]
2025-10-27T16:57:25.513Z,1761584245.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065698,0.997275,0.033565],[-0.997832,0.065533,0.006005],[0.003789,-0.033886,0.999419]]
2025-10-27T16:57:25.918Z,1761584245.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070224,0.997246,0.023834],[-0.997398,0.069804,0.018017],[0.016303,-0.025038,0.999554]]
2025-10-27T16:57:26.321Z,1761584246.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048367,0.998427,0.028349],[-0.998763,0.048673,-0.010207],[-0.011570,-0.027820,0.999546]]
2025-10-27T16:57:26.729Z,1761584246.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070205,0.997206,0.025540],[-0.997428,0.070545,-0.012648],[-0.014415,-0.024587,0.999594]]
2025-10-27T16:57:27.129Z,1761584247.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100200,0.994332,0.035541],[-0.994460,0.098944,0.035490],[0.031772,-0.038900,0.998738]]
2025-10-27T16:57:27.534Z,1761584247.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086308,0.994368,0.061512],[-0.995415,0.083515,0.046623],[0.041223,-0.065254,0.997017]]
2025-10-27T16:57:27.940Z,1761584247.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067669,0.994819,0.075871],[-0.997693,0.067056,0.010601],[0.005459,-0.076413,0.997061]]
2025-10-27T16:57:27.963Z,1761584247.963 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:28.752Z,1761584248.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093914,0.989794,0.107181],[-0.995579,0.093545,0.008473],[-0.001640,-0.107503,0.994203]]
2025-10-27T16:57:29.155Z,1761584249.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084863,0.994076,0.067912],[-0.996348,0.084016,0.015229],[0.009433,-0.068956,0.997575]]
2025-10-27T16:57:29.555Z,1761584249.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102582,0.993457,0.050201],[-0.994428,0.101189,0.029556],[0.024283,-0.052954,0.998302]]
2025-10-27T16:57:29.958Z,1761584249.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135876,0.988359,0.068445],[-0.990726,0.135569,0.009137],[-0.000248,-0.069052,0.997613]]
2025-10-27T16:57:30.371Z,1761584250.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089115,0.989728,0.111787],[-0.995444,0.092320,-0.023826],[-0.033901,-0.109154,0.993447]]
2025-10-27T16:57:30.767Z,1761584250.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058164,0.990784,0.122326],[-0.998016,0.060669,-0.016851],[-0.024117,-0.121103,0.992347]]
2025-10-27T16:57:31.170Z,1761584251.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102330,0.989446,0.102597],[-0.994192,0.098271,0.043879],[0.033333,-0.106491,0.993755]]
2025-10-27T16:57:31.574Z,1761584251.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099315,0.990218,0.098002],[-0.993045,0.092375,0.072993],[0.063226,-0.104570,0.992506]]
2025-10-27T16:57:31.984Z,1761584251.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069865,0.996796,0.038948],[-0.988809,0.064040,0.134743],[0.131817,-0.047926,0.990115]]
2025-10-27T16:57:32.386Z,1761584252.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123366,0.992227,0.016314],[-0.985744,0.120631,0.117291],[0.114412,-0.030551,0.992963]]
2025-10-27T16:57:32.790Z,1761584252.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138779,0.990110,0.020565],[-0.989756,0.137967,0.036714],[0.033513,-0.025450,0.999114]]
2025-10-27T16:57:33.194Z,1761584253.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106392,0.992787,0.055264],[-0.994107,0.105043,0.026781],[0.020783,-0.057788,0.998112]]
2025-10-27T16:57:33.599Z,1761584253.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085385,0.991477,0.098405],[-0.993447,0.077189,0.084288],[0.075974,-0.104957,0.991570]]
2025-10-27T16:57:33.998Z,1761584253.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067977,0.989970,0.123849],[-0.993398,0.055663,0.100313],[0.092413,-0.129850,0.987218]]
2025-10-27T16:57:34.402Z,1761584254.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066162,0.991033,0.116084],[-0.996319,0.059260,0.061942],[0.054507,-0.119755,0.991306]]
2025-10-27T16:57:34.807Z,1761584254.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071510,0.994895,0.071206],[-0.994918,0.066075,0.075970],[0.070877,-0.076277,0.994564]]
2025-10-27T16:57:35.210Z,1761584255.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082170,0.996473,0.017000],[-0.993802,0.080644,0.076508],[0.074867,-0.023181,0.996924]]
2025-10-27T16:57:36.018Z,1761584256.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081963,0.996304,-0.025698],[-0.993818,0.079767,-0.077218],[-0.074883,0.031868,0.996683]]
2025-10-27T16:57:36.421Z,1761584256.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077230,0.996892,-0.015530],[-0.995946,0.076418,-0.047450],[-0.046116,0.019131,0.998753]]
2025-10-27T16:57:36.590Z,1761584256.590 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-27T16:57:36.836Z,1761584256.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084569,0.996047,0.027158],[-0.995464,0.083264,0.046034],[0.043591,-0.030928,0.998571]]
2025-10-27T16:57:37.231Z,1761584257.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075038,0.991866,0.102820],[-0.994506,0.066891,0.080521],[0.072988,-0.108297,0.991436]]
2025-10-27T16:57:37.633Z,1761584257.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061432,0.989907,0.127715],[-0.997529,0.056521,0.041730],[0.034091,-0.129963,0.990933]]
2025-10-27T16:57:38.037Z,1761584258.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073579,0.989836,0.121702],[-0.996677,0.068709,0.043746],[0.034939,-0.124516,0.991602]]
2025-10-27T16:57:38.442Z,1761584258.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099806,0.990473,0.094878],[-0.994159,0.095330,0.050607],[0.041080,-0.099375,0.994202]]
2025-10-27T16:57:38.849Z,1761584258.849 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:38.899Z,1761584258.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100537,0.994331,0.034623],[-0.994609,0.099555,0.029012],[0.025401,-0.037353,0.998979]]
2025-10-27T16:57:39.250Z,1761584259.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114354,0.992041,-0.052699],[-0.993440,0.114213,-0.005699],[0.000365,0.053005,0.998594]]
2025-10-27T16:57:39.342Z,1761584259.342 [BackseatComponent](INFO): Created data reader for DAT.enableBroadcast with code: 1725
2025-10-27T16:57:39.343Z,1761584259.343 [BackseatComponent](INFO): Requesting data from DAT.enableBroadcast (1725). Requested size is: 1
2025-10-27T16:57:39.370Z,1761584259.370 [BackseatComponent](INFO): Created data reader for NAL9602.latitude_fix with code: 1803
2025-10-27T16:57:39.370Z,1761584259.370 [BackseatComponent](INFO): Requesting data from NAL9602.latitude_fix (1803). Requested size is: 2
2025-10-27T16:57:39.382Z,1761584259.382 [BackseatComponent](INFO): Created data reader for NAL9602.longitude_fix with code: 1804
2025-10-27T16:57:39.382Z,1761584259.382 [BackseatComponent](INFO): Requesting data from NAL9602.longitude_fix (1804). Requested size is: 3
2025-10-27T16:57:39.406Z,1761584259.406 [BackseatComponent](INFO): Created data reader for WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water with code: 1959
2025-10-27T16:57:39.406Z,1761584259.406 [BackseatComponent](INFO): Requesting data from WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water (1959). Requested size is: 4
2025-10-27T16:57:39.422Z,1761584259.422 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T16:57:39.422Z,1761584259.422 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T16:57:39.425Z,1761584259.425 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-10-27T16:57:39.425Z,1761584259.425 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 5
2025-10-27T16:57:39.446Z,1761584259.446 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-10-27T16:57:39.446Z,1761584259.446 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 6
2025-10-27T16:57:39.452Z,1761584259.452 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-10-27T16:57:39.453Z,1761584259.453 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 7
2025-10-27T16:57:39.556Z,1761584259.556 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-27T16:57:39.556Z,1761584259.556 [DAT](INFO): Activating messaging.
2025-10-27T16:57:39.654Z,1761584259.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120407,0.989415,-0.080997],[-0.990931,0.114886,-0.069692],[-0.059649,0.088654,0.994275]]
2025-10-27T16:57:39.706Z,1761584259.706 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2529
2025-10-27T16:57:39.712Z,1761584259.712 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2531
2025-10-27T16:57:39.714Z,1761584259.714 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2528
2025-10-27T16:57:39.733Z,1761584259.733 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T16:57:39.976Z,1761584259.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T16:57:39.976Z,1761584259.976 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T16:57:40.118Z,1761584260.118 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:57:40.118Z,1761584260.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:57:40.118Z,1761584260.118 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:57:40.119Z,1761584260.119 [marl:UpdateRudder:A] Stopped
2025-10-27T16:57:40.119Z,1761584260.119 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:57:40.119Z,1761584260.119 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:57:40.119Z,1761584260.119 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:57:40.119Z,1761584260.119 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateCommandMode] Stopped
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:57:40.120Z,1761584260.120 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:57:40.121Z,1761584260.121 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:57:40.121Z,1761584260.121 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:57:40.121Z,1761584260.121 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:57:40.121Z,1761584260.121 [marl:UpdateSpeed] Stopped
2025-10-27T16:57:40.121Z,1761584260.121 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:57:40.228Z,1761584260.228 [DAT](INFO): DAT read: user:1085>

2025-10-27T16:57:40.229Z,1761584260.229 [DAT](INFO): DAT read: Tx time:16:57:39.2287

2025-10-27T16:57:40.229Z,1761584260.229 [DAT](INFO): Ping request sent.
2025-10-27T16:57:40.229Z,1761584260.229 [DAT](INFO): transmitted an acoustic signal
2025-10-27T16:57:40.229Z,1761584260.229 [DAT](INFO): publishing transmit ping time
2025-10-27T16:57:40.230Z,1761584260.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938
2025-10-27T16:57:40.462Z,1761584260.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072482,0.994542,0.075054],[-0.997257,0.071138,0.020434],[0.014983,-0.076329,0.996970]]
2025-10-27T16:57:40.480Z,1761584260.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250865
2025-10-27T16:57:40.505Z,1761584260.505 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-27T16:57:40.505Z,1761584260.505 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-27T16:57:40.505Z,1761584260.505 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-27T16:57:40.506Z,1761584260.506 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-27T16:57:40.506Z,1761584260.506 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-27T16:57:40.506Z,1761584260.506 [marl:JoystickControl:CmdHeading] Stopped
2025-10-27T16:57:40.506Z,1761584260.506 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading
2025-10-27T16:57:40.506Z,1761584260.506 [marl:JoystickControl:CmdHeading:A.Point] Stopped
2025-10-27T16:57:40.536Z,1761584260.536 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-27T16:57:40.536Z,1761584260.536 [marl:UpdateRudder:B] Stopped
2025-10-27T16:57:40.536Z,1761584260.536 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:57:40.536Z,1761584260.536 [marl:UpdateRudder] Stopped
2025-10-27T16:57:40.536Z,1761584260.536 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:57:40.732Z,1761584260.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988
2025-10-27T16:57:40.920Z,1761584260.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056647,0.989734,0.131213],[-0.998348,0.057417,-0.002093],[-0.009606,-0.130878,0.991352]]
2025-10-27T16:57:40.930Z,1761584260.930 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165740.00,A,3646.80403,N,12151.71446,W,0.972,313.53,271025,,,A*7B
2025-10-27T16:57:40.948Z,1761584260.948 [NAL9602](INFO): GPS fix at 20251027T165740: (36.780067, -121.861908)
2025-10-27T16:57:40.985Z,1761584260.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755658
2025-10-27T16:57:41.061Z,1761584261.061 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:41.236Z,1761584261.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006884
2025-10-27T16:57:41.270Z,1761584261.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063035,0.987060,0.147444],[-0.995073,0.073488,-0.066550],[-0.076525,-0.142522,0.986829]]
2025-10-27T16:57:41.488Z,1761584261.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258873
2025-10-27T16:57:41.675Z,1761584261.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067576,0.991066,0.114987],[-0.992871,0.078142,-0.090009],[-0.098190,-0.108085,0.989281]]
2025-10-27T16:57:41.741Z,1761584261.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511424
2025-10-27T16:57:41.996Z,1761584261.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766472
2025-10-27T16:57:42.077Z,1761584262.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071935,0.996151,0.050087],[-0.995773,0.074601,-0.053576],[-0.057106,-0.046021,0.997307]]
2025-10-27T16:57:42.245Z,1761584262.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016374
2025-10-27T16:57:42.481Z,1761584262.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066186,0.997694,0.015041],[-0.997672,0.066418,-0.015440],[-0.016404,-0.013984,0.999768]]
2025-10-27T16:57:42.496Z,1761584262.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266862
2025-10-27T16:57:42.749Z,1761584262.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519603
2025-10-27T16:57:42.910Z,1761584262.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056387,0.998165,-0.022091],[-0.998104,0.055809,-0.025963],[-0.024683,0.023513,0.999419]]
2025-10-27T16:57:42.000Z,1761584263.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770805
2025-10-27T16:57:43.252Z,1761584263.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022845
2025-10-27T16:57:43.296Z,1761584263.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064698,0.997628,-0.023499],[-0.997367,0.063873,-0.034334],[-0.032752,0.025659,0.999134]]
2025-10-27T16:57:43.505Z,1761584263.505 [DAT](INFO): DAT read: Rx Time:16:57:42.0669

2025-10-27T16:57:43.506Z,1761584263.506 [DAT](INFO): Rx dataTimestamp_ set to:1761584263.504960
2025-10-27T16:57:43.506Z,1761584263.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276982
2025-10-27T16:57:43.756Z,1761584263.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527250
2025-10-27T16:57:44.015Z,1761584264.015 [DAT](INFO): DAT read: 16:57:42.0669 LVL= 28656, 28449, 15922, 28627, AGC= 66, IDX= 106,-0.33,-0.368,-0.064, 2.055, 1.035, PHS=-1.301,-1.054, 0.976, RAW= 215.7,  12.7, CAL= 217.6,  14.9, ROT= 292.4, -14.9

2025-10-27T16:57:44.016Z,1761584264.016 [DAT](INFO): got valid direction response:
 16:57:42.0669 LVL= 28656, 28449, 15922, 28627, AGC= 66, IDX= 106,-0.33,-0.368,-0.064, 2.055, 1.035, PHS=-1.301,-1.054, 0.976, RAW= 215.7,  12.7, CAL= 217.6,  14.9, ROT= 292.4, -14.9

2025-10-27T16:57:44.017Z,1761584264.017 [DAT](INFO): DAT read: Bearing 187,  11 (Remote)

2025-10-27T16:57:44.017Z,1761584264.017 [DAT](INFO): Remote Bearing received:Bearing 187,  11 (Remote)

2025-10-27T16:57:44.018Z,1761584264.018 [DAT](INFO): DAT read: Bearing 107.8, -65.4 (Local)

2025-10-27T16:57:44.018Z,1761584264.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.8, -65.4 (Local)

2025-10-27T16:57:44.044Z,1761584264.044 [DAT](INFO): DAT read: Range 11 to 20 : 606.8 m  (Round-trip  809.1 ms) speed  0.0 m/s

2025-10-27T16:57:44.045Z,1761584264.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T16:57:44.046Z,1761584264.046 [DAT](INFO): direction in FSK: [0.368257,-0.893459,0.257133]
2025-10-27T16:57:44.046Z,1761584264.046 [DAT](INFO): publishing direction and range info
2025-10-27T16:57:44.102Z,1761584264.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069184,0.996394,0.049108],[-0.991176,0.074234,-0.109812],[-0.113062,-0.041077,0.992738]]
2025-10-27T16:57:44.119Z,1761584264.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165743.00,A,3646.80431,N,12151.71495,W,0.525,307.13,271025,,,A*78
2025-10-27T16:57:44.121Z,1761584264.121 [NAL9602](INFO): GPS fix at 20251027T165743: (36.780072, -121.861916)
2025-10-27T16:57:44.228Z,1761584264.228 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:44.228Z,1761584264.228 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:44.503Z,1761584264.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064772,0.992288,0.105682],[-0.993585,0.073968,-0.085544],[-0.092701,-0.099464,0.990714]]
2025-10-27T16:57:44.522Z,1761584264.522 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T16:57:44.913Z,1761584264.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074041,0.989325,0.125516],[-0.995709,0.080346,-0.045924],[-0.055518,-0.121578,0.991028]]
2025-10-27T16:57:45.328Z,1761584265.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072872,0.992860,0.094435],[-0.992576,0.081443,-0.090336],[-0.097383,-0.087150,0.991424]]
2025-10-27T16:57:45.714Z,1761584265.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052603,0.996962,0.057444],[-0.986436,0.060832,-0.152456],[-0.155487,-0.048645,0.986639]]
2025-10-27T16:57:46.120Z,1761584266.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048199,0.998375,0.030405],[-0.986825,0.052304,-0.153103],[-0.154444,-0.022625,0.987742]]
2025-10-27T16:57:46.522Z,1761584266.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043080,0.998746,0.025515],[-0.991663,0.045851,-0.120421],[-0.121440,-0.020114,0.992395]]
2025-10-27T16:57:46.926Z,1761584266.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045098,0.998405,0.033951],[-0.993486,0.048385,-0.103175],[-0.104653,-0.029077,0.994084]]
2025-10-27T16:57:46.931Z,1761584266.931 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165746.00,A,3646.80455,N,12151.71516,W,0.447,319.72,271025,,,A*78
2025-10-27T16:57:46.933Z,1761584266.933 [NAL9602](INFO): GPS fix at 20251027T165746: (36.780076, -121.861919)
2025-10-27T16:57:46.992Z,1761584266.992 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:47.347Z,1761584267.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053388,0.996949,0.056941],[-0.993720,0.058657,-0.095285],[-0.098334,-0.051496,0.993820]]
2025-10-27T16:57:47.753Z,1761584267.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072576,0.995289,0.064279],[-0.995896,0.075813,-0.049425],[-0.054065,-0.060428,0.996707]]
2025-10-27T16:57:48.141Z,1761584268.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072439,0.993887,0.083309],[-0.997152,0.073927,-0.014915],[-0.020983,-0.081991,0.996412]]
2025-10-27T16:57:48.547Z,1761584268.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048202,0.993076,0.107127],[-0.998499,0.050699,-0.020712],[-0.025999,-0.105968,0.994030]]
2025-10-27T16:57:49.353Z,1761584269.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065898,0.996753,0.046266],[-0.997741,0.066428,-0.010012],[-0.013053,-0.045502,0.998879]]
2025-10-27T16:57:49.703Z,1761584269.703 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:49.767Z,1761584269.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076877,0.996778,-0.022886],[-0.996553,0.076101,-0.033015],[-0.031167,0.025345,0.999193]]
2025-10-27T16:57:50.161Z,1761584270.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057522,0.997578,-0.039111],[-0.997698,0.056031,-0.038202],[-0.035918,0.041219,0.998504]]
2025-10-27T16:57:50.167Z,1761584270.167 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165749.00,A,3646.80487,N,12151.71522,W,1.186,310.26,271025,,,A*7E
2025-10-27T16:57:50.169Z,1761584270.169 [NAL9602](INFO): GPS fix at 20251027T165749: (36.780081, -121.861920)
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateRudder:A] Stopped
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:57:50.213Z,1761584270.213 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode] Stopped
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:57:50.214Z,1761584270.214 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:57:50.219Z,1761584270.219 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:57:50.219Z,1761584270.219 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:57:50.219Z,1761584270.219 [marl:UpdateSpeed] Stopped
2025-10-27T16:57:50.219Z,1761584270.219 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:57:50.221Z,1761584270.221 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:50.566Z,1761584270.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063837,0.997908,-0.010179],[-0.997958,0.063854,0.001321],[0.001968,0.010074,0.999947]]
2025-10-27T16:57:50.615Z,1761584270.615 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-27T16:57:50.615Z,1761584270.615 [marl:UpdateRudder:B] Stopped
2025-10-27T16:57:50.615Z,1761584270.615 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:57:50.615Z,1761584270.615 [marl:UpdateRudder] Stopped
2025-10-27T16:57:50.616Z,1761584270.616 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:57:50.969Z,1761584270.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077234,0.992717,0.092450],[-0.996949,0.077948,-0.004137],[-0.011313,-0.091849,0.995709]]
2025-10-27T16:57:51.016Z,1761584271.016 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.send_observations with code: 2514
2025-10-27T16:57:51.393Z,1761584271.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060856,0.978906,0.195037],[-0.995728,0.073132,-0.056368],[-0.069442,-0.190773,0.979175]]
2025-10-27T16:57:51.782Z,1761584271.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014685,0.982536,0.185489],[-0.995481,0.031774,-0.089493],[-0.093823,-0.183337,0.978563]]
2025-10-27T16:57:52.183Z,1761584272.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013298,0.997077,0.075237],[-0.995989,0.019867,-0.087247],[-0.088486,-0.073775,0.993342]]
2025-10-27T16:57:52.587Z,1761584272.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033894,0.999314,-0.014902],[-0.995155,0.032368,-0.092837],[-0.092291,0.017977,0.995570]]
2025-10-27T16:57:52.990Z,1761584272.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048759,0.997757,-0.045868],[-0.997439,0.046235,-0.054564],[-0.052321,0.048411,0.997456]]
2025-10-27T16:57:52.998Z,1761584272.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165752.00,A,3646.80512,N,12151.71653,W,1.108,280.03,271025,,,A*75
2025-10-27T16:57:53.000Z,1761584273.000 [NAL9602](INFO): GPS fix at 20251027T165752: (36.780085, -121.861942)
2025-10-27T16:57:53.105Z,1761584273.105 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:53.394Z,1761584273.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075272,0.996869,-0.024227],[-0.997138,0.075421,0.005286],[0.007096,0.023759,0.999693]]
2025-10-27T16:57:53.821Z,1761584273.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068888,0.997485,0.016681],[-0.997455,0.069175,-0.017257],[-0.018368,-0.015449,0.999712]]
2025-10-27T16:57:54.202Z,1761584274.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059250,0.996534,0.058391],[-0.997649,0.061132,-0.030985],[-0.034447,-0.056418,0.997813]]
2025-10-27T16:57:54.609Z,1761584274.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070744,0.989741,0.124131],[-0.997334,0.067952,0.026588],[0.017880,-0.125681,0.991910]]
2025-10-27T16:57:55.011Z,1761584275.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035526,0.986318,0.160983],[-0.999369,0.035135,0.005276],[-0.000452,-0.161069,0.986943]]
2025-10-27T16:57:55.414Z,1761584275.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008782,0.991331,0.131092],[-0.998699,0.015282,-0.048658],[-0.050240,-0.130494,0.990175]]
2025-10-27T16:57:56.222Z,1761584276.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051694,0.998663,-0.000712],[-0.994438,0.051541,0.091849],[0.091763,-0.004040,0.995773]]
2025-10-27T16:57:56.230Z,1761584276.230 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165755.00,A,3646.80536,N,12151.71668,W,0.292,297.81,271025,,,A*71
2025-10-27T16:57:56.232Z,1761584276.232 [NAL9602](INFO): GPS fix at 20251027T165755: (36.780089, -121.861945)
2025-10-27T16:57:56.319Z,1761584276.319 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:56.627Z,1761584276.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050370,0.998451,-0.023616],[-0.994051,0.052406,0.095474],[0.096564,0.018667,0.995152]]
2025-10-27T16:57:57.029Z,1761584277.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037966,0.999262,0.005906],[-0.998524,0.037707,0.039082],[0.038830,-0.007381,0.999219]]
2025-10-27T16:57:57.437Z,1761584277.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059161,0.995888,0.068601],[-0.998247,0.059153,0.002145],[-0.001922,-0.068608,0.997642]]
2025-10-27T16:57:57.842Z,1761584277.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070667,0.991255,0.111447],[-0.997067,0.066902,0.037175],[0.029394,-0.113748,0.993075]]
2025-10-27T16:57:58.242Z,1761584278.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073678,0.991400,0.108154],[-0.995509,0.066649,0.067232],[0.059445,-0.112622,0.991858]]
2025-10-27T16:57:58.648Z,1761584278.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083741,0.992702,0.086779],[-0.995641,0.079764,0.048330],[0.041055,-0.090448,0.995055]]
2025-10-27T16:57:59.051Z,1761584279.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084566,0.995120,0.050835],[-0.995581,0.082295,0.045232],[0.040828,-0.054435,0.997682]]
2025-10-27T16:57:59.062Z,1761584279.062 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165758.00,A,3646.80532,N,12151.71638,W,0.292,297.81,271025,,,A*7D
2025-10-27T16:57:59.064Z,1761584279.064 [NAL9602](INFO): GPS fix at 20251027T165758: (36.780089, -121.861940)
2025-10-27T16:57:59.152Z,1761584279.152 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:57:59.393Z,1761584279.393 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:57:59.454Z,1761584279.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089354,0.994412,0.056227],[-0.992415,0.084105,0.089660],[0.084429,-0.063812,0.994384]]
2025-10-27T16:57:59.858Z,1761584279.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105734,0.991732,0.072721],[-0.987984,0.096481,0.120741],[0.112727,-0.084614,0.990017]]
2025-10-27T16:58:00.262Z,1761584280.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108792,0.989876,0.091154],[-0.993792,0.106159,0.033268],[0.023255,-0.094208,0.995281]]
2025-10-27T16:58:00.668Z,1761584280.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094923,0.991206,0.092200],[-0.993375,0.100342,-0.056018],[-0.064777,-0.086272,0.994164]]
2025-10-27T16:58:01.069Z,1761584281.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097666,0.991206,0.089286],[-0.994100,0.101416,-0.038468],[-0.047184,-0.085002,0.995263]]
2025-10-27T16:58:01.492Z,1761584281.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108637,0.993095,0.044274],[-0.993996,0.109105,-0.008290],[-0.013063,-0.043108,0.998985]]
2025-10-27T16:58:02.004Z,1761584282.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105174,0.994449,-0.003026],[-0.994450,0.105166,-0.002924],[-0.002590,0.003316,0.999991]]
2025-10-27T16:58:02.063Z,1761584282.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165801.00,A,3646.80554,N,12151.71729,W,1.302,286.58,271025,,,A*72
2025-10-27T16:58:02.092Z,1761584282.092 [NAL9602](INFO): GPS fix at 20251027T165801: (36.780092, -121.861955)
2025-10-27T16:58:02.232Z,1761584282.232 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:02.442Z,1761584282.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117238,0.991778,0.051296],[-0.992416,0.115078,0.043223],[0.036964,-0.055974,0.997748]]
2025-10-27T16:58:02.588Z,1761584282.588 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:58:02.588Z,1761584282.588 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateRudder:A] Stopped
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:58:02.589Z,1761584282.589 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateCommandMode] Stopped
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:58:02.590Z,1761584282.590 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:58:02.591Z,1761584282.591 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:58:02.591Z,1761584282.591 [marl:UpdateSpeed] Stopped
2025-10-27T16:58:02.591Z,1761584282.591 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:58:02.829Z,1761584282.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130514,0.988181,0.080398],[-0.991352,0.128955,0.024307],[0.013652,-0.082875,0.996466]]
2025-10-27T16:58:03.088Z,1761584283.088 [marl:UpdateRudder:B](INFO): Updating rudder angle  1.000000 arcdeg 
2025-10-27T16:58:03.088Z,1761584283.088 [marl:UpdateRudder:B] Stopped
2025-10-27T16:58:03.088Z,1761584283.088 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:58:03.088Z,1761584283.088 [marl:UpdateRudder] Stopped
2025-10-27T16:58:03.088Z,1761584283.088 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:58:04.030Z,1761584284.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106867,0.988954,0.102714],[-0.993673,0.109819,-0.023515],[-0.034536,-0.099551,0.994433]]
2025-10-27T16:58:04.486Z,1761584284.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091688,0.992477,0.081134],[-0.991875,0.098240,-0.080830],[-0.088192,-0.073064,0.993420]]
2025-10-27T16:58:04.916Z,1761584284.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097795,0.993204,0.063103],[-0.991780,0.102519,-0.076559],[-0.082508,-0.055097,0.995066]]
2025-10-27T16:58:05.362Z,1761584285.362 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165804.00,A,3646.80591,N,12151.71791,W,0.564,304.98,271025,,,A*7D
2025-10-27T16:58:05.373Z,1761584285.373 [NAL9602](INFO): GPS fix at 20251027T165804: (36.780099, -121.861965)
2025-10-27T16:58:05.489Z,1761584285.489 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:05.737Z,1761584285.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121423,0.992584,0.005787],[-0.991864,0.121106,0.039228],[0.038237,-0.010503,0.999214]]
2025-10-27T16:58:06.135Z,1761584286.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116133,0.992876,0.026640],[-0.991326,0.114207,0.065034],[0.061528,-0.033962,0.997527]]
2025-10-27T16:58:06.948Z,1761584286.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128603,0.981239,0.143639],[-0.984481,0.143762,-0.100651],[-0.119412,-0.128466,0.984498]]
2025-10-27T16:58:07.346Z,1761584287.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113851,0.974378,0.193975],[-0.984271,0.137170,-0.111331],[-0.135086,-0.178248,0.974669]]
2025-10-27T16:58:07.756Z,1761584287.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112896,0.977124,0.180230],[-0.990551,0.124896,-0.056652],[-0.077866,-0.172131,0.981992]]
2025-10-27T16:58:08.154Z,1761584288.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109583,0.984253,0.138698],[-0.993638,0.112121,-0.010602],[-0.025986,-0.136654,0.990278]]
2025-10-27T16:58:08.162Z,1761584288.162 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165807.00,A,3646.80604,N,12151.71849,W,1.089,274.44,271025,,,A*7B
2025-10-27T16:58:08.164Z,1761584288.164 [NAL9602](INFO): GPS fix at 20251027T165807: (36.780101, -121.861975)
2025-10-27T16:58:08.249Z,1761584288.249 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:08.559Z,1761584288.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108484,0.989905,0.091212],[-0.994018,0.106854,0.022577],[0.012602,-0.093116,0.995576]]
2025-10-27T16:58:08.962Z,1761584288.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107122,0.994117,0.016024],[-0.993653,0.106488,0.036244],[0.034325,-0.019804,0.999215]]
2025-10-27T16:58:09.365Z,1761584289.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109358,0.993617,-0.027684],[-0.993995,0.109419,0.000704],[0.003728,0.027441,0.999616]]
2025-10-27T16:58:09.778Z,1761584289.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090893,0.995506,-0.026590],[-0.995259,0.091733,0.032319],[0.034613,0.023527,0.999124]]
2025-10-27T16:58:10.174Z,1761584290.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076230,0.996836,0.022523],[-0.989417,0.072827,0.125500],[0.123463,-0.031852,0.991838]]
2025-10-27T16:58:10.578Z,1761584290.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098647,0.990203,0.098831],[-0.988523,0.086090,0.124139],[0.114414,-0.109942,0.987331]]
2025-10-27T16:58:10.982Z,1761584290.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118120,0.980116,0.159439],[-0.985342,0.095787,0.141158],[0.123079,-0.173776,0.977064]]
2025-10-27T16:58:10.990Z,1761584290.990 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165810.00,A,3646.80630,N,12151.71812,W,0.855,15.18,271025,,,A*40
2025-10-27T16:58:10.992Z,1761584290.992 [NAL9602](INFO): GPS fix at 20251027T165810: (36.780105, -121.861969)
2025-10-27T16:58:11.115Z,1761584291.115 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:11.386Z,1761584291.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116767,0.979643,0.163296],[-0.977943,0.084742,0.190910],[0.173185,-0.181986,0.967930]]
2025-10-27T16:58:11.797Z,1761584291.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091734,0.987404,0.128915],[-0.986868,0.072862,0.144164],[0.132955,-0.140447,0.981121]]
2025-10-27T16:58:12.194Z,1761584292.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122458,0.991633,0.040832],[-0.991901,0.120885,0.038989],[0.033727,-0.045276,0.998405]]
2025-10-27T16:58:12.299Z,1761584292.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:58:12.599Z,1761584292.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141831,0.989741,-0.017202],[-0.989730,0.141473,-0.020483],[-0.017839,0.019930,0.999642]]
2025-10-27T16:58:13.009Z,1761584293.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132386,0.991193,0.003134],[-0.990804,0.132422,-0.027781],[-0.027951,0.000573,0.999609]]
2025-10-27T16:58:13.407Z,1761584293.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132864,0.989720,0.052930],[-0.990009,0.135068,-0.040484],[-0.047217,-0.047023,0.997777]]
2025-10-27T16:58:13.809Z,1761584293.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124453,0.986735,0.104235],[-0.988705,0.132167,-0.070671],[-0.083510,-0.094262,0.992039]]
2025-10-27T16:58:14.214Z,1761584294.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099733,0.985311,0.138622],[-0.985409,0.117118,-0.123499],[-0.137920,-0.124282,0.982615]]
2025-10-27T16:58:14.219Z,1761584294.219 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165813.00,A,3646.80667,N,12151.71901,W,1.963,292.28,271025,,,A*79
2025-10-27T16:58:14.221Z,1761584294.221 [NAL9602](INFO): GPS fix at 20251027T165813: (36.780111, -121.861983)
2025-10-27T16:58:14.244Z,1761584294.244 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:14.620Z,1761584294.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094496,0.985610,0.140152],[-0.986466,0.111652,-0.120075],[-0.133996,-0.126909,0.982822]]
2025-10-27T16:58:15.022Z,1761584295.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102698,0.988400,0.111890],[-0.989148,0.113358,-0.093472],[-0.105072,-0.101076,0.989315]]
2025-10-27T16:58:15.426Z,1761584295.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095474,0.992840,0.071782],[-0.991532,0.101230,-0.081347],[-0.088031,-0.063407,0.994098]]
2025-10-27T16:58:15.518Z,1761584295.518 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:58:15.518Z,1761584295.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:58:15.518Z,1761584295.518 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:58:15.523Z,1761584295.523 [marl:UpdateRudder:A] Stopped
2025-10-27T16:58:15.523Z,1761584295.523 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:58:15.523Z,1761584295.523 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:58:15.523Z,1761584295.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:58:15.523Z,1761584295.523 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateCommandMode] Stopped
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:58:15.524Z,1761584295.524 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:58:15.525Z,1761584295.525 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:58:15.525Z,1761584295.525 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:58:15.525Z,1761584295.525 [marl:UpdateSpeed] Stopped
2025-10-27T16:58:15.525Z,1761584295.525 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:58:15.831Z,1761584295.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094777,0.995041,0.030176],[-0.991361,0.097101,-0.088180],[-0.090673,-0.021558,0.995647]]
2025-10-27T16:58:16.049Z,1761584296.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T16:58:16.049Z,1761584296.049 [marl:UpdateRudder:B] Stopped
2025-10-27T16:58:16.049Z,1761584296.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:58:16.050Z,1761584296.050 [marl:UpdateRudder] Stopped
2025-10-27T16:58:16.050Z,1761584296.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:58:16.235Z,1761584296.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116128,0.993145,0.013354],[-0.986020,0.116891,-0.118750],[-0.119497,0.000623,0.992834]]
2025-10-27T16:58:17.042Z,1761584297.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106933,0.990061,0.091346],[-0.994122,0.104901,0.026783],[0.016934,-0.093673,0.995459]]
2025-10-27T16:58:17.062Z,1761584297.062 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165816.00,A,3646.80709,N,12151.71955,W,0.564,313.60,271025,,,A*7A
2025-10-27T16:58:17.065Z,1761584297.065 [NAL9602](INFO): GPS fix at 20251027T165816: (36.780118, -121.861992)
2025-10-27T16:58:17.192Z,1761584297.192 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:17.577Z,1761584297.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098320,0.987497,0.123222],[-0.994675,0.093672,0.042971],[0.030892,-0.126790,0.991448]]
2025-10-27T16:58:17.954Z,1761584297.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106507,0.987872,0.112985],[-0.993850,0.109231,-0.018183],[-0.030304,-0.110354,0.993430]]
2025-10-27T16:58:18.358Z,1761584298.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103407,0.990046,0.095477],[-0.994148,0.105894,-0.021341],[-0.031239,-0.092712,0.995203]]
2025-10-27T16:58:19.168Z,1761584299.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088020,0.995136,0.044229],[-0.996113,0.088080,0.000591],[-0.003307,-0.044109,0.999021]]
2025-10-27T16:58:19.570Z,1761584299.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115607,0.992292,0.044638],[-0.993284,0.115700,0.000488],[-0.004680,-0.044394,0.999003]]
2025-10-27T16:58:19.974Z,1761584299.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118825,0.990370,0.071043],[-0.990066,0.112764,0.083982],[0.075163,-0.080316,0.993932]]
2025-10-27T16:58:19.981Z,1761584299.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165819.00,A,3646.80714,N,12151.71947,W,0.175,313.60,271025,,,A*7E
2025-10-27T16:58:19.984Z,1761584299.984 [NAL9602](INFO): GPS fix at 20251027T165819: (36.780119, -121.861991)
2025-10-27T16:58:20.046Z,1761584300.046 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:20.380Z,1761584300.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126490,0.986562,0.103423],[-0.986627,0.114318,0.116184],[0.102800,-0.116736,0.987828]]
2025-10-27T16:58:20.786Z,1761584300.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110567,0.982622,0.149095],[-0.987991,0.092379,0.123852],[0.107926,-0.160999,0.981036]]
2025-10-27T16:58:21.185Z,1761584301.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127090,0.977241,0.169849],[-0.984303,0.103115,0.143230],[0.122456,-0.185386,0.975006]]
2025-10-27T16:58:21.593Z,1761584301.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164420,0.971611,0.170111],[-0.982646,0.146330,0.113989],[0.085860,-0.185901,0.978810]]
2025-10-27T16:58:21.989Z,1761584301.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151111,0.979069,0.136341],[-0.987434,0.143049,0.067159],[0.046250,-0.144776,0.988383]]
2025-10-27T16:58:22.394Z,1761584302.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118979,0.987436,0.103991],[-0.991981,0.113719,0.055150],[0.042632,-0.109719,0.993048]]
2025-10-27T16:58:22.583Z,1761584302.583 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:58:22.798Z,1761584302.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142203,0.984748,0.100248],[-0.987780,0.134651,0.078483],[0.063788,-0.110184,0.991862]]
2025-10-27T16:58:23.201Z,1761584303.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187223,0.977397,0.098193],[-0.979695,0.178489,0.091324],[0.071733,-0.113297,0.990968]]
2025-10-27T16:58:23.216Z,1761584303.216 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165822.00,A,3646.80733,N,12151.72010,W,1.458,297.21,271025,,,A*78
2025-10-27T16:58:23.218Z,1761584303.218 [NAL9602](INFO): GPS fix at 20251027T165822: (36.780122, -121.862002)
2025-10-27T16:58:23.313Z,1761584303.313 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:23.613Z,1761584303.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178048,0.980961,0.077557],[-0.982031,0.172124,0.077385],[0.062562,-0.089942,0.993980]]
2025-10-27T16:58:24.014Z,1761584304.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145112,0.987873,0.055227],[-0.984126,0.138347,0.111154],[0.102166,-0.070480,0.992267]]
2025-10-27T16:58:24.420Z,1761584304.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154145,0.986552,0.054348],[-0.977609,0.144311,0.153150],[0.143247,-0.076738,0.986707]]
2025-10-27T16:58:24.857Z,1761584304.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177070,0.979931,0.091549],[-0.974849,0.161837,0.153227],[0.135335,-0.116378,0.983941]]
2025-10-27T16:58:25.364Z,1761584305.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176054,0.968021,0.178716],[-0.974720,0.146057,0.169082],[0.137573,-0.203966,0.969264]]
2025-10-27T16:58:25.766Z,1761584305.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163559,0.973447,0.160152],[-0.979381,0.140706,0.144962],[0.118579,-0.180560,0.976390]]
2025-10-27T16:58:26.170Z,1761584306.170 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165825.00,A,3646.80772,N,12151.72112,W,1.419,291.94,271025,,,A*74
2025-10-27T16:58:26.180Z,1761584306.180 [NAL9602](INFO): GPS fix at 20251027T165825: (36.780129, -121.862019)
2025-10-27T16:58:26.260Z,1761584306.260 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:26.558Z,1761584306.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203310,0.976241,0.074959],[-0.969426,0.189965,0.155326],[0.137396,-0.104247,0.985015]]
2025-10-27T16:58:27.407Z,1761584307.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172098,0.984438,0.035568],[-0.971276,0.163552,0.172837],[0.164330,-0.064291,0.984308]]
2025-10-27T16:58:27.796Z,1761584307.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140812,0.986873,0.079077],[-0.979179,0.127026,0.158343],[0.146220,-0.099728,0.984212]]
2025-10-27T16:58:28.198Z,1761584308.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151864,0.980148,0.127465],[-0.975546,0.127905,0.178745],[0.158893,-0.151493,0.975604]]
2025-10-27T16:58:28.602Z,1761584308.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180212,0.972238,0.149257],[-0.968274,0.148638,0.200880],[0.173118,-0.180722,0.968179]]
2025-10-27T16:58:28.697Z,1761584308.697 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:58:28.697Z,1761584308.697 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateRudder:A] Stopped
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:58:28.698Z,1761584308.698 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:58:28.699Z,1761584308.699 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:58:28.699Z,1761584308.699 [marl:UpdateCommandMode] Stopped
2025-10-27T16:58:28.703Z,1761584308.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:58:28.703Z,1761584308.703 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:58:28.703Z,1761584308.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:58:28.703Z,1761584308.703 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:58:28.704Z,1761584308.704 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:58:28.704Z,1761584308.704 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:58:28.704Z,1761584308.704 [marl:UpdateSpeed] Stopped
2025-10-27T16:58:28.704Z,1761584308.704 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:58:29.026Z,1761584309.026 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165828.00,A,3646.80815,N,12151.72268,W,1.322,288.05,271025,,,A*76
2025-10-27T16:58:29.028Z,1761584309.028 [NAL9602](INFO): GPS fix at 20251027T165828: (36.780136, -121.862045)
2025-10-27T16:58:29.148Z,1761584309.148 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T16:58:29.148Z,1761584309.148 [marl:UpdateRudder:B] Stopped
2025-10-27T16:58:29.148Z,1761584309.148 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:58:29.148Z,1761584309.148 [marl:UpdateRudder] Stopped
2025-10-27T16:58:29.148Z,1761584309.148 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:58:29.150Z,1761584309.150 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:29.410Z,1761584309.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159238,0.986123,0.046958],[-0.966377,0.145970,0.211680],[0.201888,-0.079087,0.976210]]
2025-10-27T16:58:29.814Z,1761584309.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114294,0.990893,0.071196],[-0.942246,0.085414,0.323846],[0.314815,-0.104098,0.943427]]
2025-10-27T16:58:30.219Z,1761584310.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107626,0.987778,0.112743],[-0.912708,0.053205,0.405134],[0.394184,-0.146505,0.907279]]
2025-10-27T16:58:30.625Z,1761584310.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144428,0.977825,0.151652],[-0.917270,0.074816,0.391176],[0.371156,-0.195603,0.907735]]
2025-10-27T16:58:31.452Z,1761584311.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159277,0.973596,0.163529],[-0.957023,0.111605,0.267679],[0.242360,-0.199136,0.949530]]
2025-10-27T16:58:31.874Z,1761584311.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129658,0.980382,0.148457],[-0.956787,0.084399,0.278271],[0.260283,-0.178122,0.948960]]
2025-10-27T16:58:31.906Z,1761584311.906 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165831.00,A,3646.80839,N,12151.72302,W,1.089,295.86,271025,,,A*78
2025-10-27T16:58:31.908Z,1761584311.908 [NAL9602](INFO): GPS fix at 20251027T165831: (36.780140, -121.862050)
2025-10-27T16:58:31.930Z,1761584311.930 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:32.270Z,1761584312.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123864,0.986961,0.102786],[-0.949669,0.087870,0.300680],[0.287728,-0.134856,0.948170]]
2025-10-27T16:58:32.677Z,1761584312.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128969,0.983010,0.130606],[-0.949170,0.084234,0.303285],[0.287130,-0.163081,0.943907]]
2025-10-27T16:58:32.775Z,1761584312.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:58:33.479Z,1761584313.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082622,0.989093,0.121933],[-0.940984,0.037132,0.336409],[0.328212,-0.142532,0.933789]]
2025-10-27T16:58:33.883Z,1761584313.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084586,0.989312,0.118774],[-0.932460,0.036574,0.359416],[0.351231,-0.141154,0.925588]]
2025-10-27T16:58:34.286Z,1761584314.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111932,0.978636,0.172460],[-0.931043,0.042622,0.362412],[0.347319,-0.201133,0.915923]]
2025-10-27T16:58:34.690Z,1761584314.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131122,0.970369,0.202956],[-0.933965,0.052263,0.353521],[0.332439,-0.235908,0.913144]]
2025-10-27T16:58:35.114Z,1761584315.114 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165834.00,A,3646.80885,N,12151.72347,W,0.894,293.40,271025,,,A*72
2025-10-27T16:58:35.116Z,1761584315.116 [NAL9602](INFO): GPS fix at 20251027T165834: (36.780147, -121.862058)
2025-10-27T16:58:35.170Z,1761584315.170 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:35.499Z,1761584315.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101618,0.984477,0.143102],[-0.947443,0.051908,0.315685],[0.303357,-0.167660,0.938011]]
2025-10-27T16:58:35.550Z,1761584315.550 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 22.43 mm (2 active estimators).
2025-10-27T16:58:35.903Z,1761584315.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103151,0.978053,0.181032],[-0.949392,0.042526,0.311201],[0.296673,-0.203971,0.932942]]
2025-10-27T16:58:36.306Z,1761584316.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119010,0.974320,0.191148],[-0.942955,0.050624,0.329050],[0.310923,-0.219404,0.924764]]
2025-10-27T16:58:36.710Z,1761584316.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139257,0.977151,0.160571],[-0.935644,0.076731,0.344503],[0.324311,-0.198212,0.924951]]
2025-10-27T16:58:37.115Z,1761584317.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153956,0.979218,0.132019],[-0.937131,0.102359,0.333630],[0.313183,-0.175083,0.933414]]
2025-10-27T16:58:37.518Z,1761584317.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156639,0.980962,0.114796],[-0.943425,0.114216,0.311294],[0.292256,-0.157063,0.943355]]
2025-10-27T16:58:37.921Z,1761584317.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142683,0.985099,0.096031],[-0.947293,0.107797,0.301687],[0.286840,-0.134015,0.948558]]
2025-10-27T16:58:37.926Z,1761584317.926 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165837.00,A,3646.81047,N,12151.72584,W,3.207,293.40,271025,,,A*7C
2025-10-27T16:58:37.929Z,1761584317.929 [NAL9602](INFO): GPS fix at 20251027T165837: (36.780175, -121.862097)
2025-10-27T16:58:37.979Z,1761584317.979 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761584256.00. Resetting abort timer.
2025-10-27T16:58:38.325Z,1761584318.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129388,0.987160,0.093667],[-0.950639,0.096622,0.294872],[0.282036,-0.127196,0.950935]]
2025-10-27T16:58:38.757Z,1761584318.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118986,0.986405,0.113347],[-0.956034,0.083003,0.281263],[0.268031,-0.141830,0.952913]]
2025-10-27T16:58:39.133Z,1761584319.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108179,0.985198,0.132978],[-0.961325,0.069589,0.266482],[0.253284,-0.156663,0.954623]]
2025-10-27T16:58:39.156Z,1761584319.156 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 893.78, 721.63, 958.99, 

2025-10-27T16:58:39.542Z,1761584319.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098298,0.983961,0.148859],[-0.962654,0.056100,0.264860],[0.252261,-0.169334,0.952728]]
2025-10-27T16:58:39.745Z,1761584319.745 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T16:58:39.745Z,1761584319.745 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T16:58:39.942Z,1761584319.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093258,0.981313,0.168310],[-0.959818,0.043671,0.277204],[0.264674,-0.187398,0.945954]]
2025-10-27T16:58:39.973Z,1761584319.973 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T16:58:40.017Z,1761584320.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T16:58:40.017Z,1761584320.017 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T16:58:40.268Z,1761584320.268 [DAT](INFO): DAT read: user:1086>

2025-10-27T16:58:40.269Z,1761584320.269 [DAT](INFO): DAT read: Tx time:16:58:39.2803

2025-10-27T16:58:40.269Z,1761584320.269 [DAT](INFO): Ping request sent.
2025-10-27T16:58:40.270Z,1761584320.270 [DAT](INFO): transmitted an acoustic signal
2025-10-27T16:58:40.270Z,1761584320.270 [DAT](INFO): publishing transmit ping time
2025-10-27T16:58:40.271Z,1761584320.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000916
2025-10-27T16:58:40.346Z,1761584320.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094747,0.976638,0.192875],[-0.956536,0.035638,0.289430],[0.275795,-0.211914,0.937566]]
2025-10-27T16:58:40.520Z,1761584320.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250403
2025-10-27T16:58:40.758Z,1761584320.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100041,0.973479,0.205744],[-0.956073,0.036790,0.290810],[0.275528,-0.225799,0.934398]]
2025-10-27T16:58:40.772Z,1761584320.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502408
2025-10-27T16:58:41.024Z,1761584321.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754597
2025-10-27T16:58:41.276Z,1761584321.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006433
2025-10-27T16:58:41.528Z,1761584321.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258254
2025-10-27T16:58:41.573Z,1761584321.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097699,0.972603,0.210947],[-0.960668,0.036801,0.275252],[0.259948,-0.229541,0.937943]]
2025-10-27T16:58:41.623Z,1761584321.623 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:58:41.623Z,1761584321.623 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:58:41.623Z,1761584321.623 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateRudder:A] Stopped
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:58:41.624Z,1761584321.624 [marl:UpdateCommandMode] Stopped
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed] Stopped
2025-10-27T16:58:41.625Z,1761584321.625 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:58:41.780Z,1761584321.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510366
2025-10-27T16:58:42.006Z,1761584322.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T16:58:42.007Z,1761584322.007 [marl:UpdateRudder:B] Stopped
2025-10-27T16:58:42.007Z,1761584322.007 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:58:42.007Z,1761584322.007 [marl:UpdateRudder] Stopped
2025-10-27T16:58:42.007Z,1761584322.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:58:42.033Z,1761584322.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762927
2025-10-27T16:58:42.284Z,1761584322.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014284
2025-10-27T16:58:42.370Z,1761584322.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087842,0.968787,0.231811],[-0.967857,0.027952,0.249944],[0.235663,-0.246315,0.940102]]
2025-10-27T16:58:42.536Z,1761584322.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266308
2025-10-27T16:58:42.781Z,1761584322.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081441,0.970222,0.228114],[-0.970441,0.025024,0.240037],[0.227181,-0.240920,0.943582]]
2025-10-27T16:58:42.788Z,1761584322.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518295
2025-10-27T16:58:43.040Z,1761584323.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770330
2025-10-27T16:58:43.178Z,1761584323.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073705,0.973563,0.216201],[-0.970905,0.020521,0.238585],[0.227841,-0.227496,0.946749]]
2025-10-27T16:58:43.293Z,1761584323.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023140
2025-10-27T16:58:43.544Z,1761584323.544 [DAT](INFO): DAT read: Rx Time:16:58:42.1526

2025-10-27T16:58:43.544Z,1761584323.544 [DAT](INFO): Rx dataTimestamp_ set to:1761584323.544172
2025-10-27T16:58:43.545Z,1761584323.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275410
2025-10-27T16:58:43.587Z,1761584323.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069263,0.975001,0.211131],[-0.969092,0.015527,0.246211],[0.236778,-0.221659,0.945941]]
2025-10-27T16:58:43.796Z,1761584323.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526295
2025-10-27T16:58:43.987Z,1761584323.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069883,0.973320,0.218552],[-0.965677,0.011064,0.259509],[0.250167,-0.229186,0.940686]]
2025-10-27T16:58:44.076Z,1761584324.076 [DAT](INFO): DAT read: 16:58:42.1526 LVL= 24880, 26737, 20466, 28659, AGC= 65, IDX= 289,-0.38, 0.254, 0.611, 1.968, 0.506, PHS=-0.150, 0.150, 1.418, RAW= 220.4, -19.2, CAL= 219.8, -24.5, ROT= 290.2,  24.5

2025-10-27T16:58:44.077Z,1761584324.077 [DAT](INFO): got valid direction response:
 16:58:42.1526 LVL= 24880, 26737, 20466, 28659, AGC= 65, IDX= 289,-0.38, 0.254, 0.611, 1.968, 0.506, PHS=-0.150, 0.150, 1.418, RAW= 220.4, -19.2, CAL= 219.8, -24.5, ROT= 290.2,  24.5

2025-10-27T16:58:44.078Z,1761584324.078 [DAT](INFO): DAT read: Bearing 176,   3 (Remote)

2025-10-27T16:58:44.078Z,1761584324.078 [DAT](INFO): Remote Bearing received:Bearing 176,   3 (Remote)

2025-10-27T16:58:44.083Z,1761584324.083 [DAT](INFO): DAT read: Bearing  26.1, -39.5 (Local)

2025-10-27T16:58:44.083Z,1761584324.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.1, -39.5 (Local)

2025-10-27T16:58:44.085Z,1761584324.085 [DAT](INFO): DAT read: Range 11 to 20 : 632.3 m  (Round-trip  843.1 ms) speed -0.4 m/s

2025-10-27T16:58:44.085Z,1761584324.085 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T16:58:44.086Z,1761584324.086 [DAT](INFO): direction in FSK: [0.314208,-0.853992,-0.414693]
2025-10-27T16:58:44.087Z,1761584324.087 [DAT](INFO): publishing direction and range info
2025-10-27T16:58:44.248Z,1761584324.248 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584384.00. Resetting abort timer.
2025-10-27T16:58:44.411Z,1761584324.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072856,0.971034,0.227563],[-0.961882,0.008111,0.273346],[0.263582,-0.238803,0.934611]]
2025-10-27T16:58:44.815Z,1761584324.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077750,0.968119,0.238120],[-0.959401,0.007704,0.281941],[0.271118,-0.250374,0.929413]]
2025-10-27T16:58:45.643Z,1761584325.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091314,0.965880,0.242359],[-0.964259,0.024973,0.263781],[0.248728,-0.257784,0.933639]]
2025-10-27T16:58:46.042Z,1761584326.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096418,0.969106,0.227018],[-0.969900,0.040239,0.240157],[0.223603,-0.243340,0.943815]]
2025-10-27T16:58:46.473Z,1761584326.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094240,0.978772,0.181998],[-0.979152,0.058082,0.194650],[0.179947,-0.196547,0.963840]]
2025-10-27T16:58:46.955Z,1761584326.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050320470576.0,  0
2025-10-27T16:58:47.268Z,1761584327.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078831,0.983351,0.163725],[-0.984638,0.051138,0.166951],[0.155799,-0.174371,0.972276]]
2025-10-27T16:58:47.663Z,1761584327.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064217,0.984061,0.165833],[-0.986128,0.037086,0.161792],[0.153063,-0.173922,0.972791]]
2025-10-27T16:58:48.066Z,1761584328.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048844,0.983420,0.174639],[-0.986403,0.020025,0.163118],[0.156916,-0.180232,0.971027]]
2025-10-27T16:58:48.470Z,1761584328.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048186,0.981146,0.187167],[-0.986490,0.017373,0.162897],[0.156574,-0.192488,0.968728]]
2025-10-27T16:58:49.299Z,1761584329.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056475,0.976053,0.210075],[-0.986974,0.022832,0.159249],[0.150639,-0.216332,0.964629]]
2025-10-27T16:58:49.694Z,1761584329.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060059,0.975303,0.212548],[-0.987871,0.027529,0.152820],[0.143195,-0.219148,0.965127]]
2025-10-27T16:58:50.099Z,1761584330.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058375,0.976054,0.209551],[-0.989377,0.028569,0.142540],[0.133140,-0.215646,0.967352]]
2025-10-27T16:58:50.501Z,1761584330.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050113,0.977309,0.205804],[-0.991088,0.023197,0.131170],[0.123420,-0.210543,0.969762]]
2025-10-27T16:58:51.316Z,1761584331.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031940,0.975188,0.219061],[-0.992880,0.005792,0.118982],[0.114761,-0.221301,0.968430]]
2025-10-27T16:58:51.730Z,1761584331.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030240,0.971894,0.233469],[-0.992872,0.002267,0.119161],[0.115283,-0.235409,0.965035]]
2025-10-27T16:58:52.119Z,1761584332.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034408,0.968774,0.245548],[-0.992729,0.004774,0.120275],[0.115347,-0.247901,0.961894]]
2025-10-27T16:58:52.522Z,1761584332.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041162,0.967997,0.247563],[-0.992727,0.011568,0.119829],[0.113130,-0.250695,0.961433]]
2025-10-27T16:58:52.927Z,1761584332.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048629,0.969324,0.240926],[-0.992871,0.020631,0.117398],[0.108826,-0.244917,0.963417]]
2025-10-27T16:58:53.330Z,1761584333.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055872,0.971943,0.228483],[-0.993163,0.030610,0.112650],[0.102496,-0.233215,0.967009]]
2025-10-27T16:58:53.741Z,1761584333.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060367,0.974408,0.216529],[-0.993621,0.037960,0.106191],[0.095253,-0.221558,0.970484]]
2025-10-27T16:58:54.139Z,1761584334.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057034,0.977084,0.205069],[-0.994386,0.037258,0.099038],[0.089128,-0.209566,0.973724]]
2025-10-27T16:58:54.543Z,1761584334.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047655,0.978658,0.199893],[-0.995507,0.030143,0.089758],[0.081817,-0.203272,0.975698]]
2025-10-27T16:58:54.575Z,1761584334.575 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:58:54.575Z,1761584334.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateRudder:A] Stopped
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:58:54.576Z,1761584334.576 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateCommandMode] Stopped
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:58:54.577Z,1761584334.577 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:58:54.578Z,1761584334.578 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:58:54.578Z,1761584334.578 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:58:54.578Z,1761584334.578 [marl:UpdateSpeed] Stopped
2025-10-27T16:58:54.578Z,1761584334.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:58:55.004Z,1761584335.004 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T16:58:55.004Z,1761584335.004 [marl:UpdateRudder:B] Stopped
2025-10-27T16:58:55.004Z,1761584335.004 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:58:55.004Z,1761584335.004 [marl:UpdateRudder] Stopped
2025-10-27T16:58:55.004Z,1761584335.004 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:58:55.349Z,1761584335.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028112,0.977512,0.208998],[-0.997855,0.015077,0.063705],[0.059121,-0.210341,0.975839]]
2025-10-27T16:58:55.759Z,1761584335.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021918,0.976793,0.213060],[-0.998516,0.010762,0.053381],[0.049849,-0.213914,0.975580]]
2025-10-27T16:58:56.160Z,1761584336.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017795,0.977364,0.210817],[-0.998662,0.007134,0.051227],[0.048564,-0.211446,0.976182]]
2025-10-27T16:58:56.561Z,1761584336.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015150,0.978264,0.206808],[-0.998348,0.003335,0.057361],[0.055425,-0.207336,0.976699]]
2025-10-27T16:58:57.371Z,1761584337.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011425,0.976961,0.213113],[-0.996544,-0.006412,0.082818],[0.082276,-0.213322,0.973511]]
2025-10-27T16:58:57.810Z,1761584337.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006448,0.972351,0.233435],[-0.995195,-0.016568,0.096502],[0.097701,-0.232936,0.967572]]
2025-10-27T16:58:58.222Z,1761584338.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003129,0.962958,0.269635],[-0.993775,-0.033023,0.106402],[0.111365,-0.267623,0.957066]]
2025-10-27T16:58:58.618Z,1761584338.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018002,0.947393,0.319566],[-0.992499,-0.055586,0.108881],[0.120916,-0.315208,0.941288]]
2025-10-27T16:58:59.428Z,1761584339.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062789,0.905456,0.419769],[-0.990280,-0.108827,0.086617],[0.124110,-0.410251,0.903488]]
2025-10-27T16:58:59.829Z,1761584339.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088150,0.886481,0.454291],[-0.988798,-0.133022,0.067708],[0.120453,-0.443234,0.888276]]
2025-10-27T16:59:00.234Z,1761584340.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113805,0.874328,0.471803],[-0.986548,-0.155546,0.050284],[0.117352,-0.459734,0.880269]]
2025-10-27T16:59:00.647Z,1761584340.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141884,0.867642,0.476515],[-0.982911,-0.180523,0.036033],[0.117286,-0.463259,0.878427]]
2025-10-27T16:59:01.476Z,1761584341.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208213,0.861018,0.463999],[-0.969958,-0.242793,0.015284],[0.125816,-0.446877,0.885704]]
2025-10-27T16:59:01.857Z,1761584341.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247918,0.857320,0.451152],[-0.959620,-0.281212,0.007053],[0.132916,-0.431186,0.892419]]
2025-10-27T16:59:02.260Z,1761584342.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291467,0.846465,0.445582],[-0.946107,-0.323832,-0.003696],[0.141166,-0.422646,0.895233]]
2025-10-27T16:59:02.662Z,1761584342.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336433,0.826037,0.452190],[-0.929627,-0.367989,-0.019427],[0.150353,-0.426904,0.891710]]
2025-10-27T16:59:02.928Z,1761584342.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T16:59:03.636Z,1761584343.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425226,0.764286,0.484820],[-0.889342,-0.452310,-0.066989],[0.168090,-0.459656,0.872045]]
2025-10-27T16:59:03.931Z,1761584343.931 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:59:04.162Z,1761584344.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510917,0.693580,0.507850],[-0.840380,-0.527319,-0.125285],[0.180903,-0.490797,0.852287]]
2025-10-27T16:59:04.565Z,1761584344.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550876,0.661990,0.508236],[-0.813248,-0.562607,-0.148668],[0.187521,-0.495219,0.848289]]
2025-10-27T16:59:05.370Z,1761584345.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621099,0.600068,0.504137],[-0.755998,-0.628326,-0.183505],[0.206647,-0.495101,0.843903]]
2025-10-27T16:59:06.208Z,1761584346.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676549,0.533124,0.507997],[-0.699474,-0.680934,-0.216942],[0.230256,-0.502103,0.833592]]
2025-10-27T16:59:06.610Z,1761584346.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699585,0.504455,0.506069],[-0.673636,-0.701822,-0.231645],[0.238316,-0.502962,0.830804]]
2025-10-27T16:59:07.126Z,1761584347.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720529,0.481684,0.498817],[-0.649752,-0.720243,-0.243046],[0.242198,-0.499229,0.831932]]
2025-10-27T16:59:07.532Z,1761584347.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739677,0.469972,0.481668],[-0.627756,-0.739766,-0.242215],[0.242488,-0.481531,0.842216]]
2025-10-27T16:59:07.593Z,1761584347.593 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:59:07.593Z,1761584347.593 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:59:07.593Z,1761584347.593 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:59:07.593Z,1761584347.593 [marl:UpdateRudder:A] Stopped
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode] Stopped
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:59:07.594Z,1761584347.594 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:59:07.595Z,1761584347.595 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:59:07.599Z,1761584347.599 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:59:07.599Z,1761584347.599 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:59:07.599Z,1761584347.599 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:59:07.599Z,1761584347.599 [marl:UpdateSpeed] Stopped
2025-10-27T16:59:07.600Z,1761584347.600 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:59:07.930Z,1761584347.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756924,0.467281,0.456853],[-0.608097,-0.759660,-0.230510],[0.239340,-0.452290,0.859157]]
2025-10-27T16:59:07.980Z,1761584347.980 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T16:59:07.981Z,1761584347.981 [marl:UpdateRudder:B] Stopped
2025-10-27T16:59:07.981Z,1761584347.981 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:59:07.981Z,1761584347.981 [marl:UpdateRudder] Stopped
2025-10-27T16:59:07.981Z,1761584347.981 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:59:08.334Z,1761584348.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773520,0.469962,0.425208],[-0.589473,-0.779924,-0.210333],[0.232781,-0.413346,0.880317]]
2025-10-27T16:59:08.825Z,1761584348.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789907,0.472154,0.391302],[-0.571388,-0.798353,-0.190127],[0.222628,-0.373768,0.900408]]
2025-10-27T16:59:09.290Z,1761584349.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823375,0.468745,0.319894],[-0.533197,-0.831992,-0.153266],[0.194307,-0.296762,0.934974]]
2025-10-27T16:59:09.808Z,1761584349.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840376,0.457518,0.290595],[-0.511505,-0.846778,-0.146046],[0.179251,-0.271374,0.945635]]
2025-10-27T16:59:10.212Z,1761584350.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857753,0.436118,0.272140],[-0.486484,-0.859724,-0.155591],[0.166109,-0.265851,0.949595]]
2025-10-27T16:59:10.613Z,1761584350.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876233,0.403277,0.263786],[-0.455973,-0.870951,-0.183120],[0.155897,-0.280736,0.947039]]
2025-10-27T16:59:11.020Z,1761584351.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896860,0.357709,0.260168],[-0.416673,-0.880620,-0.225592],[0.148413,-0.310729,0.938840]]
2025-10-27T16:59:11.422Z,1761584351.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917760,0.306180,0.252923],[-0.371211,-0.887709,-0.272353],[0.141133,-0.343842,0.928361]]
2025-10-27T16:59:11.841Z,1761584351.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935043,0.259188,0.241900],[-0.328575,-0.889804,-0.316682],[0.133164,-0.375593,0.917168]]
2025-10-27T16:59:12.242Z,1761584352.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948673,0.218265,0.228866],[-0.290218,-0.888376,-0.355755],[0.125670,-0.403916,0.906123]]
2025-10-27T16:59:12.646Z,1761584352.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959615,0.182390,0.214179],[-0.254822,-0.886118,-0.387119],[0.119182,-0.426063,0.896809]]
2025-10-27T16:59:13.053Z,1761584353.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968306,0.151733,0.198397],[-0.222402,-0.885298,-0.408394],[0.113674,-0.439574,0.890984]]
2025-10-27T16:59:13.454Z,1761584353.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975559,0.124106,0.181337],[-0.191077,-0.886637,-0.421147],[0.108513,-0.445503,0.888680]]
2025-10-27T16:59:14.455Z,1761584354.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986436,0.075658,0.145672],[-0.131584,-0.895009,-0.426198],[0.098133,-0.439585,0.892824]]
2025-10-27T16:59:15.318Z,1761584355.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995446,0.005415,0.095173],[-0.044234,-0.910627,-0.410855],[0.084442,-0.413194,0.906720]]
2025-10-27T16:59:16.128Z,1761584356.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996593,-0.049535,0.065942],[0.019047,-0.916164,-0.400351],[0.080245,-0.397731,0.913986]]
2025-10-27T16:59:16.531Z,1761584356.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995645,-0.077257,0.052186],[0.049926,-0.914548,-0.401385],[0.078736,-0.397031,0.914422]]
2025-10-27T16:59:17.338Z,1761584357.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990993,-0.131548,0.025055],[0.110425,-0.908592,-0.402824],[0.075756,-0.396429,0.914934]]
2025-10-27T16:59:18.147Z,1761584358.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981800,-0.189894,-0.002927],[0.175309,-0.900250,-0.398517],[0.073041,-0.391777,0.917156]]
2025-10-27T16:59:18.550Z,1761584358.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974744,-0.222513,-0.019028],[0.211503,-0.892433,-0.398534],[0.071698,-0.392493,0.916956]]
2025-10-27T16:59:18.953Z,1761584358.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966135,-0.255482,-0.036214],[0.248263,-0.882084,-0.400367],[0.070343,-0.395799,0.915639]]
2025-10-27T16:59:19.358Z,1761584359.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956456,-0.286616,-0.055159],[0.283742,-0.868751,-0.405909],[0.068420,-0.403885,0.912247]]
2025-10-27T16:59:19.770Z,1761584359.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945873,-0.315427,-0.076355],[0.317907,-0.853223,-0.413456],[0.065267,-0.415350,0.907317]]
2025-10-27T16:59:20.184Z,1761584360.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934380,-0.342313,-0.098772],[0.351062,-0.837349,-0.419048],[0.060739,-0.426225,0.902576]]
2025-10-27T16:59:20.570Z,1761584360.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921973,-0.367566,-0.121907],[0.383374,-0.821881,-0.421349],[0.054681,-0.435208,0.898668]]
2025-10-27T16:59:20.974Z,1761584360.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908595,-0.392108,-0.143901],[0.414990,-0.808448,-0.417366],[0.047316,-0.438934,0.897273]]
2025-10-27T16:59:21.084Z,1761584361.084 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateRudder:A] Stopped
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:59:21.085Z,1761584361.085 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateCommandMode] Stopped
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:59:21.086Z,1761584361.086 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:59:21.087Z,1761584361.087 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:59:21.087Z,1761584361.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:59:21.087Z,1761584361.087 [marl:UpdateSpeed] Stopped
2025-10-27T16:59:21.087Z,1761584361.087 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:59:21.386Z,1761584361.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894530,-0.415571,-0.164674],[0.445298,-0.796234,-0.409538],[0.039073,-0.439672,0.897308]]
2025-10-27T16:59:21.411Z,1761584361.411 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T16:59:21.412Z,1761584361.412 [marl:UpdateRudder:B] Stopped
2025-10-27T16:59:21.412Z,1761584361.412 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:59:21.412Z,1761584361.412 [marl:UpdateRudder] Stopped
2025-10-27T16:59:21.412Z,1761584361.412 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:59:21.800Z,1761584361.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880127,-0.438249,-0.182521],[0.473704,-0.785346,-0.398543],[0.031319,-0.437229,0.898805]]
2025-10-27T16:59:22.198Z,1761584362.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865819,-0.459460,-0.198125],[0.499731,-0.774256,-0.388326],[0.025021,-0.435229,0.899972]]
2025-10-27T16:59:22.601Z,1761584362.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851590,-0.480345,-0.209911],[0.523806,-0.764064,-0.376608],[0.020516,-0.430668,0.902277]]
2025-10-27T16:59:23.411Z,1761584363.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823735,-0.521412,-0.222689],[0.566797,-0.747436,-0.346528],[0.014238,-0.411666,0.911223]]
2025-10-27T16:59:23.819Z,1761584363.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811665,-0.539948,-0.222837],[0.584005,-0.742438,-0.328214],[0.011776,-0.396538,0.917943]]
2025-10-27T16:59:24.218Z,1761584364.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802605,-0.554713,-0.219359],[0.596438,-0.740542,-0.309612],[0.009301,-0.379330,0.925215]]
2025-10-27T16:59:24.710Z,1761584364.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796750,-0.567051,-0.208906],[0.604266,-0.743453,-0.286602],[0.007206,-0.354585,0.934996]]
2025-10-27T16:59:25.570Z,1761584365.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791321,-0.583439,-0.182784],[0.611379,-0.752603,-0.244549],[0.005116,-0.305268,0.952253]]
2025-10-27T16:59:25.974Z,1761584365.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789474,-0.588816,-0.173282],[0.613775,-0.755809,-0.228105],[0.003344,-0.286439,0.958093]]
2025-10-27T16:59:26.380Z,1761584366.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786973,-0.594020,-0.166776],[0.616987,-0.757760,-0.212432],[-0.000188,-0.270076,0.962839]]
2025-10-27T16:59:26.782Z,1761584366.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783790,-0.598868,-0.164409],[0.620998,-0.758301,-0.198344],[-0.005890,-0.257558,0.966245]]
2025-10-27T16:59:27.596Z,1761584367.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778065,-0.605569,-0.167038],[0.627771,-0.759201,-0.171806],[-0.022775,-0.238537,0.970866]]
2025-10-27T16:59:27.994Z,1761584367.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775282,-0.607634,-0.172394],[0.630720,-0.759319,-0.160086],[-0.033629,-0.232844,0.971932]]
2025-10-27T16:59:28.398Z,1761584368.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772300,-0.609567,-0.178834],[0.633621,-0.759356,-0.147999],[-0.045584,-0.227612,0.972684]]
2025-10-27T16:59:28.801Z,1761584368.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768570,-0.612031,-0.186328],[0.637112,-0.758704,-0.135856],[-0.058219,-0.223127,0.973049]]
2025-10-27T16:59:29.610Z,1761584369.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759550,-0.618476,-0.201423],[0.645018,-0.756118,-0.110622],[-0.083882,-0.213944,0.973238]]
2025-10-27T16:59:30.014Z,1761584370.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757159,-0.619142,-0.208264],[0.646361,-0.756216,-0.101762],[-0.094487,-0.211663,0.972764]]
2025-10-27T16:59:30.418Z,1761584370.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757068,-0.617105,-0.214547],[0.645169,-0.757907,-0.096616],[-0.102984,-0.211564,0.971923]]
2025-10-27T16:59:30.827Z,1761584370.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757563,-0.614196,-0.221046],[0.643434,-0.759663,-0.094370],[-0.109959,-0.213720,0.970687]]
2025-10-27T16:59:31.236Z,1761584371.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758113,-0.611573,-0.226369],[0.641792,-0.761253,-0.092720],[-0.115619,-0.215574,0.969618]]
2025-10-27T16:59:31.637Z,1761584371.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758918,-0.608733,-0.231274],[0.640130,-0.762564,-0.093433],[-0.119485,-0.218953,0.968392]]
2025-10-27T16:59:32.052Z,1761584372.052 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.275414
2025-10-27T16:59:32.444Z,1761584372.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760675,-0.604188,-0.237339],[0.637787,-0.763693,-0.100003],[-0.120833,-0.227442,0.966266]]
2025-10-27T16:59:32.886Z,1761584372.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761565,-0.602649,-0.238395],[0.637237,-0.763345,-0.105991],[-0.118102,-0.232633,0.965367]]
2025-10-27T16:59:33.056Z,1761584373.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T16:59:33.272Z,1761584373.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761859,-0.602505,-0.237820],[0.637614,-0.762245,-0.111493],[-0.114102,-0.236580,0.964889]]
2025-10-27T16:59:33.673Z,1761584373.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760846,-0.604322,-0.236452],[0.639506,-0.760129,-0.115046],[-0.110209,-0.238745,0.964808]]
2025-10-27T16:59:34.076Z,1761584374.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759075,-0.606885,-0.235577],[0.642189,-0.757396,-0.118082],[-0.106763,-0.240918,0.964655]]
2025-10-27T16:59:34.128Z,1761584374.128 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:59:34.129Z,1761584374.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:59:34.129Z,1761584374.129 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:59:34.130Z,1761584374.130 [marl:UpdateRudder:A] Stopped
2025-10-27T16:59:34.130Z,1761584374.130 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:59:34.131Z,1761584374.131 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:59:34.136Z,1761584374.136 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:59:34.136Z,1761584374.136 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:59:34.137Z,1761584374.137 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:59:34.137Z,1761584374.137 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:59:34.137Z,1761584374.137 [marl:UpdateCommandMode] Stopped
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed] Stopped
2025-10-27T16:59:34.138Z,1761584374.138 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:59:34.478Z,1761584374.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756751,-0.610132,-0.234664],[0.645464,-0.754224,-0.120507],[-0.103464,-0.242661,0.964578]]
2025-10-27T16:59:34.536Z,1761584374.536 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T16:59:34.536Z,1761584374.536 [marl:UpdateRudder:B] Stopped
2025-10-27T16:59:34.537Z,1761584374.537 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:59:34.537Z,1761584374.537 [marl:UpdateRudder] Stopped
2025-10-27T16:59:34.537Z,1761584374.537 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:59:34.912Z,1761584374.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751956,-0.616611,-0.233139],[0.651714,-0.748553,-0.122219],[-0.099155,-0.243843,0.964733]]
2025-10-27T16:59:35.690Z,1761584375.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749766,-0.619209,-0.233303],[0.654414,-0.746077,-0.122931],[-0.097941,-0.244846,0.964602]]
2025-10-27T16:59:36.029Z,1761584376.029 [Radio_Surface](INFO): Powering down
2025-10-27T16:59:36.102Z,1761584376.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747218,-0.621948,-0.234194],[0.657389,-0.743416,-0.123176],[-0.097494,-0.245996,0.964355]]
2025-10-27T16:59:36.525Z,1761584376.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743131,-0.626671,-0.234607],[0.662081,-0.739426,-0.122057],[-0.096985,-0.246033,0.964397]]
2025-10-27T16:59:36.920Z,1761584376.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742904,-0.627264,-0.233737],[0.662718,-0.738404,-0.124761],[-0.094334,-0.247587,0.964262]]
2025-10-27T16:59:37.325Z,1761584377.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741047,-0.628921,-0.235175],[0.665437,-0.734668,-0.132122],[-0.089681,-0.254403,0.962931]]
2025-10-27T16:59:37.730Z,1761584377.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735872,-0.632507,-0.241716],[0.672031,-0.725907,-0.146402],[-0.082863,-0.270174,0.959239]]
2025-10-27T16:59:38.137Z,1761584378.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726404,-0.638076,-0.255335],[0.683215,-0.710722,-0.167604],[-0.074528,-0.296197,0.952215]]
2025-10-27T16:59:38.931Z,1761584378.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694926,-0.654815,-0.297146],[0.716986,-0.662497,-0.216862],[-0.054854,-0.363752,0.929879]]
2025-10-27T16:59:39.337Z,1761584379.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676117,-0.662961,-0.321479],[0.735471,-0.633412,-0.240565],[-0.044143,-0.399088,0.915849]]
2025-10-27T16:59:39.747Z,1761584379.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656995,-0.669285,-0.347008],[0.753195,-0.602552,-0.263872],[-0.032485,-0.434728,0.899976]]
2025-10-27T16:59:40.083Z,1761584380.083 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T16:59:40.083Z,1761584380.083 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T16:59:40.158Z,1761584380.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637274,-0.676182,-0.369676],[0.770377,-0.571441,-0.282796],[-0.020027,-0.465008,0.885080]]
2025-10-27T16:59:40.191Z,1761584380.191 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T16:59:40.257Z,1761584380.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T16:59:40.257Z,1761584380.257 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T16:59:40.508Z,1761584380.508 [DAT](INFO): DAT read: user:1087>

2025-10-27T16:59:40.509Z,1761584380.509 [DAT](INFO): DAT read: Tx time:16:59:39.5289

2025-10-27T16:59:40.510Z,1761584380.510 [DAT](INFO): Ping request sent.
2025-10-27T16:59:40.510Z,1761584380.510 [DAT](INFO): transmitted an acoustic signal
2025-10-27T16:59:40.512Z,1761584380.512 [DAT](INFO): publishing transmit ping time
2025-10-27T16:59:40.515Z,1761584380.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004834
2025-10-27T16:59:40.565Z,1761584380.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617057,-0.684080,-0.388940],[0.786889,-0.540679,-0.297444],[-0.006816,-0.489592,0.871925]]
2025-10-27T16:59:40.760Z,1761584380.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250167
2025-10-27T16:59:40.952Z,1761584380.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597043,-0.692572,-0.404826],[0.802179,-0.511027,-0.308805],[0.006993,-0.509112,0.860672]]
2025-10-27T16:59:41.012Z,1761584381.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502339
2025-10-27T16:59:41.264Z,1761584381.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754560
2025-10-27T16:59:41.354Z,1761584381.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576897,-0.702960,-0.415977],[0.816546,-0.483220,-0.315833],[0.021009,-0.521868,0.852767]]
2025-10-27T16:59:41.516Z,1761584381.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006155
2025-10-27T16:59:41.762Z,1761584381.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556196,-0.715208,-0.423229],[0.830317,-0.456842,-0.319170],[0.034924,-0.528935,0.847943]]
2025-10-27T16:59:41.768Z,1761584381.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258237
2025-10-27T16:59:42.021Z,1761584382.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511054
2025-10-27T16:59:42.272Z,1761584382.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762260
2025-10-27T16:59:42.524Z,1761584382.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014207
2025-10-27T16:59:42.741Z,1761584382.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511235,-0.746485,-0.425910],[0.857119,-0.406442,-0.316467],[0.063130,-0.526845,0.847614]]
2025-10-27T16:59:42.776Z,1761584382.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266273
2025-10-27T16:59:43.029Z,1761584383.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518912
2025-10-27T16:59:43.280Z,1761584383.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770549
2025-10-27T16:59:43.310Z,1761584383.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485880,-0.764414,-0.423782],[0.870517,-0.379841,-0.312922],[0.078232,-0.520952,0.849993]]
2025-10-27T16:59:43.532Z,1761584383.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022230
2025-10-27T16:59:43.784Z,1761584383.784 [DAT](INFO): DAT read: Rx Time:16:59:42.4145

2025-10-27T16:59:43.784Z,1761584383.784 [DAT](INFO): Rx dataTimestamp_ set to:1761584383.784160
2025-10-27T16:59:43.785Z,1761584383.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275315
2025-10-27T16:59:44.037Z,1761584384.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527331
2025-10-27T16:59:44.292Z,1761584384.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781565
2025-10-27T16:59:44.351Z,1761584384.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399259,-0.827530,-0.394698],[0.907526,-0.295507,-0.298449],[0.130339,-0.477357,0.868989]]
2025-10-27T16:59:44.548Z,1761584384.548 [DAT](INFO): DAT read: 16:59:42.4145 LVL= 21056, 23825, 28274, 30115, AGC= 74, IDX=  47, 0.21,-1.481,-2.827, 2.666,-2.074, PHS= 0.695,-0.708,-1.586, RAW=  67.6,  15.8, CAL=  64.8,  22.1, ROT=  85.2, -22.1

2025-10-27T16:59:44.550Z,1761584384.550 [DAT](INFO): got valid direction response:
 16:59:42.4145 LVL= 21056, 23825, 28274, 30115, AGC= 74, IDX=  47, 0.21,-1.481,-2.827, 2.666,-2.074, PHS= 0.695,-0.708,-1.586, RAW=  67.6,  15.8, CAL=  64.8,  22.1, ROT=  85.2, -22.1

2025-10-27T16:59:44.552Z,1761584384.552 [DAT](INFO): DAT read: Bearing 171,   2 (Remote)

2025-10-27T16:59:44.552Z,1761584384.552 [DAT](INFO): Remote Bearing received:Bearing 171,   2 (Remote)

2025-10-27T16:59:44.553Z,1761584384.553 [DAT](INFO): DAT read: Bearing   5.9,  36.9 (Local)

2025-10-27T16:59:44.554Z,1761584384.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,  36.9 (Local)

2025-10-27T16:59:44.556Z,1761584384.556 [DAT](INFO): DAT read: Range 11 to 20 : 642.3 m  (Round-trip  856.5 ms) speed -0.4 m/s

2025-10-27T16:59:44.557Z,1761584384.557 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T16:59:44.558Z,1761584384.558 [DAT](INFO): direction in FSK: [0.077530,0.923279,0.376224]
2025-10-27T16:59:44.560Z,1761584384.560 [DAT](INFO): publishing direction and range info
2025-10-27T16:59:44.848Z,1761584384.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368248,-0.849489,-0.377837],[0.917611,-0.266685,-0.294737],[0.149612,-0.455244,0.877707]]
2025-10-27T16:59:44.953Z,1761584384.953 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584384.00. Resetting abort timer.
2025-10-27T16:59:45.257Z,1761584385.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336374,-0.870783,-0.358593],[0.926500,-0.237802,-0.291629],[0.168671,-0.430333,0.886771]]
2025-10-27T16:59:46.065Z,1761584386.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271454,-0.901115,-0.338090],[0.941578,-0.175880,-0.287223],[0.199357,-0.396306,0.896213]]
2025-10-27T16:59:46.950Z,1761584386.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171682,-0.918571,-0.356024],[0.964684,-0.083468,-0.249836],[0.199776,-0.386343,0.900460]]
2025-10-27T16:59:47.463Z,1761584387.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136820,-0.917817,-0.372683],[0.973197,-0.054340,-0.223459],[0.184843,-0.393268,0.900652]]
2025-10-27T16:59:47.903Z,1761584387.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101727,-0.914651,-0.391236],[0.980950,-0.026802,-0.192402],[0.165494,-0.403356,0.899953]]
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateRudder] Running Loop=1
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateRudder:A] Stopped
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T16:59:47.944Z,1761584387.944 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode:A] Stopped
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode] Stopped
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateSpeed] Running Loop=1
2025-10-27T16:59:47.945Z,1761584387.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T16:59:47.946Z,1761584387.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T16:59:47.946Z,1761584387.946 [marl:UpdateSpeed:A] Stopped
2025-10-27T16:59:47.946Z,1761584387.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T16:59:47.946Z,1761584387.946 [marl:UpdateSpeed] Stopped
2025-10-27T16:59:47.946Z,1761584387.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T16:59:48.305Z,1761584388.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067694,-0.908781,-0.411745],[0.986917,-0.000467,-0.161226],[0.146327,-0.417272,0.896924]]
2025-10-27T16:59:48.330Z,1761584388.330 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T16:59:48.330Z,1761584388.330 [marl:UpdateRudder:B] Stopped
2025-10-27T16:59:48.330Z,1761584388.330 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T16:59:48.330Z,1761584388.330 [marl:UpdateRudder] Stopped
2025-10-27T16:59:48.331Z,1761584388.331 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T16:59:48.707Z,1761584388.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038198,-0.901109,-0.431907],[0.990452,0.023155,-0.135903],[0.132464,-0.432975,0.891620]]
2025-10-27T16:59:49.124Z,1761584389.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015445,-0.894384,-0.447033],[0.991752,0.043189,-0.120675],[0.127237,-0.445209,0.886340]]
2025-10-27T16:59:49.659Z,1761584389.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006347,-0.890075,-0.455770],[0.991643,0.064333,-0.111827],[0.128855,-0.451252,0.883045]]
2025-10-27T16:59:50.174Z,1761584390.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062865,-0.885930,-0.459539],[0.988671,0.118165,-0.092554],[0.136298,-0.448515,0.883322]]
2025-10-27T16:59:50.665Z,1761584390.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096766,-0.884765,-0.455881],[0.985621,0.148927,-0.079825],[0.138519,-0.441601,0.886454]]
2025-10-27T16:59:51.066Z,1761584391.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132595,-0.882018,-0.452175],[0.981469,0.180511,-0.064304],[0.138340,-0.435269,0.889608]]
2025-10-27T16:59:51.521Z,1761584391.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167618,-0.878153,-0.448052],[0.976459,0.210472,-0.047214],[0.135763,-0.429591,0.892760]]
2025-10-27T16:59:51.910Z,1761584391.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200813,-0.873412,-0.443651],[0.970844,0.237951,-0.029013],[0.130907,-0.424889,0.895730]]
2025-10-27T16:59:52.314Z,1761584392.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230632,-0.867722,-0.440303],[0.964888,0.262401,-0.011713],[0.125699,-0.422142,0.897773]]
2025-10-27T16:59:52.720Z,1761584392.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257520,-0.861265,-0.438072],[0.958556,0.284883,0.003395],[0.121875,-0.420791,0.898934]]
2025-10-27T16:59:53.150Z,1761584393.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283588,-0.854603,-0.435008],[0.951370,0.307644,0.015824],[0.120304,-0.418341,0.900287]]
2025-10-27T16:59:53.549Z,1761584393.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309345,-0.848335,-0.429691],[0.943107,0.331600,0.024293],[0.121877,-0.412759,0.902649]]
2025-10-27T16:59:53.954Z,1761584393.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336213,-0.840462,-0.424952],[0.933268,0.357876,0.030582],[0.126377,-0.406876,0.904699]]
2025-10-27T16:59:54.358Z,1761584394.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364332,-0.830187,-0.421961],[0.921804,0.385922,0.036626],[0.132437,-0.402309,0.905874]]
2025-10-27T16:59:54.773Z,1761584394.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393655,-0.817575,-0.420246],[0.908685,0.415220,0.043391],[0.139019,-0.398952,0.906372]]
2025-10-27T16:59:55.166Z,1761584395.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423976,-0.803377,-0.418126],[0.894086,0.444891,0.051793],[0.144411,-0.395799,0.906911]]
2025-10-27T16:59:55.570Z,1761584395.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454853,-0.788904,-0.413205],[0.878384,0.473900,0.062134],[0.146800,-0.391215,0.908516]]
2025-10-27T16:59:55.975Z,1761584395.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486321,-0.772965,-0.407453],[0.861708,0.501512,0.077102],[0.144745,-0.388602,0.909966]]
2025-10-27T16:59:56.380Z,1761584396.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518384,-0.755562,-0.400505],[0.843889,0.527733,0.096688],[0.138306,-0.388103,0.911179]]
2025-10-27T16:59:56.782Z,1761584396.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550194,-0.735402,-0.395564],[0.825107,0.551621,0.122118],[0.128396,-0.393571,0.910284]]
2025-10-27T16:59:57.224Z,1761584397.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580508,-0.714191,-0.391079],[0.805845,0.572759,0.150201],[0.116721,-0.402342,0.908018]]
2025-10-27T16:59:57.688Z,1761584397.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607697,-0.691733,-0.390141],[0.787177,0.589696,0.180582],[0.105150,-0.416849,0.902873]]
2025-10-27T16:59:58.086Z,1761584398.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631281,-0.670560,-0.389658],[0.769624,0.603658,0.208030],[0.095723,-0.431216,0.897156]]
2025-10-27T16:59:58.500Z,1761584398.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651143,-0.651053,-0.390056],[0.753626,0.615445,0.230816],[0.089785,-0.444250,0.891392]]
2025-10-27T16:59:58.925Z,1761584398.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667998,-0.633669,-0.390183],[0.739018,0.626429,0.247869],[0.087355,-0.453928,0.886746]]
2025-10-27T16:59:59.456Z,1761584399.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699880,-0.603040,-0.382767],[0.708627,0.653409,0.266278],[0.089528,-0.457602,0.884639]]
2025-10-27T16:59:59.858Z,1761584399.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721864,-0.582739,-0.373267],[0.686097,0.673145,0.275946],[0.090458,-0.455293,0.885734]]
2025-10-27T17:00:00.323Z,1761584400.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744700,-0.561845,-0.360211],[0.661204,0.694467,0.283769],[0.090721,-0.449496,0.888664]]
2025-10-27T17:00:00.729Z,1761584400.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766534,-0.541439,-0.345353],[0.635852,0.715316,0.289855],[0.090098,-0.441777,0.892589]]
2025-10-27T17:00:01.132Z,1761584401.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787244,-0.522627,-0.327273],[0.610172,0.736897,0.290986],[0.089090,-0.428770,0.899010]]
2025-10-27T17:00:01.538Z,1761584401.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807061,-0.502432,-0.310185],[0.583811,0.757649,0.291776],[0.088414,-0.416571,0.904794]]
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateRudder:A] Stopped
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:00:01.582Z,1761584401.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:00:01.583Z,1761584401.583 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:00:01.596Z,1761584401.596 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:00:01.597Z,1761584401.597 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:00:01.597Z,1761584401.597 [marl:UpdateCommandMode] Stopped
2025-10-27T17:00:01.599Z,1761584401.599 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:00:01.600Z,1761584401.600 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:00:01.600Z,1761584401.600 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:00:01.600Z,1761584401.600 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:00:01.601Z,1761584401.601 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:00:01.601Z,1761584401.601 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:00:01.601Z,1761584401.601 [marl:UpdateSpeed] Stopped
2025-10-27T17:00:01.601Z,1761584401.601 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:00:01.934Z,1761584401.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825905,-0.479776,-0.296135],[0.556795,0.776658,0.294588],[0.088659,-0.408188,0.908582]]
2025-10-27T17:00:01.986Z,1761584401.986 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:00:01.986Z,1761584401.986 [marl:UpdateRudder:B] Stopped
2025-10-27T17:00:01.986Z,1761584401.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:00:01.986Z,1761584401.986 [marl:UpdateRudder] Stopped
2025-10-27T17:00:01.986Z,1761584401.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:00:02.338Z,1761584402.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844169,-0.454975,-0.283509],[0.528383,0.795456,0.296752],[0.090504,-0.400310,0.911900]]
2025-10-27T17:00:02.750Z,1761584402.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862297,-0.426381,-0.273208],[0.497715,0.813087,0.301944],[0.093398,-0.396345,0.913339]]
2025-10-27T17:00:03.146Z,1761584403.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879318,-0.397073,-0.262930],[0.466475,0.829332,0.307587],[0.095922,-0.393117,0.914471]]
2025-10-27T17:00:03.180Z,1761584403.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:00:03.550Z,1761584403.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894233,-0.369662,-0.252382],[0.436904,0.843411,0.312687],[0.097274,-0.389882,0.915713]]
2025-10-27T17:00:03.954Z,1761584403.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907152,-0.344338,-0.241882],[0.409450,0.854902,0.318580],[0.097086,-0.388039,0.916515]]
2025-10-27T17:00:04.183Z,1761584404.183 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T17:00:04.184Z,1761584404.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:00:04.362Z,1761584404.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918140,-0.322968,-0.229587],[0.384857,0.864773,0.322572],[0.094360,-0.384525,0.918279]]
2025-10-27T17:00:05.250Z,1761584405.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932382,-0.303193,-0.196820],[0.352755,0.882063,0.312296],[0.078922,-0.360608,0.929372]]
2025-10-27T17:00:05.650Z,1761584405.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935711,-0.304272,-0.178503],[0.346239,0.889036,0.299555],[0.067550,-0.342102,0.937232]]
2025-10-27T17:00:06.054Z,1761584406.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937045,-0.309238,-0.162231],[0.344703,0.893476,0.287889],[0.055923,-0.325687,0.943822]]
2025-10-27T17:00:06.459Z,1761584406.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936726,-0.316840,-0.148853],[0.347117,0.895743,0.277768],[0.045327,-0.311862,0.949046]]
2025-10-27T17:00:06.965Z,1761584406.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932656,-0.336681,-0.129613],[0.359527,0.897165,0.256584],[0.029898,-0.285903,0.957792]]
2025-10-27T17:00:07.758Z,1761584407.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927797,-0.354939,-0.114941],[0.372504,0.898500,0.232247],[0.020841,-0.258294,0.965841]]
2025-10-27T17:00:08.553Z,1761584408.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926940,-0.361496,-0.100516],[0.374991,0.901699,0.215221],[0.012834,-0.237189,0.971379]]
2025-10-27T17:00:08.966Z,1761584408.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929146,-0.357688,-0.093531],[0.369617,0.904493,0.212780],[0.008489,-0.232274,0.972613]]
2025-10-27T17:00:09.358Z,1761584409.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931692,-0.352667,-0.087041],[0.363222,0.907396,0.211429],[0.004417,-0.228602,0.973510]]
2025-10-27T17:00:09.764Z,1761584409.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933939,-0.347858,-0.082178],[0.357432,0.909315,0.213044],[0.000617,-0.228343,0.973580]]
2025-10-27T17:00:10.162Z,1761584410.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936025,-0.343209,-0.077873],[0.351922,0.911068,0.214724],[-0.002747,-0.228393,0.973565]]
2025-10-27T17:00:10.568Z,1761584410.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937523,-0.339813,-0.074686],[0.347886,0.912415,0.215580],[-0.005112,-0.228093,0.973626]]
2025-10-27T17:00:10.970Z,1761584410.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938822,-0.336573,-0.073015],[0.344337,0.913199,0.217944],[-0.006677,-0.229752,0.973226]]
2025-10-27T17:00:11.374Z,1761584411.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940083,-0.333301,-0.071797],[0.340865,0.914177,0.219296],[-0.007456,-0.230630,0.973013]]
2025-10-27T17:00:11.837Z,1761584411.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941658,-0.328833,-0.071752],[0.336498,0.915374,0.221044],[-0.007006,-0.232292,0.972621]]
2025-10-27T17:00:12.239Z,1761584412.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943555,-0.323340,-0.071799],[0.331164,0.917154,0.221717],[-0.005839,-0.232979,0.972464]]
2025-10-27T17:00:12.641Z,1761584412.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945516,-0.317638,-0.071459],[0.325545,0.919318,0.221076],[-0.004529,-0.232294,0.972635]]
2025-10-27T17:00:13.046Z,1761584413.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947035,-0.313328,-0.070365],[0.321118,0.921982,0.216407],[-0.002931,-0.227540,0.973764]]
2025-10-27T17:00:13.450Z,1761584413.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947881,-0.310782,-0.070254],[0.318622,0.923696,0.212756],[-0.001227,-0.224052,0.974576]]
2025-10-27T17:00:13.854Z,1761584413.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948417,-0.308924,-0.071220],[0.317025,0.924950,0.209671],[0.001102,-0.221434,0.975175]]
2025-10-27T17:00:14.259Z,1761584414.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948815,-0.307169,-0.073467],[0.315808,0.925607,0.208609],[0.003923,-0.221133,0.975236]]
2025-10-27T17:00:14.661Z,1761584414.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949081,-0.305294,-0.077715],[0.314933,0.925600,0.209955],[0.007835,-0.223739,0.974617]]
2025-10-27T17:00:14.697Z,1761584414.697 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:00:14.697Z,1761584414.697 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:00:14.697Z,1761584414.697 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:00:14.697Z,1761584414.697 [marl:UpdateRudder:A] Stopped
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode] Stopped
2025-10-27T17:00:14.698Z,1761584414.698 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:00:14.699Z,1761584414.699 [marl:UpdateSpeed] Stopped
2025-10-27T17:00:14.700Z,1761584414.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:00:15.071Z,1761584415.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949259,-0.302887,-0.084663],[0.314243,0.924279,0.216700],[0.012617,-0.232309,0.972560]]
2025-10-27T17:00:15.131Z,1761584415.131 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:00:15.131Z,1761584415.131 [marl:UpdateRudder:B] Stopped
2025-10-27T17:00:15.131Z,1761584415.131 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:00:15.131Z,1761584415.131 [marl:UpdateRudder] Stopped
2025-10-27T17:00:15.131Z,1761584415.131 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:00:15.473Z,1761584415.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949430,-0.299977,-0.092722],[0.313481,0.922289,0.226080],[0.017697,-0.243713,0.969686]]
2025-10-27T17:00:15.875Z,1761584415.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949535,-0.296636,-0.101935],[0.312828,0.919288,0.238848],[0.022856,-0.258682,0.965692]]
2025-10-27T17:00:16.277Z,1761584416.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949402,-0.293758,-0.111099],[0.312833,0.915826,0.251790],[0.027782,-0.273806,0.961384]]
2025-10-27T17:00:17.094Z,1761584417.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947883,-0.292587,-0.126140],[0.316506,0.910191,0.267163],[0.036643,-0.293163,0.955360]]
2025-10-27T17:00:17.489Z,1761584417.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946349,-0.295357,-0.131099],[0.320568,0.909205,0.265673],[0.040728,-0.293446,0.955108]]
2025-10-27T17:00:18.297Z,1761584418.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942856,-0.303479,-0.137564],[0.329499,0.910582,0.249540],[0.049533,-0.280608,0.958544]]
2025-10-27T17:00:18.702Z,1761584418.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942544,-0.303932,-0.138696],[0.329744,0.913031,0.240089],[0.053663,-0.272028,0.960792]]
2025-10-27T17:00:19.108Z,1761584419.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941851,-0.305806,-0.139280],[0.331094,0.915328,0.229241],[0.057383,-0.262026,0.963353]]
2025-10-27T17:00:19.510Z,1761584419.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940527,-0.309096,-0.140952],[0.334090,0.916781,0.218851],[0.061576,-0.252927,0.965524]]
2025-10-27T17:00:19.914Z,1761584419.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938655,-0.313650,-0.143352],[0.338405,0.917775,0.207776],[0.066396,-0.243541,0.967615]]
2025-10-27T17:00:20.318Z,1761584420.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936440,-0.318364,-0.147395],[0.343304,0.918107,0.198045],[0.072274,-0.236059,0.969047]]
2025-10-27T17:00:21.125Z,1761584421.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931511,-0.327039,-0.159165],[0.353282,0.917615,0.182138],[0.086486,-0.225893,0.970305]]
2025-10-27T17:00:21.541Z,1761584421.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929353,-0.329904,-0.165729],[0.356994,0.917453,0.175600],[0.094118,-0.222359,0.970411]]
2025-10-27T17:00:21.934Z,1761584421.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927401,-0.331639,-0.173041],[0.359943,0.917081,0.171475],[0.101825,-0.221311,0.969873]]
2025-10-27T17:00:22.339Z,1761584422.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925591,-0.332624,-0.180673],[0.362285,0.916764,0.168208],[0.109685,-0.221147,0.969053]]
2025-10-27T17:00:22.753Z,1761584422.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923944,-0.332475,-0.189177],[0.364054,0.916097,0.168021],[0.117442,-0.224113,0.967461]]
2025-10-27T17:00:23.146Z,1761584423.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922427,-0.331484,-0.198106],[0.365327,0.915323,0.169469],[0.125155,-0.228696,0.965419]]
2025-10-27T17:00:23.555Z,1761584423.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921340,-0.328708,-0.207564],[0.365450,0.914411,0.174065],[0.132582,-0.236227,0.962610]]
2025-10-27T17:00:23.955Z,1761584423.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920873,-0.323813,-0.217112],[0.363869,0.913807,0.180435],[0.139971,-0.245158,0.959326]]
2025-10-27T17:00:24.358Z,1761584424.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921386,-0.316401,-0.225696],[0.359930,0.913760,0.188394],[0.146624,-0.254818,0.955808]]
2025-10-27T17:00:24.764Z,1761584424.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922462,-0.307580,-0.233363],[0.354505,0.914200,0.196380],[0.152938,-0.263881,0.952353]]
2025-10-27T17:00:25.166Z,1761584425.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923655,-0.299225,-0.239430],[0.348843,0.915141,0.202055],[0.158652,-0.270152,0.949656]]
2025-10-27T17:00:25.585Z,1761584425.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924679,-0.292411,-0.243855],[0.343854,0.916364,0.205041],[0.163504,-0.273448,0.947889]]
2025-10-27T17:00:25.973Z,1761584425.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924844,-0.288966,-0.247311],[0.341350,0.917398,0.204598],[0.167761,-0.273640,0.947089]]
2025-10-27T17:00:26.378Z,1761584426.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924092,-0.288764,-0.250340],[0.341400,0.918139,0.201163],[0.171758,-0.271359,0.947029]]
2025-10-27T17:00:26.782Z,1761584426.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922423,-0.291734,-0.253037],[0.343930,0.918590,0.194692],[0.175639,-0.266615,0.947664]]
2025-10-27T17:00:27.590Z,1761584427.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916806,-0.303127,-0.259964],[0.354426,0.917597,0.179992],[0.183982,-0.257156,0.948695]]
2025-10-27T17:00:27.635Z,1761584427.635 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateRudder:A] Stopped
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:00:27.636Z,1761584427.636 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateCommandMode] Stopped
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:00:27.637Z,1761584427.637 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:00:27.638Z,1761584427.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:00:27.638Z,1761584427.638 [marl:UpdateSpeed] Stopped
2025-10-27T17:00:27.638Z,1761584427.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:00:27.994Z,1761584427.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913105,-0.310468,-0.264289],[0.361357,0.916447,0.171891],[0.188840,-0.252457,0.949002]]
2025-10-27T17:00:28.038Z,1761584428.038 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:00:28.038Z,1761584428.038 [marl:UpdateRudder:B] Stopped
2025-10-27T17:00:28.043Z,1761584428.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:00:28.043Z,1761584428.043 [marl:UpdateRudder] Stopped
2025-10-27T17:00:28.044Z,1761584428.044 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:00:28.399Z,1761584428.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909107,-0.317848,-0.269253],[0.368358,0.915227,0.163316],[0.194518,-0.247653,0.949121]]
2025-10-27T17:00:28.803Z,1761584428.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905146,-0.324987,-0.274032],[0.374783,0.914295,0.153630],[0.200618,-0.241760,0.949371]]
2025-10-27T17:00:29.610Z,1761584429.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898209,-0.334970,-0.284634],[0.384655,0.912362,0.140131],[0.212749,-0.235353,0.948339]]
2025-10-27T17:00:30.018Z,1761584430.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895824,-0.337271,-0.289391],[0.387331,0.911804,0.136340],[0.217884,-0.234227,0.947451]]
2025-10-27T17:00:30.421Z,1761584430.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894967,-0.336382,-0.293054],[0.386972,0.912197,0.134722],[0.222004,-0.233976,0.946557]]
2025-10-27T17:00:30.826Z,1761584430.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894992,-0.333712,-0.296016],[0.384710,0.913330,0.133518],[0.225804,-0.233378,0.945805]]
2025-10-27T17:00:31.226Z,1761584431.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895446,-0.329931,-0.298867],[0.381789,0.914422,0.134424],[0.228940,-0.234474,0.944780]]
2025-10-27T17:00:31.629Z,1761584431.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896339,-0.325423,-0.301124],[0.378196,0.915648,0.136219],[0.231395,-0.235983,0.943805]]
2025-10-27T17:00:32.062Z,1761584432.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897324,-0.321462,-0.302443],[0.374783,0.916871,0.137423],[0.233125,-0.236663,0.943209]]
2025-10-27T17:00:32.439Z,1761584432.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898143,-0.318228,-0.303430],[0.371929,0.917913,0.138219],[0.234537,-0.236995,0.942775]]
2025-10-27T17:00:32.874Z,1761584432.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898561,-0.316264,-0.304246],[0.370219,0.918551,0.138572],[0.235641,-0.237153,0.942461]]
2025-10-27T17:00:33.245Z,1761584433.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898489,-0.315807,-0.304933],[0.369764,0.918832,0.137918],[0.236627,-0.236671,0.942334]]
2025-10-27T17:00:33.656Z,1761584433.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897986,-0.316234,-0.305971],[0.370636,0.918381,0.138583],[0.237173,-0.237849,0.941901]]
2025-10-27T17:00:34.068Z,1761584434.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897176,-0.317029,-0.307519],[0.372503,0.917231,0.141169],[0.237311,-0.241205,0.941012]]
2025-10-27T17:00:34.303Z,1761584434.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:00:34.458Z,1761584434.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896005,-0.318316,-0.309596],[0.375298,0.915515,0.144855],[0.237330,-0.245981,0.939770]]
2025-10-27T17:00:34.900Z,1761584434.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894556,-0.320411,-0.311618],[0.378804,0.913551,0.148097],[0.237226,-0.250523,0.938596]]
2025-10-27T17:00:35.268Z,1761584435.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893000,-0.323147,-0.313251],[0.382698,0.911504,0.150674],[0.236839,-0.254433,0.937641]]
2025-10-27T17:00:35.308Z,1761584435.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:00:35.675Z,1761584435.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891441,-0.326622,-0.314087],[0.386610,0.909764,0.151202],[0.236359,-0.256217,0.937276]]
2025-10-27T17:00:36.074Z,1761584436.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889858,-0.330427,-0.314597],[0.390180,0.908538,0.149395],[0.236459,-0.255689,0.937395]]
2025-10-27T17:00:36.479Z,1761584436.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888526,-0.334209,-0.314366],[0.392610,0.908367,0.143971],[0.237443,-0.251345,0.938321]]
2025-10-27T17:00:36.905Z,1761584436.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888025,-0.336110,-0.313754],[0.392688,0.909370,0.137270],[0.239180,-0.245106,0.939529]]
2025-10-27T17:00:37.287Z,1761584437.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888542,-0.335677,-0.312751],[0.390296,0.911368,0.130677],[0.241166,-0.238177,0.940803]]
2025-10-27T17:00:37.690Z,1761584437.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890011,-0.333433,-0.310972],[0.386360,0.913689,0.126089],[0.242089,-0.232368,0.942018]]
2025-10-27T17:00:38.093Z,1761584438.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891912,-0.330805,-0.308321],[0.381877,0.916163,0.121722],[0.242206,-0.226306,0.943463]]
2025-10-27T17:00:38.499Z,1761584438.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893810,-0.327921,-0.305893],[0.377737,0.918177,0.119441],[0.241697,-0.222305,0.944544]]
2025-10-27T17:00:38.912Z,1761584438.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895771,-0.324616,-0.303675],[0.373710,0.919873,0.119054],[0.240695,-0.220132,0.945308]]
2025-10-27T17:00:39.305Z,1761584439.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897710,-0.320859,-0.301938],[0.370064,0.921024,0.121519],[0.239101,-0.220825,0.945551]]
2025-10-27T17:00:39.710Z,1761584439.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899462,-0.317140,-0.300649],[0.367129,0.921564,0.126240],[0.237032,-0.223925,0.945343]]
2025-10-27T17:00:40.114Z,1761584440.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900736,-0.314689,-0.299410],[0.365767,0.921290,0.132057],[0.234287,-0.228462,0.944942]]
2025-10-27T17:00:40.223Z,1761584440.223 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:00:40.256Z,1761584440.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:00:40.256Z,1761584440.256 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:00:40.483Z,1761584440.483 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:00:40.484Z,1761584440.484 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:00:40.508Z,1761584440.508 [DAT](INFO): DAT read: user:1088>

2025-10-27T17:00:40.509Z,1761584440.509 [DAT](INFO): DAT read: Tx time:17:00:39.5290

2025-10-27T17:00:40.509Z,1761584440.509 [DAT](INFO): Ping request sent.
2025-10-27T17:00:40.509Z,1761584440.509 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:00:40.509Z,1761584440.509 [DAT](INFO): publishing transmit ping time
2025-10-27T17:00:40.510Z,1761584440.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948
2025-10-27T17:00:40.539Z,1761584440.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901665,-0.313246,-0.298123],[0.365815,0.920164,0.139558],[0.230606,-0.234893,0.944270]]
2025-10-27T17:00:40.622Z,1761584440.622 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:00:40.622Z,1761584440.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:00:40.623Z,1761584440.623 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:00:40.627Z,1761584440.627 [marl:UpdateRudder:A] Stopped
2025-10-27T17:00:40.627Z,1761584440.627 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:00:40.627Z,1761584440.627 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode] Stopped
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:00:40.628Z,1761584440.628 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed] Stopped
2025-10-27T17:00:40.629Z,1761584440.629 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:00:40.760Z,1761584440.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250926
2025-10-27T17:00:40.922Z,1761584440.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902264,-0.313527,-0.296008],[0.367163,0.918597,0.146189],[0.226078,-0.240584,0.943932]]
2025-10-27T17:00:41.014Z,1761584441.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504449
2025-10-27T17:00:41.022Z,1761584441.022 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:00:41.022Z,1761584441.022 [marl:UpdateRudder:B] Stopped
2025-10-27T17:00:41.022Z,1761584441.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:00:41.022Z,1761584441.022 [marl:UpdateRudder] Stopped
2025-10-27T17:00:41.023Z,1761584441.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:00:41.264Z,1761584441.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801
2025-10-27T17:00:41.326Z,1761584441.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902416,-0.314849,-0.294136],[0.369781,0.916328,0.153638],[0.221152,-0.247411,0.943334]]
2025-10-27T17:00:41.518Z,1761584441.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009245
2025-10-27T17:00:41.744Z,1761584441.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902030,-0.317553,-0.292407],[0.373629,0.913601,0.160419],[0.216202,-0.253954,0.942743]]
2025-10-27T17:00:41.780Z,1761584441.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270714
2025-10-27T17:00:42.028Z,1761584442.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518889
2025-10-27T17:00:42.134Z,1761584442.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901148,-0.321709,-0.290578],[0.378384,0.910813,0.165061],[0.211561,-0.258695,0.942507]]
2025-10-27T17:00:42.280Z,1761584442.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770811
2025-10-27T17:00:42.533Z,1761584442.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024006
2025-10-27T17:00:42.547Z,1761584442.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899823,-0.327377,-0.288345],[0.383750,0.908350,0.166239],[0.207495,-0.260238,0.942986]]
2025-10-27T17:00:42.784Z,1761584442.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274772
2025-10-27T17:00:42.942Z,1761584442.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898210,-0.333472,-0.286383],[0.389256,0.906086,0.165792],[0.204201,-0.260393,0.943662]]
2025-10-27T17:00:43.037Z,1761584443.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527382
2025-10-27T17:00:43.288Z,1761584443.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778876
2025-10-27T17:00:43.352Z,1761584443.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896566,-0.339744,-0.284153],[0.394206,0.904586,0.162252],[0.201917,-0.257485,0.944950]]
2025-10-27T17:00:43.540Z,1761584443.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030858
2025-10-27T17:00:43.756Z,1761584443.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895687,-0.343688,-0.282177],[0.396987,0.903921,0.159150],[0.200368,-0.254569,0.946069]]
2025-10-27T17:00:43.792Z,1761584443.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282715
2025-10-27T17:00:44.044Z,1761584444.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534881
2025-10-27T17:00:44.154Z,1761584444.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896591,-0.341559,-0.281891],[0.395222,0.904306,0.161336],[0.199810,-0.256062,0.945785]]
2025-10-27T17:00:44.297Z,1761584444.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787965
2025-10-27T17:00:44.548Z,1761584444.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038874
2025-10-27T17:00:44.562Z,1761584444.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900417,-0.330027,-0.283428],[0.386707,0.905643,0.173979],[0.199267,-0.266258,0.943080]]
2025-10-27T17:00:44.800Z,1761584444.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290794
2025-10-27T17:00:45.052Z,1761584445.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542840
2025-10-27T17:00:45.304Z,1761584445.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795151
2025-10-27T17:00:45.422Z,1761584445.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918428,-0.271427,-0.287781],[0.342654,0.909374,0.235853],[0.197684,-0.315223,0.928200]]
2025-10-27T17:00:45.556Z,1761584445.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047245
2025-10-27T17:00:45.808Z,1761584445.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299312
2025-10-27T17:00:45.860Z,1761584445.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925168,-0.247413,-0.287838],[0.324189,0.909490,0.260250],[0.197396,-0.334089,0.921640]]
2025-10-27T17:00:46.060Z,1761584446.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550772
2025-10-27T17:00:46.254Z,1761584446.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931824,-0.222525,-0.286683],[0.304454,0.909262,0.283812],[0.197515,-0.351745,0.915021]]
2025-10-27T17:00:46.312Z,1761584446.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802895
2025-10-27T17:00:46.564Z,1761584446.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055126
2025-10-27T17:00:46.658Z,1761584446.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938035,-0.197900,-0.284476],[0.284260,0.908937,0.305008],[0.198209,-0.366973,0.908870]]
2025-10-27T17:00:46.818Z,1761584446.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.308331
2025-10-27T17:00:47.062Z,1761584447.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943888,-0.174084,-0.280661],[0.263410,0.909434,0.321784],[0.199225,-0.377657,0.904259]]
2025-10-27T17:00:47.068Z,1761584447.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558956
2025-10-27T17:00:47.320Z,1761584447.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810781
2025-10-27T17:00:47.585Z,1761584447.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.076083
2025-10-27T17:00:47.836Z,1761584447.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327019
2025-10-27T17:00:47.869Z,1761584447.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953825,-0.131461,-0.270067],[0.223148,0.912002,0.344176],[0.201056,-0.388549,0.899225]]
2025-10-27T17:00:48.088Z,1761584448.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578782
2025-10-27T17:00:48.273Z,1761584448.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957817,-0.112342,-0.264512],[0.204249,0.913605,0.351579],[0.202162,-0.390774,0.898012]]
2025-10-27T17:00:48.341Z,1761584448.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.832385
2025-10-27T17:00:48.592Z,1761584448.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082825
2025-10-27T17:00:48.680Z,1761584448.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961175,-0.094720,-0.259172],[0.186662,0.914919,0.357885],[0.203222,-0.392367,0.897078]]
2025-10-27T17:00:48.848Z,1761584448.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338393
2025-10-27T17:00:49.096Z,1761584449.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586926
2025-10-27T17:00:49.114Z,1761584449.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964222,-0.077260,-0.253588],[0.169317,0.915536,0.364863],[0.203980,-0.394745,0.895862]]
2025-10-27T17:00:49.351Z,1761584449.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.841708
2025-10-27T17:00:49.600Z,1761584449.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090848
2025-10-27T17:00:49.679Z,1761584449.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966986,-0.060174,-0.247624],[0.152379,0.915395,0.372604],[0.204252,-0.398035,0.894343]]
2025-10-27T17:00:49.852Z,1761584449.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342832
2025-10-27T17:00:50.095Z,1761584450.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969546,-0.042642,-0.241169],[0.135502,0.913676,0.383192],[0.204010,-0.404201,0.891629]]
2025-10-27T17:00:50.104Z,1761584450.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.594952
2025-10-27T17:00:50.356Z,1761584450.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846892
2025-10-27T17:00:50.608Z,1761584450.608 [DAT](INFO): Reached modem response timeout
2025-10-27T17:00:50.622Z,1761584450.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974250,-0.010169,-0.225240],[0.102920,0.908892,0.404131],[0.200609,-0.416907,0.886535]]
2025-10-27T17:00:51.023Z,1761584451.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976326,0.003538,-0.216275],[0.087979,0.906928,0.411997],[0.197603,-0.421271,0.885146]]
2025-10-27T17:00:51.417Z,1761584451.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978210,0.015238,-0.207059],[0.073825,0.906596,0.415492],[0.194050,-0.421724,0.885716]]
2025-10-27T17:00:51.823Z,1761584451.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979826,0.026018,-0.198151],[0.059798,0.907898,0.414905],[0.190696,-0.418383,0.888026]]
2025-10-27T17:00:52.226Z,1761584452.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981147,0.037522,-0.189585],[0.044633,0.910459,0.411184],[0.188038,-0.411894,0.891620]]
2025-10-27T17:00:52.631Z,1761584452.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982071,0.051389,-0.181370],[0.027118,0.913605,0.405698],[0.186549,-0.403343,0.895831]]
2025-10-27T17:00:52.879Z,1761584452.879 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:00:52.880Z,1761584452.880 [DAT](INFO): response not received
2025-10-27T17:00:52.881Z,1761584452.881 [DAT](ERROR): No response from remote modem.
2025-10-27T17:00:53.034Z,1761584453.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982508,0.068060,-0.173338],[0.006973,0.916721,0.399468],[0.186091,-0.393689,0.900211]]
2025-10-27T17:00:53.440Z,1761584453.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982409,0.085420,-0.166061],[-0.013332,0.919062,0.393887],[0.186266,-0.384744,0.904034]]
2025-10-27T17:00:53.842Z,1761584453.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981911,0.100984,-0.160164],[-0.031623,0.921483,0.387130],[0.186682,-0.375063,0.908007]]
2025-10-27T17:00:53.875Z,1761584453.875 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:00:53.875Z,1761584453.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:00:53.875Z,1761584453.875 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateRudder:A] Stopped
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:00:53.876Z,1761584453.876 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateCommandMode] Stopped
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:00:53.877Z,1761584453.877 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:00:53.878Z,1761584453.878 [marl:UpdateSpeed] Stopped
2025-10-27T17:00:53.878Z,1761584453.878 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:00:54.245Z,1761584454.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981203,0.114814,-0.155106],[-0.047320,0.922364,0.383412],[0.187085,-0.368866,0.910460]]
2025-10-27T17:00:54.291Z,1761584454.291 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:00:54.295Z,1761584454.295 [marl:UpdateRudder:B] Stopped
2025-10-27T17:00:54.295Z,1761584454.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:00:54.295Z,1761584454.295 [marl:UpdateRudder] Stopped
2025-10-27T17:00:54.295Z,1761584454.295 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:00:54.759Z,1761584454.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980345,0.127650,-0.150431],[-0.061655,0.922513,0.381009],[0.187410,-0.364245,0.912252]]
2025-10-27T17:00:55.776Z,1761584455.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978375,0.153642,-0.138476],[-0.089480,0.918004,0.386343],[0.186481,-0.365598,0.911901]]
2025-10-27T17:00:56.173Z,1761584456.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977669,0.164990,-0.130162],[-0.102460,0.914998,0.390232],[0.183483,-0.368181,0.911469]]
2025-10-27T17:00:56.601Z,1761584456.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978680,0.170743,-0.114155],[-0.116521,0.919267,0.375994],[0.169137,-0.354676,0.919564]]
2025-10-27T17:00:57.011Z,1761584457.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980098,0.167266,-0.106913],[-0.118670,0.925405,0.359921],[0.159141,-0.340070,0.926837]]
2025-10-27T17:00:57.409Z,1761584457.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981632,0.162795,-0.099483],[-0.119796,0.931775,0.342701],[0.148486,-0.324488,0.934162]]
2025-10-27T17:00:57.815Z,1761584457.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982927,0.159700,-0.091377],[-0.121971,0.937383,0.326246],[0.137757,-0.309531,0.940858]]
2025-10-27T17:00:58.212Z,1761584458.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983767,0.158711,-0.083742],[-0.125959,0.943110,0.307697],[0.127813,-0.292154,0.947792]]
2025-10-27T17:00:58.613Z,1761584458.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984336,0.159365,-0.075402],[-0.130997,0.947353,0.292168],[0.117994,-0.277714,0.953390]]
2025-10-27T17:00:59.018Z,1761584459.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984680,0.160697,-0.067683],[-0.136300,0.951440,0.276013],[0.108751,-0.262560,0.958768]]
2025-10-27T17:00:59.423Z,1761584459.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984870,0.162488,-0.060239],[-0.141644,0.955060,0.260381],[0.099840,-0.247909,0.963625]]
2025-10-27T17:00:59.825Z,1761584459.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984887,0.164850,-0.053116],[-0.147077,0.958011,0.246136],[0.091461,-0.234604,0.967779]]
2025-10-27T17:01:00.229Z,1761584460.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984847,0.167169,-0.046164],[-0.152002,0.960201,0.234329],[0.083499,-0.223761,0.971061]]
2025-10-27T17:01:00.634Z,1761584460.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984964,0.168105,-0.039838],[-0.155158,0.962172,0.223946],[0.075978,-0.214397,0.973787]]
2025-10-27T17:01:01.040Z,1761584461.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985223,0.167951,-0.033601],[-0.156951,0.963808,0.215500],[0.068578,-0.207042,0.975926]]
2025-10-27T17:01:01.441Z,1761584461.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985718,0.166140,-0.027505],[-0.156826,0.965145,0.209525],[0.061357,-0.202219,0.977416]]
2025-10-27T17:01:02.250Z,1761584462.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986801,0.161158,-0.015892],[-0.154644,0.966917,0.202872],[0.048060,-0.197736,0.979076]]
2025-10-27T17:01:02.655Z,1761584462.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987306,0.158557,-0.009301],[-0.153284,0.966538,0.205688],[0.041603,-0.201652,0.978573]]
2025-10-27T17:01:03.058Z,1761584463.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987684,0.156447,-0.002226],[-0.152437,0.965377,0.211684],[0.035266,-0.208738,0.977336]]
2025-10-27T17:01:03.463Z,1761584463.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988088,0.153819,0.004593],[-0.151117,0.964231,0.217764],[0.029068,-0.215864,0.975991]]
2025-10-27T17:01:03.869Z,1761584463.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988449,0.151107,0.011630],[-0.149802,0.962507,0.226142],[0.022978,-0.225271,0.974025]]
2025-10-27T17:01:04.272Z,1761584464.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988751,0.148436,0.018416],[-0.148608,0.960918,0.233566],[0.016974,-0.233675,0.972167]]
2025-10-27T17:01:04.673Z,1761584464.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989129,0.144974,0.024625],[-0.146619,0.959480,0.240627],[0.011257,-0.241621,0.970305]]
2025-10-27T17:01:05.077Z,1761584465.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989461,0.141618,0.030201],[-0.144683,0.958436,0.245902],[0.005878,-0.247680,0.968824]]
2025-10-27T17:01:05.427Z,1761584465.427 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:01:05.499Z,1761584465.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989649,0.139126,0.035208],[-0.143508,0.957769,0.249166],[0.000944,-0.251639,0.967821]]
2025-10-27T17:01:05.889Z,1761584465.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989526,0.138756,0.039812],[-0.144314,0.957361,0.250266],[-0.003389,-0.253391,0.967358]]
2025-10-27T17:01:06.290Z,1761584466.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988880,0.141696,0.045161],[-0.148528,0.956360,0.251624],[-0.007536,-0.255534,0.966771]]
2025-10-27T17:01:06.432Z,1761584466.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:01:06.694Z,1761584466.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987957,0.146277,0.050442],[-0.154278,0.956155,0.248929],[-0.011818,-0.253713,0.967207]]
2025-10-27T17:01:07.098Z,1761584467.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986963,0.151171,0.055239],[-0.160162,0.956336,0.244477],[-0.015869,-0.250137,0.968080]]
2025-10-27T17:01:07.147Z,1761584467.147 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:01:07.147Z,1761584467.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:01:07.147Z,1761584467.147 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:01:07.147Z,1761584467.147 [marl:UpdateRudder:A] Stopped
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode] Stopped
2025-10-27T17:01:07.148Z,1761584467.148 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed] Stopped
2025-10-27T17:01:07.149Z,1761584467.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:01:07.504Z,1761584467.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985971,0.155932,0.059547],[-0.165780,0.956363,0.240597],[-0.019432,-0.247093,0.968797]]
2025-10-27T17:01:07.554Z,1761584467.554 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:01:07.554Z,1761584467.554 [marl:UpdateRudder:B] Stopped
2025-10-27T17:01:07.554Z,1761584467.554 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:01:07.554Z,1761584467.554 [marl:UpdateRudder] Stopped
2025-10-27T17:01:07.554Z,1761584467.554 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:01:07.908Z,1761584467.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985097,0.159747,0.063757],[-0.170413,0.956717,0.235905],[-0.023313,-0.243254,0.969682]]
2025-10-27T17:01:08.311Z,1761584468.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984340,0.162789,0.067631],[-0.174245,0.956639,0.233411],[-0.026702,-0.241540,0.970023]]
2025-10-27T17:01:08.713Z,1761584468.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983754,0.164935,0.070887],[-0.177057,0.956624,0.231345],[-0.029655,-0.240138,0.970286]]
2025-10-27T17:01:09.118Z,1761584469.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983464,0.165481,0.073586],[-0.178174,0.956880,0.229421],[-0.032448,-0.238738,0.970542]]
2025-10-27T17:01:09.523Z,1761584469.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983342,0.165223,0.075760],[-0.178387,0.957219,0.227838],[-0.034875,-0.237557,0.970747]]
2025-10-27T17:01:09.937Z,1761584469.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983405,0.164286,0.076970],[-0.177705,0.957714,0.226287],[-0.036539,-0.236210,0.971015]]
2025-10-27T17:01:10.330Z,1761584470.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983630,0.162785,0.077288],[-0.176341,0.957831,0.226858],[-0.037099,-0.236774,0.970856]]
2025-10-27T17:01:10.741Z,1761584470.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983969,0.161089,0.076522],[-0.174521,0.958076,0.227228],[-0.036710,-0.236940,0.970830]]
2025-10-27T17:01:11.138Z,1761584471.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984328,0.159390,0.075457],[-0.172696,0.957878,0.229447],[-0.035707,-0.238882,0.970392]]
2025-10-27T17:01:11.544Z,1761584471.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984472,0.159023,0.074342],[-0.172197,0.957121,0.232953],[-0.034110,-0.242137,0.969642]]
2025-10-27T17:01:11.957Z,1761584471.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984383,0.159937,0.073552],[-0.173031,0.955973,0.237014],[-0.032407,-0.246039,0.968718]]
2025-10-27T17:01:12.349Z,1761584472.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983906,0.162687,0.073912],[-0.175964,0.954096,0.242358],[-0.031091,-0.251463,0.967367]]
2025-10-27T17:01:12.761Z,1761584472.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983239,0.166330,0.074666],[-0.179826,0.952244,0.246769],[-0.030055,-0.256060,0.966194]]
2025-10-27T17:01:13.158Z,1761584473.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982464,0.170368,0.075760],[-0.184086,0.950854,0.248977],[-0.029619,-0.258557,0.965542]]
2025-10-27T17:01:13.563Z,1761584473.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981778,0.174088,0.076188],[-0.187743,0.950605,0.247188],[-0.029392,-0.256988,0.965968]]
2025-10-27T17:01:13.977Z,1761584473.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981302,0.176635,0.076457],[-0.190239,0.950446,0.245889],[-0.029236,-0.255836,0.966278]]
2025-10-27T17:01:14.372Z,1761584474.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981186,0.177406,0.076168],[-0.190856,0.950800,0.244034],[-0.029127,-0.253980,0.966771]]
2025-10-27T17:01:15.582Z,1761584475.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982456,0.172331,0.071284],[-0.184355,0.955155,0.231717],[-0.028156,-0.240794,0.970168]]
2025-10-27T17:01:15.993Z,1761584475.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983089,0.169489,0.069347],[-0.181067,0.956284,0.229643],[-0.027394,-0.238316,0.970801]]
2025-10-27T17:01:16.793Z,1761584476.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984414,0.163485,0.064818],[-0.174150,0.957540,0.229760],[-0.024504,-0.237467,0.971086]]
2025-10-27T17:01:17.604Z,1761584477.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985458,0.158872,0.060264],[-0.168670,0.957539,0.233815],[-0.020559,-0.240580,0.970412]]
2025-10-27T17:01:18.007Z,1761584478.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985635,0.158664,0.057867],[-0.167945,0.956948,0.236738],[-0.017814,-0.243056,0.969849]]
2025-10-27T17:01:18.410Z,1761584478.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985709,0.159184,0.055125],[-0.167809,0.956552,0.238430],[-0.014776,-0.244273,0.969594]]
2025-10-27T17:01:18.816Z,1761584478.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985850,0.159270,0.052271],[-0.167232,0.955907,0.241402],[-0.011518,-0.246728,0.969016]]
2025-10-27T17:01:19.217Z,1761584479.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985832,0.160160,0.049831],[-0.167519,0.955115,0.244320],[-0.008464,-0.249206,0.968413]]
2025-10-27T17:01:19.622Z,1761584479.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985770,0.161167,0.047775],[-0.168010,0.953890,0.248730],[-0.005485,-0.253217,0.967394]]
2025-10-27T17:01:20.088Z,1761584480.088 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateRudder:A] Stopped
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:01:20.089Z,1761584480.089 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateCommandMode] Stopped
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:01:20.090Z,1761584480.090 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:01:20.091Z,1761584480.091 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:01:20.091Z,1761584480.091 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:01:20.092Z,1761584480.092 [marl:UpdateSpeed] Stopped
2025-10-27T17:01:20.092Z,1761584480.092 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:01:20.438Z,1761584480.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985277,0.165275,0.043742],[-0.170962,0.950839,0.258221],[0.001086,-0.261897,0.965095]]
2025-10-27T17:01:20.503Z,1761584480.503 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T17:01:20.504Z,1761584480.504 [marl:UpdateRudder:B] Stopped
2025-10-27T17:01:20.504Z,1761584480.504 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:01:20.504Z,1761584480.504 [marl:UpdateRudder] Stopped
2025-10-27T17:01:20.504Z,1761584480.504 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:01:20.853Z,1761584480.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984814,0.168384,0.042284],[-0.173562,0.949025,0.263113],[0.004175,-0.266456,0.963838]]
2025-10-27T17:01:21.238Z,1761584481.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984187,0.172374,0.040773],[-0.176990,0.947844,0.265079],[0.007047,-0.268103,0.963364]]
2025-10-27T17:01:21.642Z,1761584481.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983482,0.176676,0.039341],[-0.180744,0.946955,0.265721],[0.009693,-0.268443,0.963247]]
2025-10-27T17:01:22.053Z,1761584482.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982755,0.181225,0.036743],[-0.184452,0.946735,0.263950],[0.013049,-0.266176,0.963836]]
2025-10-27T17:01:22.459Z,1761584482.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981994,0.186046,0.032793],[-0.188140,0.947419,0.258846],[0.017088,-0.260355,0.965362]]
2025-10-27T17:01:22.896Z,1761584482.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981331,0.190275,0.028011],[-0.191094,0.948190,0.253809],[0.021734,-0.254424,0.966849]]
2025-10-27T17:01:23.663Z,1761584483.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979747,0.199297,0.019382],[-0.197668,0.947174,0.252564],[0.031977,-0.251280,0.967386]]
2025-10-27T17:01:24.066Z,1761584484.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977781,0.208846,0.018101],[-0.206024,0.941432,0.266944],[0.038709,-0.264742,0.963542]]
2025-10-27T17:01:24.470Z,1761584484.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974571,0.223218,0.019603],[-0.219165,0.931334,0.290833],[0.046662,-0.287734,0.956573]]
2025-10-27T17:01:24.933Z,1761584484.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969925,0.242249,0.023680],[-0.236883,0.917095,0.320659],[0.055962,-0.316625,0.946899]]
2025-10-27T17:01:25.387Z,1761584485.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964021,0.263882,0.032082],[-0.257580,0.897466,0.358060],[0.065693,-0.353441,0.933147]]
2025-10-27T17:01:25.785Z,1761584485.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956919,0.287017,0.043890],[-0.280373,0.874117,0.396625],[0.075473,-0.391843,0.916931]]
2025-10-27T17:01:26.189Z,1761584486.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948803,0.310591,0.057495],[-0.304103,0.848989,0.432134],[0.085404,-0.427494,0.899975]]
2025-10-27T17:01:27.125Z,1761584487.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917526,0.385643,0.097089],[-0.379623,0.776643,0.502704],[0.118461,-0.498101,0.858989]]
2025-10-27T17:01:28.411Z,1761584488.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878295,0.463525,0.117225],[-0.452300,0.726028,0.517985],[0.154990,-0.507964,0.847319]]
2025-10-27T17:01:28.809Z,1761584488.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864601,0.487862,0.120234],[-0.474123,0.712917,0.516678],[0.166351,-0.503726,0.847695]]
2025-10-27T17:01:29.377Z,1761584489.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850410,0.511724,0.122233],[-0.495572,0.701100,0.512705],[0.176666,-0.496585,0.849819]]
2025-10-27T17:01:29.807Z,1761584489.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835397,0.535583,0.123539],[-0.517283,0.690107,0.506133],[0.185821,-0.486727,0.853561]]
2025-10-27T17:01:30.206Z,1761584490.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818943,0.560376,0.123734],[-0.540511,0.680745,0.494403],[0.192820,-0.471768,0.860381]]
2025-10-27T17:01:30.688Z,1761584490.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781180,0.612096,0.122863],[-0.591738,0.663217,0.458245],[0.199005,-0.430675,0.880293]]
2025-10-27T17:01:31.094Z,1761584491.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760114,0.638210,0.122126],[-0.618531,0.653061,0.436956],[0.199114,-0.407675,0.891153]]
2025-10-27T17:01:31.508Z,1761584491.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738409,0.663191,0.122187],[-0.644673,0.641062,0.416458],[0.197862,-0.386286,0.900907]]
2025-10-27T17:01:31.958Z,1761584491.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715709,0.687190,0.124622],[-0.670347,0.625872,0.398647],[0.195948,-0.368855,0.908598]]
2025-10-27T17:01:32.475Z,1761584492.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691565,0.710701,0.129001],[-0.695666,0.607281,0.383744],[0.194387,-0.355125,0.914385]]
2025-10-27T17:01:32.923Z,1761584492.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666031,0.732932,0.138614],[-0.720490,0.584003,0.373944],[0.193125,-0.348928,0.917034]]
2025-10-27T17:01:33.378Z,1761584493.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638774,0.753981,0.153234],[-0.745000,0.556376,0.367996],[0.192207,-0.349226,0.917114]]
2025-10-27T17:01:33.782Z,1761584493.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610363,0.772170,0.176664],[-0.768570,0.523319,0.368018],[0.191721,-0.360403,0.912881]]
2025-10-27T17:01:33.836Z,1761584493.836 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:01:33.836Z,1761584493.836 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:01:33.836Z,1761584493.836 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateRudder:A] Stopped
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode] Stopped
2025-10-27T17:01:33.837Z,1761584493.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed] Stopped
2025-10-27T17:01:33.838Z,1761584493.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:01:34.212Z,1761584494.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581093,0.787546,0.205189],[-0.791077,0.487384,0.369668],[0.191124,-0.377132,0.906225]]
2025-10-27T17:01:34.262Z,1761584494.262 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T17:01:34.262Z,1761584494.262 [marl:UpdateRudder:B] Stopped
2025-10-27T17:01:34.262Z,1761584494.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:01:34.262Z,1761584494.262 [marl:UpdateRudder] Stopped
2025-10-27T17:01:34.263Z,1761584494.263 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:01:34.622Z,1761584494.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552704,0.799725,0.234431],[-0.811503,0.452435,0.369819],[0.189689,-0.394642,0.899042]]
2025-10-27T17:01:36.246Z,1761584496.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417429,0.832336,0.364651],[-0.891547,0.297503,0.341519],[0.175773,-0.467663,0.866253]]
2025-10-27T17:01:36.564Z,1761584496.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:01:36.769Z,1761584496.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390660,0.838109,0.380734],[-0.904435,0.272440,0.328290],[0.171416,-0.472599,0.864446]]
2025-10-27T17:01:37.204Z,1761584497.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364517,0.844034,0.393363],[-0.916334,0.249952,0.312819],[0.165708,-0.474480,0.864529]]
2025-10-27T17:01:37.568Z,1761584497.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:01:37.697Z,1761584497.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337646,0.853194,0.397562],[-0.927808,0.230487,0.293339],[0.158642,-0.467906,0.869423]]
2025-10-27T17:01:38.120Z,1761584498.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310427,0.864539,0.395230],[-0.938647,0.213056,0.271199],[0.150256,-0.455169,0.877636]]
2025-10-27T17:01:38.605Z,1761584498.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281179,0.879161,0.384728],[-0.949142,0.195591,0.246727],[0.141663,-0.434535,0.889444]]
2025-10-27T17:01:39.010Z,1761584499.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249616,0.893214,0.373981],[-0.959220,0.175183,0.221830],[0.132627,-0.414102,0.900516]]
2025-10-27T17:01:39.423Z,1761584499.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216194,0.906510,0.362628],[-0.968544,0.152251,0.196831],[0.123219,-0.393774,0.910911]]
2025-10-27T17:01:40.217Z,1761584500.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146304,0.928396,0.341580],[-0.983905,0.100753,0.147581],[0.102598,-0.357674,0.928193]]
2025-10-27T17:01:40.264Z,1761584500.264 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:01:40.268Z,1761584500.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:01:40.268Z,1761584500.268 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:01:40.520Z,1761584500.520 [DAT](INFO): DAT read: user:1089>

2025-10-27T17:01:40.521Z,1761584500.521 [DAT](INFO): DAT read: Tx time:17:01:39.5290

2025-10-27T17:01:40.522Z,1761584500.522 [DAT](INFO): Ping request sent.
2025-10-27T17:01:40.522Z,1761584500.522 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:01:40.522Z,1761584500.522 [DAT](INFO): publishing transmit ping time
2025-10-27T17:01:40.524Z,1761584500.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001415
2025-10-27T17:01:40.528Z,1761584500.528 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:01:40.528Z,1761584500.528 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:01:40.622Z,1761584500.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111155,0.934991,0.336803],[-0.989559,0.072844,0.124363],[0.091744,-0.347110,0.933326]]
2025-10-27T17:01:40.773Z,1761584500.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250100
2025-10-27T17:01:41.024Z,1761584501.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501863
2025-10-27T17:01:41.276Z,1761584501.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753736
2025-10-27T17:01:41.429Z,1761584501.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039260,0.941098,0.335848],[-0.996715,0.013055,0.079933],[0.070840,-0.337883,0.938518]]
2025-10-27T17:01:41.529Z,1761584501.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754
2025-10-27T17:01:41.780Z,1761584501.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257913
2025-10-27T17:01:41.834Z,1761584501.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002879,0.940852,0.338806],[-0.998101,-0.018146,0.058873],[0.061539,-0.338332,0.939012]]
2025-10-27T17:01:42.032Z,1761584502.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509763
2025-10-27T17:01:42.244Z,1761584502.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034396,0.936253,0.349638],[-0.997977,-0.050893,0.038105],[0.053470,-0.347620,0.936110]]
2025-10-27T17:01:42.284Z,1761584502.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761700
2025-10-27T17:01:42.536Z,1761584502.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013810
2025-10-27T17:01:42.650Z,1761584502.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110894,0.919377,0.377422],[-0.992920,-0.118759,-0.002450],[0.042570,-0.375022,0.926038]]
2025-10-27T17:01:42.788Z,1761584502.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266129
2025-10-27T17:01:43.045Z,1761584503.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521831
2025-10-27T17:01:43.052Z,1761584503.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149265,0.907695,0.392186],[-0.988014,-0.152698,-0.022623],[0.039352,-0.390862,0.919608]]
2025-10-27T17:01:43.292Z,1761584503.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769790
2025-10-27T17:01:43.455Z,1761584503.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186336,0.895804,0.403501],[-0.981797,-0.185156,-0.042330],[0.036792,-0.404044,0.913999]]
2025-10-27T17:01:43.545Z,1761584503.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022257
2025-10-27T17:01:43.796Z,1761584503.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273820
2025-10-27T17:01:43.862Z,1761584503.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221431,0.883823,0.412099],[-0.974570,-0.215456,-0.061574],[0.034369,-0.415254,0.909056]]
2025-10-27T17:01:44.048Z,1761584504.048 [DAT](INFO): DAT read: Rx Time:17:01:42.5565

2025-10-27T17:01:44.048Z,1761584504.048 [DAT](INFO): Rx dataTimestamp_ set to:1761584504.048171
2025-10-27T17:01:44.049Z,1761584504.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526913
2025-10-27T17:01:44.263Z,1761584504.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254462,0.871925,0.418325],[-0.966562,-0.243498,-0.080420],[0.031742,-0.424801,0.904730]]
2025-10-27T17:01:44.300Z,1761584504.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777894
2025-10-27T17:01:44.558Z,1761584504.558 [DAT](INFO): DAT read: 17:01:42.5565 LVL= 25712, 29601, 17490, 26995, AGC= 61, IDX= 316,-0.04, 1.310, 1.018, 3.131, 1.793, PHS=-0.381,-0.730, 1.294, RAW= 200.7,  -2.0, CAL= 200.6,  -4.5, ROT= 309.4,   4.5

2025-10-27T17:01:44.559Z,1761584504.559 [DAT](INFO): got valid direction response:
 17:01:42.5565 LVL= 25712, 29601, 17490, 26995, AGC= 61, IDX= 316,-0.04, 1.310, 1.018, 3.131, 1.793, PHS=-0.381,-0.730, 1.294, RAW= 200.7,  -2.0, CAL= 200.6,  -4.5, ROT= 309.4,   4.5

2025-10-27T17:01:44.560Z,1761584504.560 [DAT](INFO): DAT read: Bearing 179,  -6 (Remote)

2025-10-27T17:01:44.560Z,1761584504.560 [DAT](INFO): Remote Bearing received:Bearing 179,  -6 (Remote)

2025-10-27T17:01:44.561Z,1761584504.561 [DAT](INFO): DAT read: Bearing  31.7, -40.8 (Local)

2025-10-27T17:01:44.562Z,1761584504.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.7, -40.8 (Local)

2025-10-27T17:01:44.563Z,1761584504.563 [DAT](INFO): DAT read: Range 11 to 20 : 748.8 m  (Round-trip  998.4 ms) speed  0.3 m/s

2025-10-27T17:01:44.564Z,1761584504.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:01:44.565Z,1761584504.565 [DAT](INFO): direction in FSK: [0.632774,-0.770351,-0.078459]
2025-10-27T17:01:44.565Z,1761584504.565 [DAT](INFO): publishing direction and range info
2025-10-27T17:01:44.686Z,1761584504.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285032,0.859846,0.423581],[-0.958068,-0.269115,-0.098404],[0.029380,-0.433868,0.900497]]
2025-10-27T17:01:44.771Z,1761584504.771 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584512.00. Resetting abort timer.
2025-10-27T17:01:45.086Z,1761584505.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314145,0.848865,0.425137],[-0.948989,-0.293536,-0.115134],[0.027059,-0.439619,0.897777]]
2025-10-27T17:01:45.490Z,1761584505.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341839,0.838894,0.423561],[-0.939431,-0.316934,-0.130466],[0.024794,-0.442504,0.896424]]
2025-10-27T17:01:45.905Z,1761584505.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368536,0.830525,0.417623],[-0.929339,-0.340076,-0.143797],[0.022597,-0.441108,0.897170]]
2025-10-27T17:01:46.298Z,1761584506.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394161,0.822473,0.410091],[-0.918816,-0.362536,-0.156026],[0.020345,-0.438298,0.898600]]
2025-10-27T17:01:46.702Z,1761584506.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419340,0.816421,0.397002],[-0.907647,-0.385799,-0.165334],[0.018181,-0.429669,0.902803]]
2025-10-27T17:01:47.109Z,1761584507.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443744,0.810090,0.383205],[-0.896013,-0.408646,-0.173694],[0.015888,-0.420432,0.907185]]
2025-10-27T17:01:47.177Z,1761584507.177 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:01:47.177Z,1761584507.177 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:01:47.177Z,1761584507.177 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateRudder:A] Stopped
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:01:47.178Z,1761584507.178 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:01:47.179Z,1761584507.179 [marl:UpdateCommandMode] Stopped
2025-10-27T17:01:47.179Z,1761584507.179 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:01:47.179Z,1761584507.179 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:01:47.179Z,1761584507.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:01:47.179Z,1761584507.179 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:01:47.180Z,1761584507.180 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:01:47.180Z,1761584507.180 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:01:47.180Z,1761584507.180 [marl:UpdateSpeed] Stopped
2025-10-27T17:01:47.180Z,1761584507.180 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:01:47.510Z,1761584507.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467698,0.803514,0.368270],[-0.883789,-0.431373,-0.181203],[0.013263,-0.410221,0.911889]]
2025-10-27T17:01:47.550Z,1761584507.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T17:01:47.550Z,1761584507.550 [marl:UpdateRudder:B] Stopped
2025-10-27T17:01:47.550Z,1761584507.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:01:47.550Z,1761584507.550 [marl:UpdateRudder] Stopped
2025-10-27T17:01:47.550Z,1761584507.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:01:47.914Z,1761584507.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491126,0.796368,0.352977],[-0.871027,-0.453791,-0.188112],[0.010372,-0.399839,0.916527]]
2025-10-27T17:01:48.317Z,1761584508.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514598,0.788639,0.336506],[-0.857402,-0.476554,-0.194316],[0.007118,-0.388516,0.921414]]
2025-10-27T17:01:48.733Z,1761584508.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537603,0.779235,0.322141],[-0.843193,-0.498183,-0.202088],[0.003011,-0.380270,0.924871]]
2025-10-27T17:01:49.126Z,1761584509.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561454,0.768443,0.307026],[-0.827507,-0.520817,-0.209718],[-0.001252,-0.371813,0.928307]]
2025-10-27T17:01:49.530Z,1761584509.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585309,0.755761,0.293663],[-0.810789,-0.542940,-0.218717],[-0.005857,-0.366116,0.930551]]
2025-10-27T17:01:49.933Z,1761584509.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609563,0.740829,0.282144],[-0.792666,-0.564801,-0.229524],[-0.010683,-0.363555,0.931511]]
2025-10-27T17:01:50.340Z,1761584510.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634694,0.724790,0.268035],[-0.772604,-0.588120,-0.239159],[-0.015703,-0.358878,0.933252]]
2025-10-27T17:01:50.762Z,1761584510.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659723,0.707486,0.253434],[-0.751218,-0.611459,-0.248573],[-0.020898,-0.354373,0.934870]]
2025-10-27T17:01:51.146Z,1761584511.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684435,0.687512,0.242644],[-0.728599,-0.632989,-0.261666],[-0.026307,-0.355884,0.934160]]
2025-10-27T17:01:51.549Z,1761584511.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709065,0.665727,0.232452],[-0.704428,-0.653913,-0.276003],[-0.031740,-0.359450,0.932624]]
2025-10-27T17:01:51.956Z,1761584511.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733392,0.642839,0.221120],[-0.678806,-0.674855,-0.289471],[-0.036859,-0.362393,0.931296]]
2025-10-27T17:01:52.360Z,1761584512.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757075,0.617926,0.212141],[-0.652017,-0.694065,-0.305199],[-0.041351,-0.369378,0.928359]]
2025-10-27T17:01:52.765Z,1761584512.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780123,0.591023,0.205183],[-0.624010,-0.711508,-0.323061],[-0.044947,-0.380064,0.923868]]
2025-10-27T17:01:53.224Z,1761584513.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802362,0.563228,0.197457],[-0.594956,-0.728538,-0.339498],[-0.047360,-0.389879,0.919647]]
2025-10-27T17:01:53.628Z,1761584513.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823474,0.534634,0.189888],[-0.565251,-0.744311,-0.355657],[-0.048811,-0.400209,0.915123]]
2025-10-27T17:01:54.025Z,1761584514.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843099,0.505784,0.182666],[-0.535477,-0.758344,-0.371725],[-0.049489,-0.411214,0.910194]]
2025-10-27T17:01:54.429Z,1761584514.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860694,0.478228,0.174651],[-0.506681,-0.771038,-0.385714],[-0.049797,-0.420474,0.905937]]
2025-10-27T17:01:55.267Z,1761584515.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887395,0.432212,0.160384],[-0.458230,-0.788795,-0.409667],[-0.050553,-0.437030,0.898025]]
2025-10-27T17:01:55.670Z,1761584515.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898386,0.412144,0.151788],[-0.436311,-0.797852,-0.416010],[-0.050351,-0.439965,0.896602]]
2025-10-27T17:01:56.477Z,1761584516.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918819,0.374476,0.124659],[-0.391541,-0.825097,-0.407321],[-0.049676,-0.423063,0.904737]]
2025-10-27T17:01:56.908Z,1761584516.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929019,0.354494,0.106107],[-0.366648,-0.843163,-0.393249],[-0.049939,-0.404240,0.913289]]
2025-10-27T17:01:57.286Z,1761584517.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939084,0.332502,0.086973],[-0.339883,-0.860902,-0.378585],[-0.051005,-0.385084,0.921471]]
2025-10-27T17:01:57.775Z,1761584517.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949159,0.307267,0.068442],[-0.310344,-0.876912,-0.367031],[-0.052758,-0.369612,0.927687]]
2025-10-27T17:01:58.712Z,1761584518.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975460,0.219445,0.017936],[-0.210980,-0.908312,-0.361189],[-0.062969,-0.356109,0.932320]]
2025-10-27T17:01:59.114Z,1761584519.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982206,0.187785,0.002784],[-0.175187,-0.910766,-0.373919],[-0.067681,-0.367753,0.927457]]
2025-10-27T17:01:59.520Z,1761584519.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987663,0.156063,-0.012916],[-0.138937,-0.911344,-0.387490],[-0.072244,-0.380915,0.921783]]
2025-10-27T17:01:59.926Z,1761584519.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991676,0.125327,-0.029534],[-0.103265,-0.911125,-0.398984],[-0.076913,-0.392612,0.916482]]
2025-10-27T17:01:59.961Z,1761584519.961 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateRudder:A] Stopped
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:01:59.962Z,1761584519.962 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:01:59.963Z,1761584519.963 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:01:59.963Z,1761584519.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:01:59.963Z,1761584519.963 [marl:UpdateCommandMode] Stopped
2025-10-27T17:01:59.963Z,1761584519.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:01:59.963Z,1761584519.963 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed] Stopped
2025-10-27T17:01:59.964Z,1761584519.964 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:02:00.329Z,1761584520.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994326,0.096039,-0.045740],[-0.069128,-0.910201,-0.408358],[-0.080851,-0.402879,0.911675]]
2025-10-27T17:02:00.384Z,1761584520.384 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:02:00.384Z,1761584520.384 [marl:UpdateRudder:B] Stopped
2025-10-27T17:02:00.384Z,1761584520.384 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:02:00.384Z,1761584520.384 [marl:UpdateRudder] Stopped
2025-10-27T17:02:00.384Z,1761584520.384 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:02:00.736Z,1761584520.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995701,0.069770,-0.060924],[-0.037997,-0.907518,-0.418290],[-0.084474,-0.414177,0.906268]]
2025-10-27T17:02:01.135Z,1761584521.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996131,0.044999,-0.075487],[-0.008803,-0.905736,-0.423751],[-0.087440,-0.421447,0.902628]]
2025-10-27T17:02:01.537Z,1761584521.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995745,0.022381,-0.089392],[0.017951,-0.904363,-0.426387],[-0.090386,-0.426177,0.900113]]
2025-10-27T17:02:01.945Z,1761584521.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994723,0.001378,-0.102585],[0.042298,-0.905465,-0.422308],[-0.093469,-0.424419,0.900629]]
2025-10-27T17:02:02.361Z,1761584522.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993292,-0.017535,-0.114294],[0.063084,-0.910554,-0.408549],[-0.096907,-0.413019,0.905552]]
2025-10-27T17:02:03.566Z,1761584523.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986067,-0.074476,-0.148746],[0.124167,-0.924576,-0.360198],[-0.110701,-0.373649,0.920941]]
2025-10-27T17:02:03.971Z,1761584523.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982627,-0.092172,-0.161083],[0.144684,-0.924045,-0.353846],[-0.116233,-0.371005,0.921328]]
2025-10-27T17:02:04.378Z,1761584524.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978685,-0.110012,-0.173417],[0.165401,-0.922764,-0.348066],[-0.121732,-0.369330,0.921291]]
2025-10-27T17:02:04.817Z,1761584524.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974232,-0.127919,-0.185766],[0.186552,-0.919914,-0.344900],[-0.126769,-0.370668,0.920073]]
2025-10-27T17:02:05.277Z,1761584525.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969414,-0.145103,-0.197942],[0.207165,-0.916231,-0.342933],[-0.131600,-0.373450,0.918268]]
2025-10-27T17:02:05.683Z,1761584525.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963767,-0.164149,-0.210257],[0.229139,-0.912996,-0.337540],[-0.136557,-0.373488,0.917529]]
2025-10-27T17:02:06.198Z,1761584526.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957597,-0.183449,-0.222159],[0.251168,-0.909311,-0.331766],[-0.141149,-0.373497,0.916830]]
2025-10-27T17:02:06.681Z,1761584526.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943174,-0.223416,-0.245984],[0.296517,-0.899996,-0.319507],[-0.150002,-0.374289,0.915100]]
2025-10-27T17:02:07.237Z,1761584527.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935055,-0.243784,-0.257376],[0.319322,-0.894527,-0.312819],[-0.153970,-0.374689,0.914277]]
2025-10-27T17:02:07.636Z,1761584527.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926448,-0.263848,-0.268476],[0.341868,-0.888275,-0.306746],[-0.157546,-0.375967,0.913142]]
2025-10-27T17:02:07.687Z,1761584527.687 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:02:08.041Z,1761584528.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917098,-0.284399,-0.279371],[0.364679,-0.881589,-0.299685],[-0.161060,-0.376721,0.912218]]
2025-10-27T17:02:08.692Z,1761584528.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:02:08.967Z,1761584528.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896653,-0.324259,-0.301446],[0.409573,-0.866067,-0.286666],[-0.168118,-0.380504,0.909370]]
2025-10-27T17:02:09.382Z,1761584529.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885524,-0.344269,-0.311970],[0.431603,-0.858110,-0.278148],[-0.171947,-0.380954,0.908465]]
2025-10-27T17:02:09.876Z,1761584529.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861807,-0.383296,-0.332223],[0.474330,-0.841046,-0.260100],[-0.179720,-0.381739,0.906629]]
2025-10-27T17:02:10.279Z,1761584530.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849494,-0.402427,-0.341192],[0.494519,-0.832711,-0.249084],[-0.183877,-0.380322,0.906391]]
2025-10-27T17:02:10.685Z,1761584530.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836942,-0.420425,-0.350388],[0.513798,-0.824115,-0.238425],[-0.188520,-0.379576,0.905749]]
2025-10-27T17:02:11.099Z,1761584531.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824199,-0.437418,-0.359669],[0.532025,-0.815694,-0.227141],[-0.194024,-0.378562,0.905011]]
2025-10-27T17:02:11.498Z,1761584531.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811239,-0.453715,-0.368827],[0.549371,-0.807418,-0.215097],[-0.200205,-0.377118,0.904268]]
2025-10-27T17:02:11.902Z,1761584531.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798113,-0.468891,-0.378360],[0.565770,-0.799173,-0.203045],[-0.207170,-0.376118,0.903115]]
2025-10-27T17:02:12.305Z,1761584532.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784841,-0.483477,-0.387651],[0.581433,-0.790920,-0.190740],[-0.214382,-0.375094,0.901856]]
2025-10-27T17:02:12.837Z,1761584532.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771590,-0.496987,-0.397056],[0.596380,-0.782328,-0.179706],[-0.221316,-0.375456,0.900029]]
2025-10-27T17:02:13.856Z,1761584533.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746134,-0.520791,-0.414802],[0.624273,-0.763810,-0.163948],[-0.231448,-0.381277,0.895020]]
2025-10-27T17:02:13.909Z,1761584533.909 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:02:13.909Z,1761584533.909 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:02:13.909Z,1761584533.909 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateRudder:A] Stopped
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:02:13.910Z,1761584533.910 [marl:UpdateCommandMode] Stopped
2025-10-27T17:02:13.911Z,1761584533.911 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:02:13.911Z,1761584533.911 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:02:13.911Z,1761584533.911 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:02:13.911Z,1761584533.911 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:02:13.911Z,1761584533.911 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:02:13.912Z,1761584533.912 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:02:13.912Z,1761584533.912 [marl:UpdateSpeed] Stopped
2025-10-27T17:02:13.912Z,1761584533.912 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:02:14.364Z,1761584534.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721793,-0.544461,-0.427291],[0.651904,-0.742184,-0.155512],[-0.232459,-0.390800,0.890639]]
2025-10-27T17:02:14.432Z,1761584534.432 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:02:14.432Z,1761584534.432 [marl:UpdateRudder:B] Stopped
2025-10-27T17:02:14.432Z,1761584534.432 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:02:14.432Z,1761584534.432 [marl:UpdateRudder] Stopped
2025-10-27T17:02:14.433Z,1761584534.433 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:02:14.769Z,1761584534.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709883,-0.556738,-0.431403],[0.665918,-0.730028,-0.153660],[-0.229388,-0.396360,0.888977]]
2025-10-27T17:02:15.169Z,1761584535.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698134,-0.569072,-0.434472],[0.679912,-0.717098,-0.153264],[-0.224341,-0.402401,0.887550]]
2025-10-27T17:02:15.573Z,1761584535.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687157,-0.581489,-0.435528],[0.692790,-0.704980,-0.151810],[-0.218763,-0.406047,0.887282]]
2025-10-27T17:02:15.978Z,1761584535.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678358,-0.595059,-0.430970],[0.703074,-0.696056,-0.145581],[-0.213350,-0.401759,0.890545]]
2025-10-27T17:02:16.383Z,1761584536.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673106,-0.609041,-0.419519],[0.709337,-0.692157,-0.133266],[-0.209209,-0.387282,0.897911]]
2025-10-27T17:02:16.786Z,1761584536.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672455,-0.623206,-0.399272],[0.710630,-0.694445,-0.112915],[-0.206903,-0.359666,0.909853]]
2025-10-27T17:02:17.190Z,1761584537.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676809,-0.635269,-0.371973],[0.706571,-0.702391,-0.086045],[-0.206609,-0.321062,0.924247]]
2025-10-27T17:02:17.596Z,1761584537.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685692,-0.643741,-0.339741],[0.697574,-0.714464,-0.054133],[-0.207885,-0.274113,0.938960]]
2025-10-27T17:02:18.004Z,1761584538.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696884,-0.647480,-0.308420],[0.685711,-0.727541,-0.022025],[-0.210127,-0.226836,0.950995]]
2025-10-27T17:02:18.402Z,1761584538.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708360,-0.648183,-0.279436],[0.672879,-0.739685,0.010059],[-0.213214,-0.180901,0.960112]]
2025-10-27T17:02:18.813Z,1761584538.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718548,-0.647701,-0.253322],[0.660770,-0.749420,0.041865],[-0.216961,-0.137305,0.966476]]
2025-10-27T17:02:19.210Z,1761584539.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727898,-0.644545,-0.233938],[0.649218,-0.757616,0.067340],[-0.220639,-0.102860,0.969917]]
2025-10-27T17:02:19.616Z,1761584539.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737143,-0.639651,-0.217870],[0.637610,-0.765177,0.089210],[-0.223773,-0.073156,0.971892]]
2025-10-27T17:02:20.018Z,1761584540.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746147,-0.633738,-0.204061],[0.626023,-0.772153,0.108975],[-0.226628,-0.046435,0.972874]]
2025-10-27T17:02:20.422Z,1761584540.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755089,-0.626210,-0.194167],[0.614085,-0.779261,0.125110],[-0.229651,-0.024766,0.972958]]
2025-10-27T17:02:20.857Z,1761584540.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763924,-0.617860,-0.186194],[0.601732,-0.786273,0.140334],[-0.233106,-0.004834,0.972439]]
2025-10-27T17:02:21.240Z,1761584541.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772711,-0.608190,-0.181719],[0.588913,-0.793720,0.152281],[-0.236850,0.010653,0.971488]]
2025-10-27T17:02:21.648Z,1761584541.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781174,-0.597430,-0.181232],[0.575854,-0.801646,0.160485],[-0.241162,0.021003,0.970258]]
2025-10-27T17:02:22.042Z,1761584542.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789138,-0.586625,-0.182020],[0.562976,-0.809312,0.167546],[-0.245598,0.029744,0.968915]]
2025-10-27T17:02:22.446Z,1761584542.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796775,-0.575379,-0.184631],[0.550083,-0.817099,0.172503],[-0.250116,0.035884,0.967551]]
2025-10-27T17:02:22.893Z,1761584542.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803946,-0.563894,-0.188929],[0.537458,-0.824916,0.175078],[-0.254576,0.039211,0.966258]]
2025-10-27T17:02:23.254Z,1761584543.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811082,-0.551987,-0.193537],[0.524734,-0.832826,0.176226],[-0.258456,0.041378,0.965136]]
2025-10-27T17:02:23.658Z,1761584543.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819075,-0.538749,-0.197144],[0.511064,-0.841352,0.175900],[-0.260634,0.043322,0.964465]]
2025-10-27T17:02:24.062Z,1761584544.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828346,-0.522952,-0.200908],[0.496034,-0.851334,0.170823],[-0.260372,0.041843,0.964601]]
2025-10-27T17:02:24.905Z,1761584544.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848769,-0.488217,-0.203064],[0.464369,-0.871914,0.155328],[-0.252888,0.037541,0.966767]]
2025-10-27T17:02:25.285Z,1761584545.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859429,-0.470566,-0.199873],[0.448820,-0.881646,0.145810],[-0.244830,0.035606,0.968912]]
2025-10-27T17:02:26.089Z,1761584546.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881192,-0.434334,-0.186693],[0.417368,-0.900197,0.124294],[-0.222045,0.031607,0.974524]]
2025-10-27T17:02:26.493Z,1761584546.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892111,-0.414853,-0.178983],[0.400761,-0.909492,0.110523],[-0.208634,0.026869,0.977624]]
2025-10-27T17:02:26.910Z,1761584546.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902287,-0.395806,-0.170924],[0.384283,-0.918067,0.097367],[-0.195459,0.022170,0.980461]]
2025-10-27T17:02:26.976Z,1761584546.976 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:02:26.976Z,1761584546.976 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:02:26.976Z,1761584546.976 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateRudder:A] Stopped
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:02:26.977Z,1761584546.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateCommandMode] Stopped
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:02:26.978Z,1761584546.978 [marl:UpdateSpeed] Stopped
2025-10-27T17:02:26.979Z,1761584546.979 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:02:27.353Z,1761584547.353 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:02:27.353Z,1761584547.353 [marl:UpdateRudder:B] Stopped
2025-10-27T17:02:27.353Z,1761584547.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:02:27.353Z,1761584547.353 [marl:UpdateRudder] Stopped
2025-10-27T17:02:27.353Z,1761584547.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:02:27.706Z,1761584547.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917974,-0.364645,-0.156073],[0.356611,-0.931015,0.077718],[-0.173645,0.015686,0.984683]]
2025-10-27T17:02:28.110Z,1761584548.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924059,-0.352071,-0.148867],[0.345069,-0.935860,0.071369],[-0.164445,0.014579,0.986278]]
2025-10-27T17:02:28.514Z,1761584548.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929681,-0.340095,-0.141523],[0.333812,-0.940275,0.066735],[-0.155766,0.014800,0.987683]]
2025-10-27T17:02:28.919Z,1761584548.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934846,-0.328474,-0.134784],[0.322870,-0.944400,0.062153],[-0.147706,0.014586,0.988924]]
2025-10-27T17:02:29.324Z,1761584549.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939809,-0.316671,-0.128366],[0.311680,-0.948427,0.057803],[-0.140051,0.014314,0.990041]]
2025-10-27T17:02:29.732Z,1761584549.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944720,-0.304470,-0.121663],[0.299980,-0.952410,0.054113],[-0.132349,0.014626,0.991095]]
2025-10-27T17:02:30.130Z,1761584550.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949655,-0.291438,-0.114978],[0.287578,-0.956492,0.049214],[-0.124318,0.013671,0.992148]]
2025-10-27T17:02:30.538Z,1761584550.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954463,-0.278230,-0.107651],[0.274939,-0.960427,0.044597],[-0.115800,0.012969,0.993188]]
2025-10-27T17:02:30.939Z,1761584550.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959168,-0.264722,-0.099591],[0.261990,-0.964249,0.039818],[-0.106571,0.012100,0.994232]]
2025-10-27T17:02:31.342Z,1761584551.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963488,-0.251812,-0.091001],[0.249520,-0.967703,0.035929],[-0.097109,0.011911,0.995202]]
2025-10-27T17:02:31.753Z,1761584551.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967562,-0.238957,-0.081999],[0.237030,-0.970955,0.032622],[-0.087413,0.012128,0.996098]]
2025-10-27T17:02:32.149Z,1761584552.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971224,-0.226499,-0.073637],[0.224905,-0.973938,0.029365],[-0.078369,0.011959,0.996853]]
2025-10-27T17:02:32.560Z,1761584552.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974658,-0.213776,-0.065885],[0.212521,-0.976822,0.025577],[-0.069825,0.010927,0.997499]]
2025-10-27T17:02:32.958Z,1761584552.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977967,-0.200374,-0.058569],[0.199380,-0.979666,0.022410],[-0.061868,0.010239,0.998032]]
2025-10-27T17:02:33.364Z,1761584553.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981235,-0.185626,-0.052166],[0.184925,-0.982588,0.017999],[-0.054599,0.008014,0.998476]]
2025-10-27T17:02:33.776Z,1761584553.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984411,-0.169730,-0.046118],[0.169212,-0.985466,0.014954],[-0.047986,0.006917,0.998824]]
2025-10-27T17:02:34.170Z,1761584554.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987434,-0.152731,-0.040582],[0.152386,-0.988254,0.011497],[-0.041861,0.005169,0.999110]]
2025-10-27T17:02:34.574Z,1761584554.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990310,-0.134468,-0.034695],[0.134239,-0.990909,0.008851],[-0.035570,0.004108,0.999359]]
2025-10-27T17:02:34.979Z,1761584554.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992834,-0.115962,-0.028872],[0.115801,-0.993246,0.007201],[-0.029512,0.003806,0.999557]]
2025-10-27T17:02:35.383Z,1761584555.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995080,-0.096364,-0.023002],[0.096260,-0.995341,0.005574],[-0.023432,0.003332,0.999720]]
2025-10-27T17:02:35.798Z,1761584555.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996917,-0.076603,-0.016971],[0.076536,-0.997056,0.004530],[-0.017268,0.003217,0.999846]]
2025-10-27T17:02:36.190Z,1761584556.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998339,-0.056650,-0.010531],[0.056624,-0.998392,0.002752],[-0.010670,0.002151,0.999941]]
2025-10-27T17:02:36.594Z,1761584556.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999300,-0.037256,-0.003476],[0.037246,-0.999302,0.002815],[-0.003579,0.002684,0.999990]]
2025-10-27T17:02:36.000Z,1761584557.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999806,-0.019348,0.003637],[0.019363,-0.999804,0.004145],[0.003556,0.004215,0.999985]]
2025-10-27T17:02:37.403Z,1761584557.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999940,-0.002922,0.010538],[0.002976,-0.999982,0.005193],[0.010522,0.005224,0.999931]]
2025-10-27T17:02:37.806Z,1761584557.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999792,0.011309,0.016985],[-0.011194,-0.999914,0.006849],[0.017061,0.006657,0.999832]]
2025-10-27T17:02:38.210Z,1761584558.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999433,0.024367,0.023234],[-0.024147,-0.999661,0.009720],[0.023463,0.009154,0.999683]]
2025-10-27T17:02:38.616Z,1761584558.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998914,0.036188,0.029341],[-0.035906,-0.999304,0.010082],[0.029685,0.009017,0.999519]]
2025-10-27T17:02:38.832Z,1761584558.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:02:39.017Z,1761584559.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998289,0.046736,0.035148],[-0.046447,-0.998880,0.008998],[0.035529,0.007350,0.999342]]
2025-10-27T17:02:39.422Z,1761584559.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997541,0.056935,0.040858],[-0.056688,-0.998366,0.007168],[0.041199,0.004835,0.999139]]
2025-10-27T17:02:39.826Z,1761584559.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996623,0.067547,0.046682],[-0.067380,-0.997714,0.005160],[0.046924,0.001997,0.998896]]
2025-10-27T17:02:39.835Z,1761584559.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateRudder:A] Stopped
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:02:39.884Z,1761584559.884 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateCommandMode] Stopped
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:02:39.885Z,1761584559.885 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:02:39.886Z,1761584559.886 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:02:39.886Z,1761584559.886 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:02:39.886Z,1761584559.886 [marl:UpdateSpeed] Stopped
2025-10-27T17:02:39.886Z,1761584559.886 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:02:40.231Z,1761584560.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995424,0.079984,0.052288],[-0.079920,-0.996796,0.003308],[0.052385,-0.000886,0.998627]]
2025-10-27T17:02:40.308Z,1761584560.308 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:02:40.308Z,1761584560.308 [marl:UpdateRudder:B] Stopped
2025-10-27T17:02:40.308Z,1761584560.308 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:02:40.308Z,1761584560.308 [marl:UpdateRudder] Stopped
2025-10-27T17:02:40.308Z,1761584560.308 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:02:40.310Z,1761584560.310 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:02:40.500Z,1761584560.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:02:40.501Z,1761584560.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:02:40.607Z,1761584560.607 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:02:40.607Z,1761584560.607 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:02:40.634Z,1761584560.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993797,0.094727,0.058261],[-0.094970,-0.995479,-0.001419],[0.057863,-0.006943,0.998300]]
2025-10-27T17:02:40.753Z,1761584560.753 [DAT](INFO): DAT read: user:1090>

2025-10-27T17:02:40.756Z,1761584560.756 [DAT](INFO): DAT read: Tx time:17:02:39.7791

2025-10-27T17:02:40.756Z,1761584560.756 [DAT](INFO): Ping request sent.
2025-10-27T17:02:40.757Z,1761584560.757 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:02:40.757Z,1761584560.757 [DAT](INFO): publishing transmit ping time
2025-10-27T17:02:40.759Z,1761584560.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002333
2025-10-27T17:02:41.004Z,1761584561.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247520
2025-10-27T17:02:41.044Z,1761584561.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991650,0.111836,0.064206],[-0.112338,-0.993661,-0.004251],[0.063324,-0.011428,0.997928]]
2025-10-27T17:02:41.258Z,1761584561.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501390
2025-10-27T17:02:41.465Z,1761584561.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988930,0.130961,0.069764],[-0.131554,-0.991301,-0.003954],[0.068639,-0.013088,0.997556]]
2025-10-27T17:02:41.508Z,1761584561.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751653
2025-10-27T17:02:41.760Z,1761584561.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003567
2025-10-27T17:02:41.981Z,1761584561.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982087,0.171747,0.077513],[-0.172193,-0.985063,0.000947],[0.076517,-0.012417,0.996991]]
2025-10-27T17:02:42.012Z,1761584562.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255606
2025-10-27T17:02:42.265Z,1761584562.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508654
2025-10-27T17:02:42.377Z,1761584562.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978363,0.190781,0.080050],[-0.190861,-0.981594,0.006716],[0.079858,-0.008707,0.996768]]
2025-10-27T17:02:42.516Z,1761584562.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759919
2025-10-27T17:02:42.769Z,1761584562.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011944
2025-10-27T17:02:42.789Z,1761584562.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974963,0.206579,0.082300],[-0.206370,-0.978411,0.011125],[0.082822,-0.006138,0.996545]]
2025-10-27T17:02:43.022Z,1761584563.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265248
2025-10-27T17:02:43.188Z,1761584563.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972932,0.214924,0.084915],[-0.214752,-0.976604,0.011262],[0.085349,-0.007278,0.996324]]
2025-10-27T17:02:43.273Z,1761584563.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516546
2025-10-27T17:02:43.524Z,1761584563.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767675
2025-10-27T17:02:43.598Z,1761584563.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972053,0.217070,0.089410],[-0.217755,-0.976001,0.002131],[0.087727,-0.017398,0.995993]]
2025-10-27T17:02:43.777Z,1761584563.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020431
2025-10-27T17:02:44.028Z,1761584564.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271605
2025-10-27T17:02:44.050Z,1761584564.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972089,0.214169,0.095789],[-0.216591,-0.976139,-0.015520],[0.090179,-0.035834,0.995281]]
2025-10-27T17:02:44.280Z,1761584564.280 [DAT](INFO): DAT read: Rx Time:17:02:42.7418

2025-10-27T17:02:44.280Z,1761584564.280 [DAT](INFO): Rx dataTimestamp_ set to:1761584564.280202
2025-10-27T17:02:44.281Z,1761584564.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524668
2025-10-27T17:02:44.525Z,1761584564.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972901,0.206822,0.103386],[-0.211939,-0.976418,-0.041116],[0.092444,-0.061913,0.993791]]
2025-10-27T17:02:44.532Z,1761584564.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775576
2025-10-27T17:02:44.790Z,1761584564.790 [DAT](INFO): DAT read: 17:02:42.7418 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 287, 0.48, 0.948,-0.545, 0.724, 0.658, PHS= 0.392,-1.158, 0.022, RAW= 136.8,  10.6, CAL= 136.3,  11.7, ROT=  13.7, -11.7

2025-10-27T17:02:44.791Z,1761584564.791 [DAT](INFO): got valid direction response:
 17:02:42.7418 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 287, 0.48, 0.948,-0.545, 0.724, 0.658, PHS= 0.392,-1.158, 0.022, RAW= 136.8,  10.6, CAL= 136.3,  11.7, ROT=  13.7, -11.7

2025-10-27T17:02:44.792Z,1761584564.792 [DAT](INFO): DAT read: Bearing 185,   4 (Remote)

2025-10-27T17:02:44.793Z,1761584564.793 [DAT](INFO): Remote Bearing received:Bearing 185,   4 (Remote)

2025-10-27T17:02:44.793Z,1761584564.793 [DAT](INFO): DAT read: Bearing   7.0,  17.9 (Local)

2025-10-27T17:02:44.794Z,1761584564.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,  17.9 (Local)

2025-10-27T17:02:44.795Z,1761584564.795 [DAT](INFO): DAT read: Range 11 to 20 : 700.2 m  (Round-trip  933.6 ms) speed  1.5 m/s

2025-10-27T17:02:44.796Z,1761584564.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:02:44.797Z,1761584564.797 [DAT](INFO): direction in FSK: [0.951363,0.231917,0.202787]
2025-10-27T17:02:44.797Z,1761584564.797 [DAT](INFO): publishing direction and range info
2025-10-27T17:02:44.961Z,1761584564.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974083,0.196989,0.111163],[-0.205274,-0.976291,-0.068686],[0.094997,-0.089725,0.991426]]
2025-10-27T17:02:45.066Z,1761584565.066 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584512.00. Resetting abort timer.
2025-10-27T17:02:45.448Z,1761584565.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975360,0.186556,0.117771],[-0.198235,-0.975372,-0.096703],[0.096830,-0.117667,0.988321]]
2025-10-27T17:02:45.846Z,1761584565.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976674,0.176502,0.122291],[-0.191338,-0.973840,-0.122578],[0.097457,-0.143118,0.984896]]
2025-10-27T17:02:46.259Z,1761584566.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977739,0.168275,0.125341],[-0.185865,-0.971788,-0.145196],[0.097372,-0.165261,0.981431]]
2025-10-27T17:02:46.668Z,1761584566.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978541,0.162264,0.126997],[-0.181846,-0.969904,-0.161922],[0.096900,-0.181542,0.978597]]
2025-10-27T17:02:47.061Z,1761584567.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978858,0.159119,0.128522],[-0.180422,-0.967705,-0.176053],[0.096358,-0.195519,0.975955]]
2025-10-27T17:02:47.461Z,1761584567.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978567,0.159637,0.130089],[-0.182137,-0.965707,-0.185032],[0.096090,-0.204760,0.974084]]
2025-10-27T17:02:47.865Z,1761584567.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977842,0.162485,0.131998],[-0.186156,-0.963336,-0.193211],[0.095765,-0.213502,0.972238]]
2025-10-27T17:02:48.277Z,1761584568.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976787,0.167311,0.133768],[-0.191839,-0.961096,-0.198730],[0.095314,-0.219778,0.970882]]
2025-10-27T17:02:48.680Z,1761584568.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975374,0.173958,0.135585],[-0.199055,-0.959053,-0.201482],[0.094984,-0.223510,0.970063]]
2025-10-27T17:02:49.085Z,1761584569.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973754,0.181892,0.136815],[-0.207008,-0.957639,-0.200187],[0.094607,-0.223255,0.970158]]
2025-10-27T17:02:49.481Z,1761584569.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971956,0.191044,0.137130],[-0.215580,-0.956819,-0.194994],[0.093956,-0.219088,0.971171]]
2025-10-27T17:02:49.886Z,1761584569.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970036,0.200818,0.136754],[-0.224451,-0.956183,-0.187980],[0.093012,-0.213042,0.972606]]
2025-10-27T17:02:50.290Z,1761584570.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968053,0.210750,0.135859],[-0.233401,-0.955375,-0.181062],[0.091638,-0.206988,0.974042]]
2025-10-27T17:02:50.709Z,1761584570.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966119,0.220379,0.134337],[-0.241761,-0.954954,-0.172087],[0.090362,-0.198734,0.975879]]
2025-10-27T17:02:51.118Z,1761584571.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964548,0.228309,0.132373],[-0.248441,-0.954727,-0.163627],[0.089023,-0.190713,0.977601]]
2025-10-27T17:02:51.519Z,1761584571.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963823,0.232528,0.130295],[-0.251553,-0.955155,-0.156202],[0.088130,-0.183327,0.979093]]
2025-10-27T17:02:51.924Z,1761584571.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965524,0.227506,0.126509],[-0.245324,-0.957779,-0.149919],[0.087060,-0.175786,0.980571]]
2025-10-27T17:02:52.329Z,1761584572.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966964,0.221826,0.125596],[-0.239728,-0.958838,-0.152183],[0.086668,-0.177264,0.980340]]
2025-10-27T17:02:52.745Z,1761584572.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968460,0.215485,0.125106],[-0.233698,-0.959701,-0.156074],[0.086432,-0.180389,0.979791]]
2025-10-27T17:02:53.133Z,1761584573.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970002,0.208630,0.124778],[-0.227316,-0.960354,-0.161390],[0.086161,-0.184913,0.978971]]
2025-10-27T17:02:53.319Z,1761584573.319 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:02:53.319Z,1761584573.319 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateRudder:A] Stopped
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:02:53.320Z,1761584573.320 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateCommandMode] Stopped
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:02:53.321Z,1761584573.321 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:02:53.322Z,1761584573.322 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:02:53.322Z,1761584573.322 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:02:53.322Z,1761584573.322 [marl:UpdateSpeed] Stopped
2025-10-27T17:02:53.322Z,1761584573.322 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:02:53.572Z,1761584573.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971483,0.201928,0.124285],[-0.221017,-0.960995,-0.166252],[0.085866,-0.188980,0.978220]]
2025-10-27T17:02:53.680Z,1761584573.680 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:02:53.680Z,1761584573.680 [marl:UpdateRudder:B] Stopped
2025-10-27T17:02:53.680Z,1761584573.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:02:53.680Z,1761584573.680 [marl:UpdateRudder] Stopped
2025-10-27T17:02:53.681Z,1761584573.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:02:54.003Z,1761584574.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972942,0.195624,0.122942],[-0.214852,-0.961739,-0.169993],[0.084984,-0.191808,0.977746]]
2025-10-27T17:02:54.809Z,1761584574.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975708,0.184052,0.118822],[-0.202868,-0.963814,-0.172936],[0.082693,-0.192840,0.977739]]
2025-10-27T17:02:55.272Z,1761584575.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976985,0.178563,0.116688],[-0.197113,-0.964832,-0.173913],[0.081530,-0.192911,0.977823]]
2025-10-27T17:02:55.662Z,1761584575.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978120,0.173592,0.114662],[-0.191943,-0.965584,-0.175518],[0.080247,-0.193686,0.977776]]
2025-10-27T17:02:56.068Z,1761584576.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978968,0.169791,0.113108],[-0.188107,-0.965840,-0.178239],[0.078981,-0.195767,0.977465]]
2025-10-27T17:02:56.469Z,1761584576.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979500,0.167403,0.112055],[-0.185737,-0.965849,-0.180657],[0.077985,-0.197766,0.977142]]
2025-10-27T17:02:56.920Z,1761584576.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979661,0.166557,0.111907],[-0.185283,-0.964956,-0.185821],[0.077035,-0.202777,0.976190]]
2025-10-27T17:02:57.314Z,1761584577.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979367,0.168074,0.112213],[-0.187130,-0.963883,-0.189505],[0.076310,-0.206593,0.975447]]
2025-10-27T17:02:57.728Z,1761584577.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978813,0.171179,0.112350],[-0.190345,-0.962919,-0.191196],[0.075456,-0.208531,0.975101]]
2025-10-27T17:02:58.125Z,1761584578.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977810,0.176767,0.112431],[-0.195914,-0.961656,-0.191923],[0.074194,-0.209691,0.974949]]
2025-10-27T17:02:58.538Z,1761584578.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976502,0.184154,0.111943],[-0.202927,-0.960600,-0.189918],[0.072558,-0.208172,0.975397]]
2025-10-27T17:02:58.930Z,1761584578.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974979,0.192840,0.110579],[-0.210898,-0.959663,-0.185926],[0.070265,-0.204595,0.976322]]
2025-10-27T17:02:59.340Z,1761584579.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973254,0.202447,0.108587],[-0.219550,-0.958810,-0.180226],[0.067628,-0.199246,0.977613]]
2025-10-27T17:03:00.550Z,1761584580.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967689,0.231197,0.100628],[-0.244933,-0.956678,-0.157399],[0.059878,-0.176961,0.982395]]
2025-10-27T17:03:00.953Z,1761584580.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965869,0.239390,0.098941],[-0.252359,-0.955776,-0.151019],[0.058413,-0.170834,0.983567]]
2025-10-27T17:03:01.364Z,1761584581.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964062,0.246730,0.098533],[-0.259297,-0.954597,-0.146664],[0.057873,-0.166942,0.984267]]
2025-10-27T17:03:01.851Z,1761584581.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962310,0.252919,0.099954],[-0.265577,-0.953095,-0.145185],[0.058546,-0.166258,0.984343]]
2025-10-27T17:03:02.364Z,1761584582.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960524,0.257439,0.105442],[-0.271137,-0.951141,-0.147699],[0.062267,-0.170457,0.983396]]
2025-10-27T17:03:02.769Z,1761584582.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961466,0.253036,0.107499],[-0.267335,-0.951729,-0.150813],[0.064149,-0.173740,0.982700]]
2025-10-27T17:03:03.170Z,1761584583.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962880,0.246954,0.108975],[-0.261845,-0.952604,-0.154862],[0.065566,-0.177648,0.981907]]
2025-10-27T17:03:03.574Z,1761584583.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964362,0.240453,0.110401],[-0.256074,-0.953193,-0.160779],[0.066574,-0.183320,0.980797]]
2025-10-27T17:03:03.977Z,1761584583.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965827,0.234062,0.111326],[-0.250337,-0.953701,-0.166692],[0.067156,-0.188865,0.979704]]
2025-10-27T17:03:04.389Z,1761584584.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967236,0.228079,0.111514],[-0.244831,-0.954191,-0.171982],[0.067180,-0.193649,0.978768]]
2025-10-27T17:03:04.786Z,1761584584.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968575,0.222253,0.111648],[-0.239569,-0.954306,-0.178626],[0.066847,-0.199760,0.977562]]
2025-10-27T17:03:05.189Z,1761584585.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969834,0.216896,0.111254],[-0.234539,-0.954650,-0.183396],[0.066431,-0.203957,0.976723]]
2025-10-27T17:03:05.594Z,1761584585.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970854,0.212602,0.110643],[-0.230416,-0.954999,-0.186777],[0.065954,-0.206827,0.976152]]
2025-10-27T17:03:05.000Z,1761584586.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971530,0.209549,0.110542],[-0.227763,-0.954544,-0.192277],[0.065226,-0.211980,0.975095]]
2025-10-27T17:03:06.402Z,1761584586.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971705,0.208883,0.110260],[-0.227293,-0.953906,-0.195964],[0.064245,-0.215480,0.974393]]
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateRudder:A] Stopped
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:03:06.486Z,1761584586.486 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:03:06.487Z,1761584586.487 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:03:06.487Z,1761584586.487 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:03:06.487Z,1761584586.487 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:03:06.487Z,1761584586.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:03:06.487Z,1761584586.487 [marl:UpdateCommandMode] Stopped
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed] Stopped
2025-10-27T17:03:06.488Z,1761584586.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:03:06.805Z,1761584586.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971181,0.211166,0.110527],[-0.229737,-0.952860,-0.198190],[0.063466,-0.217870,0.973912]]
2025-10-27T17:03:06.951Z,1761584586.951 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:03:06.951Z,1761584586.951 [marl:UpdateRudder:B] Stopped
2025-10-27T17:03:06.951Z,1761584586.951 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:03:06.952Z,1761584586.952 [marl:UpdateRudder] Stopped
2025-10-27T17:03:06.952Z,1761584586.952 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:03:07.225Z,1761584587.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970055,0.215807,0.111447],[-0.234607,-0.951304,-0.199951],[0.062870,-0.220110,0.973447]]
2025-10-27T17:03:07.613Z,1761584587.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968201,0.223362,0.112679],[-0.242265,-0.949461,-0.199580],[0.062405,-0.220532,0.973381]]
2025-10-27T17:03:08.018Z,1761584588.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966000,0.232075,0.113951],[-0.250940,-0.947708,-0.197176],[0.062233,-0.219067,0.973723]]
2025-10-27T17:03:08.422Z,1761584588.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963553,0.241299,0.115501],[-0.260074,-0.946074,-0.193148],[0.062666,-0.216147,0.974348]]
2025-10-27T17:03:08.836Z,1761584588.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961176,0.249809,0.117204],[-0.268532,-0.944552,-0.188977],[0.063497,-0.213114,0.974962]]
2025-10-27T17:03:09.236Z,1761584589.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959001,0.257276,0.118852],[-0.275912,-0.943363,-0.184222],[0.064724,-0.209462,0.975672]]
2025-10-27T17:03:09.634Z,1761584589.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957492,0.262384,0.119847],[-0.280819,-0.942863,-0.179306],[0.065952,-0.205340,0.976466]]
2025-10-27T17:03:09.967Z,1761584589.967 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:03:10.037Z,1761584590.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956850,0.264793,0.119677],[-0.282771,-0.943343,-0.173625],[0.066922,-0.199974,0.977513]]
2025-10-27T17:03:10.443Z,1761584590.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956896,0.264938,0.118990],[-0.282421,-0.944385,-0.168452],[0.067743,-0.194796,0.978502]]
2025-10-27T17:03:10.886Z,1761584590.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957176,0.264238,0.118285],[-0.281302,-0.945456,-0.164265],[0.068428,-0.190504,0.979299]]
2025-10-27T17:03:10.971Z,1761584590.971 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:03:11.250Z,1761584591.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957349,0.263557,0.118410],[-0.280607,-0.945776,-0.163607],[0.068869,-0.189856,0.979394]]
2025-10-27T17:03:12.058Z,1761584592.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957011,0.264381,0.119298],[-0.281720,-0.945129,-0.165426],[0.069016,-0.191923,0.978980]]
2025-10-27T17:03:12.462Z,1761584592.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956330,0.266764,0.119458],[-0.284070,-0.944512,-0.164929],[0.068832,-0.191661,0.979044]]
2025-10-27T17:03:12.900Z,1761584592.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955264,0.269969,0.120779],[-0.287526,-0.943379,-0.165422],[0.069281,-0.192748,0.978799]]
2025-10-27T17:03:13.272Z,1761584593.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953812,0.274583,0.121847],[-0.292290,-0.941915,-0.165418],[0.069349,-0.193393,0.978667]]
2025-10-27T17:03:13.674Z,1761584593.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952354,0.278913,0.123409],[-0.296949,-0.940265,-0.166500],[0.069598,-0.195213,0.978288]]
2025-10-27T17:03:14.482Z,1761584594.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949360,0.287036,0.127770],[-0.305960,-0.937060,-0.168248],[0.071435,-0.198821,0.977429]]
2025-10-27T17:03:14.903Z,1761584594.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948329,0.289896,0.128966],[-0.308876,-0.936459,-0.166253],[0.072575,-0.197497,0.977613]]
2025-10-27T17:03:15.292Z,1761584595.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947493,0.291897,0.130585],[-0.311203,-0.935626,-0.166602],[0.073548,-0.198493,0.977339]]
2025-10-27T17:03:15.708Z,1761584595.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947370,0.291903,0.131465],[-0.311342,-0.935679,-0.166042],[0.074541,-0.198234,0.977316]]
2025-10-27T17:03:16.097Z,1761584596.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947793,0.290389,0.131768],[-0.309862,-0.936275,-0.165450],[0.075327,-0.197642,0.977376]]
2025-10-27T17:03:16.910Z,1761584596.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949991,0.282913,0.132202],[-0.302550,-0.938693,-0.165284],[0.077336,-0.197015,0.977345]]
2025-10-27T17:03:17.312Z,1761584597.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951399,0.278341,0.131780],[-0.297913,-0.940251,-0.164851],[0.078021,-0.196098,0.977476]]
2025-10-27T17:03:17.717Z,1761584597.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952775,0.273519,0.131934],[-0.293345,-0.941321,-0.166924],[0.078535,-0.197743,0.977103]]
2025-10-27T17:03:18.117Z,1761584598.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954119,0.268782,0.131960],[-0.288793,-0.942458,-0.168438],[0.079093,-0.198819,0.976839]]
2025-10-27T17:03:18.523Z,1761584598.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955398,0.263906,0.132543],[-0.284372,-0.943188,-0.171839],[0.079664,-0.201866,0.976168]]
2025-10-27T17:03:18.926Z,1761584598.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956654,0.259419,0.132346],[-0.280063,-0.944118,-0.173795],[0.079864,-0.203327,0.975848]]
2025-10-27T17:03:19.331Z,1761584599.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957804,0.254872,0.132859],[-0.276116,-0.944297,-0.179060],[0.079821,-0.208189,0.974826]]
2025-10-27T17:03:19.368Z,1761584599.368 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateRudder:A] Stopped
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:03:19.369Z,1761584599.369 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateCommandMode] Stopped
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:03:19.370Z,1761584599.370 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:03:19.371Z,1761584599.371 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:03:19.371Z,1761584599.371 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:03:19.371Z,1761584599.371 [marl:UpdateSpeed] Stopped
2025-10-27T17:03:19.371Z,1761584599.371 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:03:19.742Z,1761584599.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958828,0.251008,0.132828],[-0.272626,-0.944549,-0.183035],[0.079519,-0.211712,0.974092]]
2025-10-27T17:03:19.853Z,1761584599.853 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:03:19.854Z,1761584599.854 [marl:UpdateRudder:B] Stopped
2025-10-27T17:03:19.854Z,1761584599.854 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:03:19.854Z,1761584599.854 [marl:UpdateRudder] Stopped
2025-10-27T17:03:19.854Z,1761584599.854 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:03:20.140Z,1761584600.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959599,0.248124,0.132684],[-0.270109,-0.944419,-0.187387],[0.078814,-0.215656,0.973284]]
2025-10-27T17:03:20.542Z,1761584600.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959842,0.247169,0.132704],[-0.269500,-0.943779,-0.191445],[0.077924,-0.219520,0.972491]]
2025-10-27T17:03:21.350Z,1761584601.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958305,0.253667,0.131551],[-0.275692,-0.941833,-0.192211],[0.075141,-0.220464,0.972496]]
2025-10-27T17:03:21.767Z,1761584601.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956318,0.261507,0.130649],[-0.282952,-0.940337,-0.188959],[0.073440,-0.217672,0.973255]]
2025-10-27T17:03:22.157Z,1761584602.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953761,0.271468,0.129015],[-0.291918,-0.938867,-0.182519],[0.071580,-0.211741,0.974701]]
2025-10-27T17:03:22.561Z,1761584602.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950928,0.282384,0.126470],[-0.301556,-0.937350,-0.174468],[0.069280,-0.204044,0.976507]]
2025-10-27T17:03:22.966Z,1761584602.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948021,0.293711,0.122435],[-0.311118,-0.936309,-0.162885],[0.066796,-0.192510,0.979019]]
2025-10-27T17:03:23.370Z,1761584603.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944943,0.305245,0.117933],[-0.320857,-0.935070,-0.150646],[0.064291,-0.180192,0.981528]]
2025-10-27T17:03:23.777Z,1761584603.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942068,0.315696,0.113329],[-0.329592,-0.933976,-0.138051],[0.062264,-0.167405,0.983920]]
2025-10-27T17:03:24.582Z,1761584604.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938129,0.328565,0.109352],[-0.340866,-0.931843,-0.124416],[0.061020,-0.153993,0.986186]]
2025-10-27T17:03:24.993Z,1761584604.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938513,0.327132,0.110351],[-0.339644,-0.932190,-0.125157],[0.061925,-0.154942,0.985981]]
2025-10-27T17:03:25.390Z,1761584605.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940930,0.319834,0.111162],[-0.332740,-0.934213,-0.128570],[0.062728,-0.157963,0.985451]]
2025-10-27T17:03:25.799Z,1761584605.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944049,0.310302,0.111736],[-0.323797,-0.936414,-0.135219],[0.062672,-0.163833,0.984495]]
2025-10-27T17:03:26.602Z,1761584606.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949092,0.294438,0.111943],[-0.309051,-0.939124,-0.150113],[0.060929,-0.177067,0.982311]]
2025-10-27T17:03:27.410Z,1761584607.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952082,0.284915,0.111193],[-0.300265,-0.939876,-0.162708],[0.058150,-0.188298,0.980389]]
2025-10-27T17:03:27.822Z,1761584607.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952611,0.283333,0.110696],[-0.298921,-0.939365,-0.168049],[0.056371,-0.193175,0.979544]]
2025-10-27T17:03:28.621Z,1761584608.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952016,0.285628,0.109917],[-0.301403,-0.937345,-0.174760],[0.053113,-0.199504,0.978457]]
2025-10-27T17:03:29.026Z,1761584609.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951560,0.287385,0.109288],[-0.303018,-0.936786,-0.174962],[0.052098,-0.199603,0.978491]]
2025-10-27T17:03:29.430Z,1761584609.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951426,0.288181,0.108352],[-0.303589,-0.936690,-0.174488],[0.051208,-0.198907,0.978680]]
2025-10-27T17:03:29.835Z,1761584609.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951405,0.288668,0.107235],[-0.303785,-0.936840,-0.173333],[0.050426,-0.197487,0.979008]]
2025-10-27T17:03:30.641Z,1761584610.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951598,0.289053,0.104453],[-0.303520,-0.937276,-0.171434],[0.048347,-0.194839,0.979643]]
2025-10-27T17:03:31.046Z,1761584611.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951435,0.289869,0.103674],[-0.304211,-0.936903,-0.172246],[0.047203,-0.195419,0.979583]]
2025-10-27T17:03:31.452Z,1761584611.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951052,0.291684,0.102081],[-0.305606,-0.936762,-0.170536],[0.045883,-0.193385,0.980049]]
2025-10-27T17:03:31.854Z,1761584611.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950414,0.294126,0.101012],[-0.307793,-0.936084,-0.170323],[0.044459,-0.192968,0.980197]]
2025-10-27T17:03:32.258Z,1761584612.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949415,0.297413,0.100782],[-0.311042,-0.934777,-0.171593],[0.043175,-0.194260,0.980000]]
2025-10-27T17:03:32.309Z,1761584612.309 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:03:32.309Z,1761584612.309 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:03:32.309Z,1761584612.309 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateRudder:A] Stopped
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:03:32.310Z,1761584612.310 [marl:UpdateCommandMode] Stopped
2025-10-27T17:03:32.311Z,1761584612.311 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:03:32.311Z,1761584612.311 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:03:32.311Z,1761584612.311 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:03:32.311Z,1761584612.311 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:03:32.311Z,1761584612.311 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:03:32.312Z,1761584612.312 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:03:32.312Z,1761584612.312 [marl:UpdateSpeed] Stopped
2025-10-27T17:03:32.312Z,1761584612.312 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:03:32.674Z,1761584612.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948465,0.300583,0.100322],[-0.314125,-0.933523,-0.172802],[0.041712,-0.195410,0.979834]]
2025-10-27T17:03:32.718Z,1761584612.718 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:03:32.718Z,1761584612.718 [marl:UpdateRudder:B] Stopped
2025-10-27T17:03:32.718Z,1761584612.718 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:03:32.718Z,1761584612.718 [marl:UpdateRudder] Stopped
2025-10-27T17:03:32.718Z,1761584612.718 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:03:33.067Z,1761584613.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947383,0.304381,0.099079],[-0.317651,-0.932186,-0.173571],[0.039528,-0.195911,0.979825]]
2025-10-27T17:03:33.470Z,1761584613.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946298,0.308390,0.097030],[-0.321219,-0.930829,-0.174288],[0.036570,-0.196096,0.979903]]
2025-10-27T17:03:33.874Z,1761584613.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945412,0.311868,0.094525],[-0.324136,-0.929884,-0.173932],[0.033654,-0.195076,0.980211]]
2025-10-27T17:03:34.277Z,1761584614.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944659,0.314991,0.091649],[-0.326580,-0.929419,-0.171831],[0.031055,-0.192253,0.980854]]
2025-10-27T17:03:34.685Z,1761584614.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944105,0.317517,0.088588],[-0.328419,-0.929138,-0.169833],[0.028385,-0.189435,0.981483]]
2025-10-27T17:03:35.086Z,1761584615.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943874,0.318837,0.086278],[-0.329269,-0.928913,-0.169419],[0.026128,-0.188319,0.981760]]
2025-10-27T17:03:35.489Z,1761584615.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944972,0.316162,0.084083],[-0.326268,-0.929645,-0.171198],[0.024041,-0.189211,0.981642]]
2025-10-27T17:03:35.894Z,1761584615.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947499,0.308347,0.084658],[-0.318973,-0.929984,-0.182718],[0.022390,-0.200128,0.979514]]
2025-10-27T17:03:36.301Z,1761584616.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951300,0.295369,0.088240],[-0.307534,-0.929064,-0.205581],[0.021258,-0.222706,0.974654]]
2025-10-27T17:03:36.714Z,1761584616.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955452,0.279877,0.093700],[-0.294410,-0.926165,-0.235673],[0.020823,-0.252761,0.967305]]
2025-10-27T17:03:37.109Z,1761584617.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959996,0.262249,0.098151],[-0.279240,-0.922653,-0.265964],[0.020810,-0.282732,0.958973]]
2025-10-27T17:03:37.513Z,1761584617.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964723,0.243454,0.100201],[-0.262436,-0.919523,-0.292583],[0.020906,-0.308558,0.950976]]
2025-10-27T17:03:37.916Z,1761584617.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969335,0.223782,0.101542],[-0.244780,-0.915779,-0.318482],[0.021720,-0.333571,0.942475]]
2025-10-27T17:03:38.318Z,1761584618.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973743,0.203963,0.101111],[-0.226483,-0.912868,-0.339674],[0.023020,-0.353655,0.935093]]
2025-10-27T17:03:38.725Z,1761584618.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977854,0.184402,0.098985],[-0.207855,-0.910956,-0.356309],[0.024467,-0.368992,0.929110]]
2025-10-27T17:03:39.135Z,1761584619.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981717,0.164808,0.095235],[-0.188549,-0.910559,-0.367875],[0.026088,-0.379105,0.924986]]
2025-10-27T17:03:39.532Z,1761584619.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985243,0.145438,0.090238],[-0.168915,-0.911301,-0.375498],[0.027622,-0.385199,0.922420]]
2025-10-27T17:03:39.935Z,1761584619.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988480,0.125591,0.084458],[-0.148507,-0.912478,-0.381222],[0.029188,-0.389373,0.920618]]
2025-10-27T17:03:40.337Z,1761584620.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991314,0.105747,0.078194],[-0.127868,-0.914034,-0.384956],[0.030764,-0.391611,0.919617]]
2025-10-27T17:03:40.378Z,1761584620.378 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:03:40.500Z,1761584620.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:03:40.500Z,1761584620.500 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:03:40.651Z,1761584620.651 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:03:40.652Z,1761584620.652 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:03:40.749Z,1761584620.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993725,0.086047,0.071465],[-0.107174,-0.915344,-0.388149],[0.032016,-0.393373,0.918822]]
2025-10-27T17:03:40.752Z,1761584620.752 [DAT](INFO): DAT read: user:1091>

2025-10-27T17:03:40.754Z,1761584620.754 [DAT](INFO): DAT read: Tx time:17:03:39.7791

2025-10-27T17:03:40.754Z,1761584620.754 [DAT](INFO): Ping request sent.
2025-10-27T17:03:40.754Z,1761584620.754 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:03:40.754Z,1761584620.754 [DAT](INFO): publishing transmit ping time
2025-10-27T17:03:40.755Z,1761584620.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001380
2025-10-27T17:03:41.004Z,1761584621.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249769
2025-10-27T17:03:41.100Z,1761584621.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:03:41.223Z,1761584621.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997308,0.047113,0.056192],[-0.065174,-0.920710,-0.384767],[0.033609,-0.387393,0.921302]]
2025-10-27T17:03:41.256Z,1761584621.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501760
2025-10-27T17:03:41.509Z,1761584621.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754082
2025-10-27T17:03:41.637Z,1761584621.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998379,0.028978,0.048995],[-0.045568,-0.922697,-0.382824],[0.034115,-0.384436,0.922521]]
2025-10-27T17:03:41.760Z,1761584621.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005893
2025-10-27T17:03:42.012Z,1761584622.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257868
2025-10-27T17:03:42.076Z,1761584622.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999050,0.011257,0.042091],[-0.026492,-0.923907,-0.381699],[0.034592,-0.382451,0.923328]]
2025-10-27T17:03:42.103Z,1761584622.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:03:42.264Z,1761584622.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509775
2025-10-27T17:03:42.478Z,1761584622.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999351,-0.005567,0.035600],[-0.008409,-0.924683,-0.380646],[0.035037,-0.380698,0.924035]]
2025-10-27T17:03:42.516Z,1761584622.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761892
2025-10-27T17:03:42.773Z,1761584622.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017866
2025-10-27T17:03:42.903Z,1761584622.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999346,-0.020235,0.029957],[0.007279,-0.924326,-0.381535],[0.035410,-0.381067,0.923869]]
2025-10-27T17:03:43.020Z,1761584623.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265947
2025-10-27T17:03:43.272Z,1761584623.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517930
2025-10-27T17:03:43.293Z,1761584623.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999097,-0.034722,0.024474],[0.022756,-0.923945,-0.381848],[0.035871,-0.380947,0.923901]]
2025-10-27T17:03:43.524Z,1761584623.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769872
2025-10-27T17:03:43.685Z,1761584623.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998648,-0.048277,0.019267],[0.037228,-0.922963,-0.383085],[0.036277,-0.381849,0.923512]]
2025-10-27T17:03:43.776Z,1761584623.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021859
2025-10-27T17:03:44.028Z,1761584624.028 [DAT](INFO): DAT read: Rx Time:17:03:42.6162

2025-10-27T17:03:44.028Z,1761584624.028 [DAT](INFO): Rx dataTimestamp_ set to:1761584624.028091
2025-10-27T17:03:44.029Z,1761584624.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274844
2025-10-27T17:03:44.100Z,1761584624.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998031,-0.061101,0.014177],[0.051032,-0.922393,-0.382867],[0.036470,-0.381390,0.923695]]
2025-10-27T17:03:44.280Z,1761584624.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526122
2025-10-27T17:03:44.540Z,1761584624.540 [DAT](INFO): DAT read: 17:03:42.6162 LVL= 24944, 32753, 32754, 32755, AGC= 75, IDX= 229,-0.04, 0.252,-1.697,-0.777,-0.639, PHS= 0.993,-1.013,-0.182, RAW= 114.4,   2.3, CAL= 115.9,   2.9, ROT=  34.1,  -2.9

2025-10-27T17:03:44.542Z,1761584624.542 [DAT](INFO): got valid direction response:
 17:03:42.6162 LVL= 24944, 32753, 32754, 32755, AGC= 75, IDX= 229,-0.04, 0.252,-1.697,-0.777,-0.639, PHS= 0.993,-1.013,-0.182, RAW= 114.4,   2.3, CAL= 115.9,   2.9, ROT=  34.1,  -2.9

2025-10-27T17:03:44.542Z,1761584624.542 [DAT](INFO): DAT read: Bearing 208, -13 (Remote)

2025-10-27T17:03:44.543Z,1761584624.543 [DAT](INFO): Remote Bearing received:Bearing 208, -13 (Remote)

2025-10-27T17:03:44.544Z,1761584624.544 [DAT](INFO): DAT read: Bearing 343.3,  32.0 (Local)

2025-10-27T17:03:44.544Z,1761584624.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3,  32.0 (Local)

2025-10-27T17:03:44.545Z,1761584624.545 [DAT](INFO): DAT read: Range 11 to 20 : 605.9 m  (Round-trip  807.9 ms) speed  1.5 m/s

2025-10-27T17:03:44.546Z,1761584624.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:03:44.549Z,1761584624.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997243,-0.073599,0.009440],[0.064380,-0.921460,-0.383101],[0.036894,-0.381437,0.923658]]
2025-10-27T17:03:44.551Z,1761584624.551 [DAT](INFO): direction in FSK: [0.827000,0.559921,0.050593]
2025-10-27T17:03:44.551Z,1761584624.551 [DAT](INFO): publishing direction and range info
2025-10-27T17:03:44.690Z,1761584624.690 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584640.00. Resetting abort timer.
2025-10-27T17:03:45.091Z,1761584625.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996338,-0.085350,0.005117],[0.076959,-0.921236,-0.381316],[0.037259,-0.379526,0.924431]]
2025-10-27T17:03:45.497Z,1761584625.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995177,-0.098095,0.000891],[0.090410,-0.920667,-0.379734],[0.038070,-0.377822,0.925095]]
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateRudder:A] Stopped
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:03:45.522Z,1761584625.522 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:03:45.523Z,1761584625.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:03:45.523Z,1761584625.523 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:03:45.523Z,1761584625.523 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:03:45.523Z,1761584625.523 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:03:45.523Z,1761584625.523 [marl:UpdateCommandMode] Stopped
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed] Stopped
2025-10-27T17:03:45.524Z,1761584625.524 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:03:45.995Z,1761584625.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991991,-0.125935,-0.009744],[0.120287,-0.918319,-0.377123],[0.038545,-0.375274,0.926112]]
2025-10-27T17:03:46.090Z,1761584626.090 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:03:46.090Z,1761584626.090 [marl:UpdateRudder:B] Stopped
2025-10-27T17:03:46.090Z,1761584626.090 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:03:46.091Z,1761584626.091 [marl:UpdateRudder] Stopped
2025-10-27T17:03:46.091Z,1761584626.091 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:03:46.520Z,1761584626.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989819,-0.141418,-0.016111],[0.137041,-0.916320,-0.376269],[0.038449,-0.374646,0.926370]]
2025-10-27T17:03:46.925Z,1761584626.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987152,-0.158177,-0.022596],[0.155082,-0.914429,-0.373856],[0.038473,-0.372557,0.927212]]
2025-10-27T17:03:47.325Z,1761584627.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984010,-0.175645,-0.029540],[0.173868,-0.911274,-0.373295],[0.038648,-0.372462,0.927242]]
2025-10-27T17:03:47.730Z,1761584627.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980335,-0.193834,-0.037033],[0.193546,-0.907780,-0.372124],[0.038512,-0.371974,0.927444]]
2025-10-27T17:03:48.141Z,1761584628.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976217,-0.212153,-0.044623],[0.213356,-0.903639,-0.371370],[0.038464,-0.372058,0.927412]]
2025-10-27T17:03:48.543Z,1761584628.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971701,-0.230283,-0.052606],[0.233106,-0.898807,-0.371225],[0.038204,-0.372983,0.927051]]
2025-10-27T17:03:48.947Z,1761584628.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966883,-0.247846,-0.060908],[0.252426,-0.893442,-0.371541],[0.037668,-0.374611,0.926417]]
2025-10-27T17:03:49.757Z,1761584629.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956406,-0.281541,-0.077601],[0.289827,-0.882388,-0.370663],[0.035883,-0.376995,0.925520]]
2025-10-27T17:03:50.272Z,1761584630.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950901,-0.297430,-0.085571],[0.307559,-0.877235,-0.368602],[0.034567,-0.376822,0.925641]]
2025-10-27T17:03:50.675Z,1761584630.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945033,-0.313493,-0.092924],[0.325310,-0.872805,-0.363847],[0.032958,-0.374076,0.926812]]
2025-10-27T17:03:51.173Z,1761584631.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938843,-0.329266,-0.100789],[0.342975,-0.868051,-0.358966],[0.030706,-0.371580,0.927893]]
2025-10-27T17:03:51.678Z,1761584631.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925814,-0.359249,-0.117512],[0.377172,-0.857729,-0.349346],[0.024709,-0.367752,0.929596]]
2025-10-27T17:03:52.079Z,1761584632.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919001,-0.373694,-0.125656],[0.393679,-0.852576,-0.343703],[0.021309,-0.365331,0.930634]]
2025-10-27T17:03:52.481Z,1761584632.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912149,-0.387261,-0.134213],[0.409482,-0.847010,-0.338967],[0.017589,-0.364146,0.931176]]
2025-10-27T17:03:52.915Z,1761584632.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905120,-0.400598,-0.142405],[0.424939,-0.841690,-0.333144],[0.013596,-0.362049,0.932060]]
2025-10-27T17:03:53.297Z,1761584633.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898261,-0.412669,-0.151098],[0.439351,-0.835570,-0.329840],[0.009862,-0.362667,0.931867]]
2025-10-27T17:03:53.701Z,1761584633.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891695,-0.423868,-0.158797],[0.452591,-0.829948,-0.326110],[0.006434,-0.362660,0.931899]]
2025-10-27T17:03:54.110Z,1761584634.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885056,-0.434905,-0.165932],[0.465472,-0.824337,-0.322187],[0.003337,-0.362391,0.932020]]
2025-10-27T17:03:54.507Z,1761584634.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878358,-0.445693,-0.172757],[0.478003,-0.818620,-0.318395],[0.000483,-0.362243,0.932084]]
2025-10-27T17:03:54.912Z,1761584634.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871163,-0.456872,-0.179845],[0.490990,-0.812306,-0.314783],[-0.002274,-0.362529,0.931970]]
2025-10-27T17:03:55.314Z,1761584635.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863973,-0.467486,-0.187103],[0.503515,-0.805606,-0.312204],[-0.004780,-0.363945,0.931408]]
2025-10-27T17:03:55.718Z,1761584635.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856226,-0.479293,-0.192755],[0.516557,-0.799170,-0.307402],[-0.006708,-0.362775,0.931853]]
2025-10-27T17:03:56.131Z,1761584636.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847610,-0.491514,-0.199929],[0.530546,-0.791332,-0.303835],[-0.008871,-0.363605,0.931511]]
2025-10-27T17:03:56.526Z,1761584636.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838613,-0.503799,-0.207158],[0.544621,-0.782989,-0.300527],[-0.010797,-0.364849,0.931004]]
2025-10-27T17:03:56.930Z,1761584636.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829030,-0.516660,-0.213946],[0.559072,-0.774124,-0.296935],[-0.012207,-0.365779,0.930622]]
2025-10-27T17:03:57.334Z,1761584637.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819028,-0.530073,-0.219581],[0.573600,-0.765331,-0.291978],[-0.013282,-0.365090,0.930878]]
2025-10-27T17:03:58.141Z,1761584638.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797300,-0.557661,-0.230924],[0.603388,-0.746128,-0.281454],[-0.015343,-0.363740,0.931374]]
2025-10-27T17:03:58.546Z,1761584638.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785888,-0.571297,-0.236641],[0.618158,-0.735804,-0.276538],[-0.016136,-0.363610,0.931412]]
2025-10-27T17:03:58.605Z,1761584638.605 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:03:58.606Z,1761584638.606 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:03:58.606Z,1761584638.606 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:03:58.607Z,1761584638.607 [marl:UpdateRudder:A] Stopped
2025-10-27T17:03:58.607Z,1761584638.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:03:58.607Z,1761584638.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:03:58.607Z,1761584638.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:03:58.607Z,1761584638.607 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:03:58.608Z,1761584638.608 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:03:58.608Z,1761584638.608 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:03:58.608Z,1761584638.608 [marl:UpdateCommandMode] Stopped
2025-10-27T17:03:58.608Z,1761584638.608 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:03:58.609Z,1761584638.609 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:03:58.609Z,1761584638.609 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:03:58.609Z,1761584638.609 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:03:58.610Z,1761584638.610 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:03:58.610Z,1761584638.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:03:58.610Z,1761584638.610 [marl:UpdateSpeed] Stopped
2025-10-27T17:03:58.610Z,1761584638.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:03:58.964Z,1761584638.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773952,-0.585069,-0.242264],[0.633019,-0.725007,-0.271389],[-0.016862,-0.363400,0.931481]]
2025-10-27T17:03:59.119Z,1761584639.119 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T17:03:59.119Z,1761584639.119 [marl:UpdateRudder:B] Stopped
2025-10-27T17:03:59.119Z,1761584639.119 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:03:59.119Z,1761584639.119 [marl:UpdateRudder] Stopped
2025-10-27T17:03:59.119Z,1761584639.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:03:59.417Z,1761584639.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761686,-0.598780,-0.247583],[0.647699,-0.714172,-0.265415],[-0.017892,-0.362522,0.931804]]
2025-10-27T17:04:00.221Z,1761584640.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735451,-0.626804,-0.257348],[0.677226,-0.692214,-0.249406],[-0.021811,-0.357709,0.933578]]
2025-10-27T17:04:00.626Z,1761584640.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722932,-0.639666,-0.261145],[0.690455,-0.682702,-0.239143],[-0.025313,-0.353194,0.935208]]
2025-10-27T17:04:01.030Z,1761584641.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712877,-0.650232,-0.262689],[0.700615,-0.676762,-0.226124],[-0.030745,-0.345243,0.938010]]
2025-10-27T17:04:01.848Z,1761584641.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705821,-0.666986,-0.238634],[0.706792,-0.685679,-0.174036],[-0.047547,-0.291503,0.955387]]
2025-10-27T17:04:02.243Z,1761584642.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710731,-0.669976,-0.214462],[0.701008,-0.699984,-0.136415],[-0.058725,-0.247294,0.967159]]
2025-10-27T17:04:02.646Z,1761584642.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721877,-0.667740,-0.181709],[0.688360,-0.719838,-0.089411],[-0.071097,-0.189625,0.979279]]
2025-10-27T17:04:03.050Z,1761584643.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739253,-0.657526,-0.145479],[0.668242,-0.742996,-0.037540],[-0.083407,-0.124967,0.988649]]
2025-10-27T17:04:03.456Z,1761584643.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760436,-0.640932,-0.104606],[0.642471,-0.765973,0.022736],[-0.094698,-0.049917,0.994254]]
2025-10-27T17:04:03.857Z,1761584643.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783167,-0.618120,-0.067651],[0.613037,-0.785745,0.082408],[-0.104095,0.023067,0.994300]]
2025-10-27T17:04:04.262Z,1761584644.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805918,-0.590694,-0.039698],[0.581507,-0.802401,0.134173],[-0.111109,0.085048,0.990162]]
2025-10-27T17:04:04.666Z,1761584644.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827789,-0.560593,-0.022393],[0.548898,-0.817488,0.174427],[-0.116089,0.132097,0.984415]]
2025-10-27T17:04:05.075Z,1761584645.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848274,-0.529379,-0.013753],[0.516117,-0.832278,0.202327],[-0.118554,0.164530,0.979221]]
2025-10-27T17:04:05.474Z,1761584645.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867418,-0.497449,-0.011465],[0.483167,-0.847572,0.219478],[-0.118897,0.184840,0.975550]]
2025-10-27T17:04:05.878Z,1761584645.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884684,-0.465999,-0.013368],[0.451096,-0.862924,0.227759],[-0.117671,0.195464,0.973626]]
2025-10-27T17:04:06.282Z,1761584646.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900110,-0.435308,-0.017578],[0.420158,-0.878037,0.229168],[-0.115193,0.198890,0.973228]]
2025-10-27T17:04:06.687Z,1761584646.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913998,-0.405056,-0.023187],[0.389862,-0.892662,0.226191],[-0.112318,0.197698,0.973807]]
2025-10-27T17:04:07.493Z,1761584647.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937499,-0.345993,-0.037215],[0.330972,-0.919574,0.211759],[-0.107489,0.186207,0.976613]]
2025-10-27T17:04:07.903Z,1761584647.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947415,-0.316661,-0.046166],[0.301739,-0.932029,0.200686],[-0.106577,0.176203,0.978567]]
2025-10-27T17:04:08.304Z,1761584648.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956381,-0.286561,-0.056733],[0.271959,-0.944315,0.185221],[-0.106651,0.161713,0.981058]]
2025-10-27T17:04:08.706Z,1761584648.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964566,-0.255065,-0.067482],[0.240852,-0.955653,0.169461],[-0.107713,0.147203,0.983224]]
2025-10-27T17:04:09.109Z,1761584649.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971788,-0.222970,-0.076888],[0.209037,-0.965216,0.157043],[-0.109229,0.136540,0.984594]]
2025-10-27T17:04:09.515Z,1761584649.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977944,-0.190118,-0.086495],[0.176582,-0.973728,0.143779],[-0.111557,0.125334,0.985823]]
2025-10-27T17:04:09.542Z,1761584649.542 [marl:SendObservationData] Running Loop=1
2025-10-27T17:04:09.542Z,1761584649.542 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:04:09.542Z,1761584649.542 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:04:09.544Z,1761584649.544 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:04:09.544Z,1761584649.544 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:04:09.546Z,1761584649.546 [marl:SendObservationData:A](INFO): Got test_good :  41da3fe9800000004051400000000000404263cfd18eac9fc05e772ce34475e6402f9aa7600000004082ef3340000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:04:09.546Z,1761584649.546 [marl:SendObservationData:A] Stopped
2025-10-27T17:04:09.546Z,1761584649.546 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:04:09.772Z,1761584649.772 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:04:09.772Z,1761584649.772 [DAT](INFO): #Outgoing data=1
2025-10-27T17:04:09.773Z,1761584649.773 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:04:09.918Z,1761584649.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983137,-0.156329,-0.094883],[0.143135,-0.980755,0.132790],[-0.113816,0.116969,0.986592]]
2025-10-27T17:04:09.982Z,1761584649.982 [marl:SendObservationData:B] Stopped
2025-10-27T17:04:09.995Z,1761584649.995 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:04:10.024Z,1761584650.024 [DAT](INFO): setting remote address to 6
2025-10-27T17:04:10.276Z,1761584650.276 [DAT](INFO): DAT read: user:1092>

2025-10-27T17:04:10.277Z,1761584650.277 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:04:10.277Z,1761584650.277 [DAT](INFO): set remote address to 6
2025-10-27T17:04:10.277Z,1761584650.277 [DAT](INFO): entering online mode
2025-10-27T17:04:10.349Z,1761584650.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987292,-0.122657,-0.101038],[0.109414,-0.985777,0.127565],[-0.115248,0.114889,0.986670]]
2025-10-27T17:04:10.383Z,1761584650.383 [marl:SendObservationData:C] Stopped
2025-10-27T17:04:10.383Z,1761584650.383 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:04:10.528Z,1761584650.528 [DAT](INFO): DAT read: user:1093>

2025-10-27T17:04:10.528Z,1761584650.528 [DAT](INFO): DAT read: 

2025-10-27T17:04:10.530Z,1761584650.530 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:04:10.530Z,1761584650.530 [DAT](INFO): commRate: 600
2025-10-27T17:04:10.530Z,1761584650.530 [DAT](INFO): online mode acknowledged
2025-10-27T17:04:10.530Z,1761584650.530 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:04:10.804Z,1761584650.804 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.010483 min 
2025-10-27T17:04:10.804Z,1761584650.804 [marl:SendObservationData:E] Stopped
2025-10-27T17:04:10.805Z,1761584650.805 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:04:10.805Z,1761584650.805 [marl:SendObservationData] Stopped
2025-10-27T17:04:10.805Z,1761584650.805 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:04:10.805Z,1761584650.805 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:04:11.130Z,1761584651.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992487,-0.054521,-0.109531],[0.040576,-0.991234,0.125734],[-0.115426,0.120345,0.985999]]
2025-10-27T17:04:11.533Z,1761584651.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993439,-0.021210,-0.112380],[0.006680,-0.991735,0.128127],[-0.114169,0.126535,0.985370]]
2025-10-27T17:04:11.623Z,1761584651.623 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:04:11.623Z,1761584651.623 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:04:11.623Z,1761584651.623 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateRudder:A] Stopped
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:04:11.624Z,1761584651.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateCommandMode] Stopped
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed] Stopped
2025-10-27T17:04:11.625Z,1761584651.625 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:04:11.940Z,1761584651.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993400,0.009597,-0.114300],[-0.025070,-0.990566,0.134722],[-0.111929,0.136698,0.984269]]
2025-10-27T17:04:11.968Z,1761584651.968 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T17:04:11.968Z,1761584651.968 [marl:UpdateRudder:B] Stopped
2025-10-27T17:04:11.969Z,1761584651.969 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:04:11.969Z,1761584651.969 [marl:UpdateRudder] Stopped
2025-10-27T17:04:11.969Z,1761584651.969 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:04:12.247Z,1761584652.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:04:12.756Z,1761584652.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990723,0.067717,-0.117820],[-0.084588,-0.985860,0.144658],[-0.106358,0.153282,0.982442]]
2025-10-27T17:04:13.149Z,1761584653.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988124,0.096185,-0.119833],[-0.113352,-0.982794,0.145834],[-0.103744,0.157686,0.982025]]
2025-10-27T17:04:13.251Z,1761584653.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:04:13.561Z,1761584653.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984654,0.124703,-0.122088],[-0.141815,-0.979463,0.143320],[-0.101708,0.158435,0.982117]]
2025-10-27T17:04:13.804Z,1761584653.804 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:04:12.8780

2025-10-27T17:04:13.805Z,1761584653.805 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:04:13.969Z,1761584653.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980276,0.153400,-0.124606],[-0.170154,-0.975804,0.137312],[-0.100528,0.155806,0.982659]]
2025-10-27T17:04:14.361Z,1761584654.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975041,0.181176,-0.128338],[-0.197852,-0.971309,0.131959],[-0.100748,0.154057,0.982912]]
2025-10-27T17:04:14.767Z,1761584654.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969078,0.208392,-0.132141],[-0.224648,-0.966637,0.123067],[-0.102086,0.148947,0.983561]]
2025-10-27T17:04:15.170Z,1761584655.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962441,0.235115,-0.135754],[-0.250536,-0.961784,0.110464],[-0.104594,0.140326,0.984565]]
2025-10-27T17:04:15.586Z,1761584655.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955140,0.261483,-0.139050],[-0.275712,-0.956520,0.095146],[-0.108125,0.129216,0.985704]]
2025-10-27T17:04:15.981Z,1761584655.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947082,0.287671,-0.142413],[-0.300766,-0.950285,0.080616],[-0.112142,0.119183,0.986519]]
2025-10-27T17:04:16.381Z,1761584656.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938094,0.314147,-0.145917],[-0.326524,-0.942604,0.069856],[-0.115597,0.113177,0.986827]]
2025-10-27T17:04:16.786Z,1761584656.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927339,0.343434,-0.148648],[-0.354914,-0.933075,0.058366],[-0.118655,0.106882,0.987166]]
2025-10-27T17:04:17.215Z,1761584657.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900767,0.405401,-0.155783],[-0.416715,-0.907817,0.047074],[-0.122338,0.107319,0.986669]]
2025-10-27T17:04:17.616Z,1761584657.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885735,0.435154,-0.161599],[-0.447741,-0.892761,0.050071],[-0.122480,0.116704,0.985585]]
2025-10-27T17:04:18.018Z,1761584658.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869927,0.463616,-0.168186],[-0.477974,-0.876595,0.055886],[-0.121521,0.129005,0.984170]]
2025-10-27T17:04:18.422Z,1761584658.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853877,0.490274,-0.174715],[-0.506547,-0.859944,0.062503],[-0.119601,0.141872,0.982633]]
2025-10-27T17:04:18.836Z,1761584658.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837086,0.516846,-0.179327],[-0.534327,-0.842754,0.065265],[-0.117396,0.150451,0.981622]]
2025-10-27T17:04:19.253Z,1761584659.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819965,0.542585,-0.182371],[-0.560928,-0.825145,0.067058],[-0.114098,0.157282,0.980940]]
2025-10-27T17:04:19.654Z,1761584659.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802357,0.567917,-0.183559],[-0.586550,-0.807175,0.066543],[-0.110373,0.161057,0.980754]]
2025-10-27T17:04:20.073Z,1761584660.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783433,0.593782,-0.183455],[-0.612326,-0.787968,0.064513],[-0.106250,0.162876,0.980909]]
2025-10-27T17:04:20.461Z,1761584660.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763638,0.619085,-0.183278],[-0.637632,-0.767721,0.063482],[-0.101406,0.165342,0.981009]]
2025-10-27T17:04:20.900Z,1761584660.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742502,0.644787,-0.181495],[-0.662870,-0.746282,0.060549],[-0.096405,0.165265,0.981526]]
2025-10-27T17:04:21.271Z,1761584661.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719950,0.670344,-0.179753],[-0.687975,-0.723447,0.057572],[-0.091449,0.165115,0.982026]]
2025-10-27T17:04:21.673Z,1761584661.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696542,0.695055,-0.178123],[-0.712242,-0.699822,0.054410],[-0.086837,0.164766,0.982503]]
2025-10-27T17:04:22.079Z,1761584662.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673175,0.717868,-0.177481],[-0.734877,-0.676175,0.052378],[-0.082408,0.165686,0.982729]]
2025-10-27T17:04:22.483Z,1761584662.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650528,0.738184,-0.178599],[-0.755416,-0.653202,0.051708],[-0.078491,0.168554,0.982562]]
2025-10-27T17:04:22.908Z,1761584662.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629126,0.756562,-0.178369],[-0.773673,-0.631632,0.049722],[-0.075046,0.169280,0.982707]]
2025-10-27T17:04:23.290Z,1761584663.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608306,0.774384,-0.174049],[-0.790457,-0.610885,0.044699],[-0.071709,0.164769,0.983722]]
2025-10-27T17:04:23.694Z,1761584663.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588696,0.790463,-0.169130],[-0.805448,-0.591325,0.039868],[-0.068496,0.159696,0.984787]]
2025-10-27T17:04:23.884Z,1761584663.884 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:04:24.099Z,1761584664.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568997,0.806138,-0.162434],[-0.819734,-0.571730,0.034065],[-0.065407,0.152536,0.986131]]
2025-10-27T17:04:24.137Z,1761584664.137 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:04:24.137Z,1761584664.137 [DAT](INFO): #Outgoing data=1
2025-10-27T17:04:24.137Z,1761584664.137 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:04:24.388Z,1761584664.388 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:04:24.502Z,1761584664.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549125,0.821583,-0.153177],[-0.833462,-0.551875,0.027837],[-0.061664,0.142954,0.987807]]
2025-10-27T17:04:24.565Z,1761584664.565 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:04:24.565Z,1761584664.565 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateRudder:A] Stopped
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:04:24.566Z,1761584664.566 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:04:24.567Z,1761584664.567 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateCommandMode] Stopped
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:04:24.583Z,1761584664.583 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:04:24.584Z,1761584664.584 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:04:24.584Z,1761584664.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:04:24.584Z,1761584664.584 [marl:UpdateSpeed] Stopped
2025-10-27T17:04:24.584Z,1761584664.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:04:24.910Z,1761584664.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528891,0.836149,-0.145360],[-0.846747,-0.531466,0.023749],[-0.057396,0.135644,0.989094]]
2025-10-27T17:04:24.970Z,1761584664.970 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:04:24.970Z,1761584664.970 [marl:UpdateRudder:B] Stopped
2025-10-27T17:04:24.971Z,1761584664.971 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:04:24.971Z,1761584664.971 [marl:UpdateRudder] Stopped
2025-10-27T17:04:24.971Z,1761584664.971 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:04:25.314Z,1761584665.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507714,0.849997,-0.140472],[-0.859888,-0.510015,0.021826],[-0.053091,0.131871,0.989844]]
2025-10-27T17:04:25.718Z,1761584665.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484768,0.864122,-0.135251],[-0.873287,-0.486800,0.019864],[-0.048675,0.127742,0.990612]]
2025-10-27T17:04:26.121Z,1761584666.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460745,0.877107,-0.135638],[-0.886390,-0.462497,0.020206],[-0.045009,0.129538,0.990552]]
2025-10-27T17:04:26.540Z,1761584666.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435861,0.889499,-0.137176],[-0.899061,-0.437325,0.020891],[-0.041407,0.132435,0.990326]]
2025-10-27T17:04:27.333Z,1761584667.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385111,0.911276,-0.145830],[-0.922206,-0.385994,0.023345],[-0.035016,0.143476,0.989034]]
2025-10-27T17:04:27.664Z,1761584667.664 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:04:26.7293

2025-10-27T17:04:27.664Z,1761584667.664 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:04:27.744Z,1761584667.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361643,0.921400,-0.142253],[-0.931755,-0.362490,0.020838],[-0.032365,0.140081,0.989611]]
2025-10-27T17:04:28.143Z,1761584668.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340076,0.931725,-0.127421],[-0.939912,-0.341120,0.014217],[-0.030219,0.124600,0.991747]]
2025-10-27T17:04:28.557Z,1761584668.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320181,0.941461,-0.105523],[-0.946939,-0.321355,0.006155],[-0.028116,0.101894,0.994398]]
2025-10-27T17:04:28.949Z,1761584668.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301182,0.949780,-0.084900],[-0.953211,-0.302307,-0.000420],[-0.026064,0.080801,0.996389]]
2025-10-27T17:04:29.354Z,1761584669.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282905,0.956798,-0.067097],[-0.958840,-0.283894,-0.005500],[-0.024310,0.062779,0.997731]]
2025-10-27T17:04:29.762Z,1761584669.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265307,0.962696,-0.053192],[-0.963885,-0.266153,-0.009387],[-0.023194,0.048780,0.998540]]
2025-10-27T17:04:30.162Z,1761584670.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249400,0.967458,-0.042723],[-0.968148,-0.250101,-0.011835],[-0.022135,0.038411,0.999017]]
2025-10-27T17:04:30.569Z,1761584670.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234517,0.971495,-0.034638],[-0.971875,-0.235098,-0.013729],[-0.021481,0.030444,0.999306]]
2025-10-27T17:04:30.969Z,1761584670.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221035,0.974821,-0.029444],[-0.975038,-0.221535,-0.014935],[-0.021082,0.025408,0.999455]]
2025-10-27T17:04:31.375Z,1761584671.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208966,0.977570,-0.026265],[-0.977708,-0.209408,-0.015365],[-0.020521,0.022469,0.999537]]
2025-10-27T17:04:31.777Z,1761584671.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196867,0.980140,-0.023834],[-0.980230,-0.197260,-0.015440],[-0.019835,0.020324,0.999597]]
2025-10-27T17:04:32.181Z,1761584672.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183462,0.982790,-0.021579],[-0.982845,-0.183806,-0.015214],[-0.018918,0.018418,0.999651]]
2025-10-27T17:04:32.588Z,1761584672.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168763,0.985460,-0.019677],[-0.985496,-0.169062,-0.014686],[-0.017799,0.016913,0.999698]]
2025-10-27T17:04:33.044Z,1761584673.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151174,0.988318,-0.019348],[-0.988369,-0.151451,-0.013767],[-0.016537,0.017041,0.999718]]
2025-10-27T17:04:33.046Z,1761584673.046 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.047Z,1761584673.047 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:04:33.048Z,1761584673.048 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.049Z,1761584673.049 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-27T17:04:33.050Z,1761584673.050 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:04:33.050Z,1761584673.050 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.051Z,1761584673.051 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.052Z,1761584673.052 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.053Z,1761584673.053 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-27T17:04:33.053Z,1761584673.053 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.054Z,1761584673.054 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:04:33.055Z,1761584673.055 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:04:33.055Z,1761584673.055 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1.
2025-10-27T17:04:33.061Z,1761584673.061 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 38, 39, 44, 47, 54, 58, 62.
2025-10-27T17:04:33.394Z,1761584673.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132538,0.990991,-0.019275],[-0.991069,-0.132787,-0.012273],[-0.014722,0.017476,0.999739]]
2025-10-27T17:04:33.797Z,1761584673.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111941,0.993506,-0.020354],[-0.993641,-0.112160,-0.009930],[-0.012148,0.019113,0.999744]]
2025-10-27T17:04:34.201Z,1761584674.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089363,0.995732,-0.023059],[-0.995953,-0.089558,-0.007587],[-0.009620,0.022287,0.999705]]
2025-10-27T17:04:34.610Z,1761584674.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065088,0.997505,-0.027349],[-0.997851,-0.065269,-0.005780],[-0.007550,0.026914,0.999609]]
2025-10-27T17:04:35.021Z,1761584675.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040067,0.998712,-0.031136],[-0.999177,-0.040241,-0.004999],[-0.006245,0.030910,0.999503]]
2025-10-27T17:04:35.414Z,1761584675.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015293,0.999291,-0.034410],[-0.999866,-0.015485,-0.005304],[-0.005833,0.034324,0.999394]]
2025-10-27T17:04:35.818Z,1761584675.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007656,0.999301,-0.036587],[-0.999950,0.007414,-0.006727],[-0.006451,0.036637,0.999308]]
2025-10-27T17:04:36.223Z,1761584676.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027661,0.998896,-0.037972],[-0.999589,0.027352,-0.008633],[-0.007585,0.038195,0.999241]]
2025-10-27T17:04:36.629Z,1761584676.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044565,0.998308,-0.037344],[-0.998966,0.044196,-0.010655],[-0.008987,0.037780,0.999246]]
2025-10-27T17:04:37.038Z,1761584677.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058456,0.997674,-0.035056],[-0.998237,0.058054,-0.012373],[-0.010309,0.035717,0.999309]]
2025-10-27T17:04:37.433Z,1761584677.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070309,0.996986,-0.032804],[-0.997465,0.069905,-0.013311],[-0.010978,0.033657,0.999373]]
2025-10-27T17:04:37.490Z,1761584677.490 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:04:37.490Z,1761584677.490 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:04:37.490Z,1761584677.490 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:04:37.490Z,1761584677.490 [marl:UpdateRudder:A] Stopped
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:04:37.491Z,1761584677.491 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateCommandMode] Stopped
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:04:37.492Z,1761584677.492 [marl:UpdateSpeed] Stopped
2025-10-27T17:04:37.493Z,1761584677.493 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:04:37.748Z,1761584677.748 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:04:37.837Z,1761584677.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080779,0.996257,-0.030773],[-0.996675,0.080407,-0.013142],[-0.010618,0.031732,0.999440]]
2025-10-27T17:04:37.885Z,1761584677.885 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:04:37.886Z,1761584677.886 [marl:UpdateRudder:B] Stopped
2025-10-27T17:04:37.886Z,1761584677.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:04:37.886Z,1761584677.886 [marl:UpdateRudder] Stopped
2025-10-27T17:04:37.886Z,1761584677.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:04:38.002Z,1761584678.002 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:04:38.002Z,1761584678.002 [DAT](INFO): #Outgoing data=2
2025-10-27T17:04:38.003Z,1761584678.003 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:04:38.241Z,1761584678.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090263,0.995566,-0.026482],[-0.995875,0.089981,-0.011667],[-0.009233,0.027426,0.999581]]
2025-10-27T17:04:38.252Z,1761584678.252 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:04:38.649Z,1761584678.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099840,0.994711,-0.024112],[-0.994981,0.099644,-0.009172],[-0.006721,0.024907,0.999667]]
2025-10-27T17:04:39.051Z,1761584679.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111092,0.993554,-0.022545],[-0.993804,0.110982,-0.006053],[-0.003511,0.023078,0.999728]]
2025-10-27T17:04:39.456Z,1761584679.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125211,0.991885,-0.022071],[-0.992130,0.125169,-0.003284],[-0.000494,0.022308,0.999751]]
2025-10-27T17:04:39.858Z,1761584679.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142733,0.989507,-0.022425],[-0.989760,0.142732,-0.001634],[0.001584,0.022428,0.999747]]
2025-10-27T17:04:40.262Z,1761584680.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161508,0.986614,-0.022528],[-0.986866,0.161541,-0.000341],[0.003303,0.022287,0.999746]]
2025-10-27T17:04:40.668Z,1761584680.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178636,0.983739,-0.018623],[-0.983906,0.178686,0.001019],[0.004330,0.018141,0.999826]]
2025-10-27T17:04:40.748Z,1761584680.748 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:04:40.772Z,1761584680.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:04:40.823Z,1761584680.823 [DAT](INFO): entering command mode
2025-10-27T17:04:40.826Z,1761584680.826 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:04:40.826Z,1761584680.826 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:04:41.025Z,1761584681.025 [DAT](INFO): DAT read: 

2025-10-27T17:04:41.026Z,1761584681.026 [DAT](INFO): DAT read: user:1094>

2025-10-27T17:04:41.026Z,1761584681.026 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:04:41.027Z,1761584681.027 [DAT](INFO): setting remote address to 0
2025-10-27T17:04:41.276Z,1761584681.276 [DAT](INFO): DAT read: user:1094>

2025-10-27T17:04:41.277Z,1761584681.277 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:04:41.277Z,1761584681.277 [DAT](INFO): set remote address to 0
2025-10-27T17:04:41.278Z,1761584681.278 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:04:41.278Z,1761584681.278 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:04:41.478Z,1761584681.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199718,0.979771,0.012699],[-0.979842,0.199637,0.007377],[0.004693,-0.013917,0.999892]]
2025-10-27T17:04:41.528Z,1761584681.528 [DAT](INFO): DAT read: user:1095>

2025-10-27T17:04:41.529Z,1761584681.529 [DAT](INFO): DAT read: Tx time:17:04:40.5291

2025-10-27T17:04:41.529Z,1761584681.529 [DAT](INFO): Ping request sent.
2025-10-27T17:04:41.529Z,1761584681.529 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:04:41.529Z,1761584681.529 [DAT](INFO): publishing transmit ping time
2025-10-27T17:04:41.530Z,1761584681.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955
2025-10-27T17:04:41.780Z,1761584681.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250810
2025-10-27T17:04:41.881Z,1761584681.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204224,0.978029,0.041867],[-0.978914,0.203837,0.013353],[0.004526,-0.043711,0.999034]]
2025-10-27T17:04:42.036Z,1761584682.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506594
2025-10-27T17:04:42.285Z,1761584682.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755316
2025-10-27T17:04:42.290Z,1761584682.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205478,0.975930,0.073071],[-0.978649,0.204518,0.020466],[0.005029,-0.075716,0.997117]]
2025-10-27T17:04:42.536Z,1761584682.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750
2025-10-27T17:04:42.694Z,1761584682.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205295,0.973135,0.104217],[-0.978683,0.203498,0.027712],[0.005760,-0.107685,0.994168]]
2025-10-27T17:04:42.789Z,1761584682.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260207
2025-10-27T17:04:43.040Z,1761584683.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728
2025-10-27T17:04:43.093Z,1761584683.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204675,0.969839,0.132363],[-0.978808,0.201873,0.034395],[0.006637,-0.136597,0.990604]]
2025-10-27T17:04:43.292Z,1761584683.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762744
2025-10-27T17:04:43.395Z,1761584683.395 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:04:43.507Z,1761584683.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205240,0.966178,0.156127],[-0.978681,0.201346,0.040534],[0.007727,-0.161118,0.986905]]
2025-10-27T17:04:43.544Z,1761584683.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014619
2025-10-27T17:04:43.796Z,1761584683.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698
2025-10-27T17:04:43.902Z,1761584683.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207116,0.962298,0.176312],[-0.978275,0.202063,0.046351],[0.008977,-0.182082,0.983242]]
2025-10-27T17:04:44.050Z,1761584684.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521279
2025-10-27T17:04:44.300Z,1761584684.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770595
2025-10-27T17:04:44.314Z,1761584684.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210549,0.958823,0.190601],[-0.977533,0.204513,0.051033],[0.009951,-0.197063,0.980340]]
2025-10-27T17:04:44.400Z,1761584684.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:04:44.552Z,1761584684.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022711
2025-10-27T17:04:44.710Z,1761584684.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214874,0.955869,0.200359],[-0.976584,0.208053,0.054756],[0.010655,-0.207433,0.978191]]
2025-10-27T17:04:44.805Z,1761584684.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275457
2025-10-27T17:04:45.056Z,1761584685.056 [DAT](INFO): DAT read: Rx Time:17:04:43.6541

2025-10-27T17:04:45.056Z,1761584685.056 [DAT](INFO): Rx dataTimestamp_ set to:1761584685.056003
2025-10-27T17:04:45.057Z,1761584685.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527662
2025-10-27T17:04:45.122Z,1761584685.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219549,0.953396,0.206964],[-0.975541,0.212177,0.057453],[0.010863,-0.214515,0.976660]]
2025-10-27T17:04:45.309Z,1761584685.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779362
2025-10-27T17:04:45.556Z,1761584685.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223789,0.951273,0.212127],[-0.974579,0.216020,0.059429],[0.010710,-0.220034,0.975433]]
2025-10-27T17:04:45.577Z,1761584685.577 [DAT](INFO): DAT read: 17:04:43.6541 LVL= 24720, 25633, 14466, 25635, AGC= 62, IDX= 259,-0.10, 1.505, 1.787,-2.641, 2.738, PHS=-1.131,-0.906, 0.860, RAW= 215.9,  12.4, CAL= 217.7,  14.6, ROT= 292.3, -14.6

2025-10-27T17:04:45.578Z,1761584685.578 [DAT](INFO): got valid direction response:
 17:04:43.6541 LVL= 24720, 25633, 14466, 25635, AGC= 62, IDX= 259,-0.10, 1.505, 1.787,-2.641, 2.738, PHS=-1.131,-0.906, 0.860, RAW= 215.9,  12.4, CAL= 217.7,  14.6, ROT= 292.3, -14.6

2025-10-27T17:04:45.597Z,1761584685.597 [DAT](INFO): DAT read: Bearing  76.0, -67.5 (Local)

2025-10-27T17:04:45.598Z,1761584685.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.0, -67.5 (Local)

2025-10-27T17:04:45.603Z,1761584685.603 [DAT](INFO): DAT read: Range 11 to 20 : 540.6 m  (Round-trip  720.8 ms) speed  0.0 m/s

2025-10-27T17:04:45.604Z,1761584685.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:04:45.605Z,1761584685.605 [DAT](INFO): direction in FSK: [0.367203,-0.895334,0.252069]
2025-10-27T17:04:45.605Z,1761584685.605 [DAT](INFO): publishing direction and range info
2025-10-27T17:04:45.735Z,1761584685.735 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761584640.00. Resetting abort timer.
2025-10-27T17:04:46.327Z,1761584686.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227544,0.949753,0.214927],[-0.973722,0.219789,0.059646],[0.009410,-0.222851,0.974807]]
2025-10-27T17:04:46.770Z,1761584686.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226267,0.950766,0.211772],[-0.974023,0.218822,0.058275],[0.009065,-0.219457,0.975580]]
2025-10-27T17:04:47.538Z,1761584687.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220634,0.953553,0.205080],[-0.975315,0.213751,0.055421],[0.009010,-0.212246,0.977175]]
2025-10-27T17:04:47.942Z,1761584687.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217246,0.954942,0.202214],[-0.976067,0.210432,0.054874],[0.009849,-0.209295,0.977803]]
2025-10-27T17:04:48.332Z,1761584688.332 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-27T17:04:48.332Z,1761584688.332 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:04:48.347Z,1761584688.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215198,0.956101,0.198898],[-0.976511,0.208416,0.054681],[0.010828,-0.205993,0.978494]]
2025-10-27T17:04:48.584Z,1761584688.584 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:04:48.584Z,1761584688.584 [DAT](INFO): #Outgoing data=3
2025-10-27T17:04:48.584Z,1761584688.584 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:04:48.763Z,1761584688.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215219,0.956897,0.195011],[-0.976494,0.208446,0.054860],[0.011846,-0.202234,0.979266]]
2025-10-27T17:04:48.838Z,1761584688.838 [DAT](INFO): setting remote address to 6
2025-10-27T17:04:49.088Z,1761584689.088 [DAT](INFO): DAT read: user:1096>

2025-10-27T17:04:49.089Z,1761584689.089 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:04:49.089Z,1761584689.089 [DAT](INFO): set remote address to 6
2025-10-27T17:04:49.089Z,1761584689.089 [DAT](INFO): entering online mode
2025-10-27T17:04:49.174Z,1761584689.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217542,0.956942,0.192189],[-0.975967,0.210687,0.055666],[0.012778,-0.199680,0.979778]]
2025-10-27T17:04:49.185Z,1761584689.185 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 733.65, 535.42, 644.63
2025-10-27T17:04:49.340Z,1761584689.340 [DAT](INFO): DAT read: user:1097>

2025-10-27T17:04:49.340Z,1761584689.340 [DAT](INFO): DAT read: 

2025-10-27T17:04:49.342Z,1761584689.342 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:04:49.342Z,1761584689.342 [DAT](INFO): commRate: 600
2025-10-27T17:04:49.342Z,1761584689.342 [DAT](INFO): online mode acknowledged
2025-10-27T17:04:49.342Z,1761584689.342 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:04:49.558Z,1761584689.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221243,0.956803,0.188628],[-0.975126,0.214383,0.056293],[0.013423,-0.196390,0.980434]]
2025-10-27T17:04:49.963Z,1761584689.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226496,0.956319,0.184805],[-0.973920,0.219746,0.056501],[0.013423,-0.192783,0.981150]]
2025-10-27T17:04:50.365Z,1761584690.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231435,0.955813,0.181271],[-0.972757,0.224784,0.056705],[0.013453,-0.189456,0.981797]]
2025-10-27T17:04:50.421Z,1761584690.421 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:04:50.421Z,1761584690.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:04:50.422Z,1761584690.422 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:04:50.424Z,1761584690.424 [marl:UpdateRudder:A] Stopped
2025-10-27T17:04:50.424Z,1761584690.424 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:04:50.424Z,1761584690.424 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:04:50.424Z,1761584690.424 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:04:50.424Z,1761584690.424 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:04:50.425Z,1761584690.425 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:04:50.425Z,1761584690.425 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:04:50.425Z,1761584690.425 [marl:UpdateCommandMode] Stopped
2025-10-27T17:04:50.425Z,1761584690.425 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:04:50.425Z,1761584690.425 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:04:50.440Z,1761584690.440 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:04:50.440Z,1761584690.440 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:04:50.442Z,1761584690.442 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:04:50.442Z,1761584690.442 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:04:50.447Z,1761584690.447 [marl:UpdateSpeed] Stopped
2025-10-27T17:04:50.447Z,1761584690.447 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:04:50.770Z,1761584690.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235963,0.955290,0.178162],[-0.971670,0.229424,0.056759],[0.013346,-0.186507,0.982363]]
2025-10-27T17:04:50.792Z,1761584690.792 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:04:50.793Z,1761584690.793 [marl:UpdateRudder:B] Stopped
2025-10-27T17:04:50.793Z,1761584690.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:04:50.793Z,1761584690.793 [marl:UpdateRudder] Stopped
2025-10-27T17:04:50.793Z,1761584690.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:04:51.577Z,1761584691.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243440,0.954243,0.173655],[-0.969831,0.237112,0.056623],[0.012857,-0.182200,0.983177]]
2025-10-27T17:04:51.992Z,1761584691.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246074,0.953808,0.172330],[-0.969164,0.239751,0.056920],[0.012975,-0.181023,0.983393]]
2025-10-27T17:04:52.386Z,1761584692.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248543,0.952815,0.174270],[-0.968529,0.241987,0.058256],[0.013337,-0.183265,0.982973]]
2025-10-27T17:04:52.616Z,1761584692.616 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:04:51.7280

2025-10-27T17:04:52.617Z,1761584692.617 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:04:52.795Z,1761584692.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250796,0.951987,0.175560],[-0.967946,0.244084,0.059194],[0.013500,-0.184778,0.982687]]
2025-10-27T17:04:53.193Z,1761584693.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252466,0.951032,0.178321],[-0.967507,0.245486,0.060551],[0.013811,-0.187814,0.982108]]
2025-10-27T17:04:53.597Z,1761584693.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253426,0.950152,0.181622],[-0.967253,0.246168,0.061830],[0.014039,-0.191344,0.981423]]
2025-10-27T17:04:54.007Z,1761584694.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253794,0.949030,0.186898],[-0.967156,0.246178,0.063289],[0.014053,-0.196822,0.980339]]
2025-10-27T17:04:54.406Z,1761584694.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252791,0.948281,0.191989],[-0.967422,0.244904,0.064161],[0.013823,-0.201954,0.979298]]
2025-10-27T17:04:54.809Z,1761584694.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250517,0.948290,0.194902],[-0.968018,0.242548,0.064127],[0.013538,-0.204733,0.978724]]
2025-10-27T17:04:55.631Z,1761584695.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244464,0.948908,0.199526],[-0.969563,0.236318,0.064049],[0.013625,-0.209111,0.977797]]
2025-10-27T17:04:56.034Z,1761584696.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242306,0.949311,0.200239],[-0.970091,0.233968,0.064674],[0.014547,-0.209921,0.977610]]
2025-10-27T17:04:56.437Z,1761584696.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242073,0.949437,0.199925],[-0.970127,0.233453,0.065985],[0.015976,-0.209925,0.977587]]
2025-10-27T17:04:56.897Z,1761584696.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249068,0.947574,0.200171],[-0.968275,0.239318,0.071910],[0.020236,-0.211731,0.977119]]
2025-10-27T17:04:57.657Z,1761584697.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263404,0.944542,0.196108],[-0.964368,0.252603,0.078650],[0.024751,-0.209837,0.977423]]
2025-10-27T17:04:58.058Z,1761584698.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272006,0.942917,0.192145],[-0.961930,0.260923,0.081304],[0.026528,-0.206945,0.977993]]
2025-10-27T17:04:58.472Z,1761584698.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281013,0.941337,0.186858],[-0.959293,0.269820,0.083393],[0.028083,-0.202686,0.978841]]
2025-10-27T17:04:58.902Z,1761584698.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288615,0.939917,0.182366],[-0.956994,0.277355,0.085065],[0.029374,-0.199075,0.979544]]
2025-10-27T17:04:59.268Z,1761584699.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294878,0.938779,0.178161],[-0.955038,0.283545,0.086628],[0.030808,-0.195696,0.980181]]
2025-10-27T17:04:59.670Z,1761584699.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300290,0.937891,0.173743],[-0.953289,0.288861,0.088310],[0.032638,-0.192146,0.980824]]
2025-10-27T17:05:00.073Z,1761584700.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304424,0.937367,0.169317],[-0.951898,0.292865,0.090118],[0.034887,-0.188607,0.981433]]
2025-10-27T17:05:00.488Z,1761584700.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306810,0.937170,0.166072],[-0.951038,0.295024,0.092129],[0.037346,-0.186207,0.981801]]
2025-10-27T17:05:00.902Z,1761584700.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307839,0.937284,0.163508],[-0.950606,0.295806,0.094060],[0.039794,-0.184387,0.982048]]
2025-10-27T17:05:01.286Z,1761584701.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307248,0.937805,0.161617],[-0.950694,0.294957,0.095821],[0.042191,-0.183089,0.982191]]
2025-10-27T17:05:01.690Z,1761584701.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305480,0.938447,0.161246],[-0.951159,0.292827,0.097722],[0.044489,-0.183222,0.982064]]
2025-10-27T17:05:02.094Z,1761584702.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302874,0.939024,0.162791],[-0.951886,0.289694,0.099952],[0.046698,-0.185231,0.981585]]
2025-10-27T17:05:02.498Z,1761584702.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299312,0.940070,0.163344],[-0.952890,0.285689,0.101894],[0.049122,-0.186147,0.981293]]
2025-10-27T17:05:02.704Z,1761584702.704 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:05:02.910Z,1761584702.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295532,0.940641,0.166899],[-0.953932,0.281102,0.104863],[0.051723,-0.190200,0.980382]]
2025-10-27T17:05:02.957Z,1761584702.957 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:05:03.208Z,1761584703.208 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:05:03.306Z,1761584703.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292235,0.940749,0.172017],[-0.954801,0.276780,0.108391],[0.054358,-0.195917,0.979113]]
2025-10-27T17:05:03.712Z,1761584703.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290004,0.940435,0.177426],[-0.955326,0.273425,0.112215],[0.057018,-0.202042,0.977716]]
2025-10-27T17:05:03.757Z,1761584703.757 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateRudder:A] Stopped
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:05:03.758Z,1761584703.758 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:05:03.759Z,1761584703.759 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateCommandMode] Stopped
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:05:03.775Z,1761584703.775 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:05:03.776Z,1761584703.776 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:05:03.776Z,1761584703.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:05:03.776Z,1761584703.776 [marl:UpdateSpeed] Stopped
2025-10-27T17:05:03.776Z,1761584703.776 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:05:04.114Z,1761584704.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288995,0.940165,0.180477],[-0.955478,0.271541,0.115445],[0.059531,-0.205805,0.976781]]
2025-10-27T17:05:04.157Z,1761584704.157 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:05:04.157Z,1761584704.157 [marl:UpdateRudder:B] Stopped
2025-10-27T17:05:04.157Z,1761584704.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:05:04.157Z,1761584704.157 [marl:UpdateRudder] Stopped
2025-10-27T17:05:04.158Z,1761584704.158 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:05:04.517Z,1761584704.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289485,0.939639,0.182418],[-0.955176,0.271249,0.118586],[0.061947,-0.208570,0.976043]]
2025-10-27T17:05:05.327Z,1761584705.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294491,0.938422,0.180662],[-0.953316,0.275258,0.124181],[0.066806,-0.208799,0.975674]]
2025-10-27T17:05:05.738Z,1761584705.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299266,0.937650,0.176781],[-0.951678,0.279937,0.126270],[0.068910,-0.206027,0.976117]]
2025-10-27T17:05:06.134Z,1761584706.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304817,0.937028,0.170485],[-0.949767,0.285733,0.127666],[0.070913,-0.200836,0.977055]]
2025-10-27T17:05:06.484Z,1761584706.484 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:05:05.5780

2025-10-27T17:05:06.485Z,1761584706.485 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:05:06.548Z,1761584706.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310659,0.936112,0.164879],[-0.947723,0.291748,0.129246],[0.072885,-0.196410,0.977809]]
2025-10-27T17:05:07.346Z,1761584707.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322390,0.933473,0.157139],[-0.943625,0.303750,0.131560],[0.075076,-0.190694,0.978774]]
2025-10-27T17:05:07.757Z,1761584707.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328060,0.931491,0.157166],[-0.941601,0.309070,0.133652],[0.075920,-0.191833,0.978487]]
2025-10-27T17:05:08.154Z,1761584708.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333539,0.929703,0.156217],[-0.939645,0.314440,0.134891],[0.076287,-0.191779,0.978469]]
2025-10-27T17:05:08.559Z,1761584708.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338909,0.927542,0.157502],[-0.937673,0.319329,0.137110],[0.076880,-0.194153,0.977954]]
2025-10-27T17:05:08.971Z,1761584708.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344440,0.925306,0.158646],[-0.935564,0.324277,0.139874],[0.077981,-0.196602,0.977377]]
2025-10-27T17:05:09.772Z,1761584709.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355698,0.920870,0.159617],[-0.931070,0.334315,0.146091],[0.081169,-0.200578,0.976309]]
2025-10-27T17:05:10.175Z,1761584710.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361567,0.918323,0.161098],[-0.928695,0.339457,0.149317],[0.082436,-0.203599,0.975578]]
2025-10-27T17:05:10.578Z,1761584710.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367168,0.916053,0.161351],[-0.926387,0.344538,0.151992],[0.083641,-0.205280,0.975123]]
2025-10-27T17:05:10.982Z,1761584710.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372382,0.913875,0.161754],[-0.924226,0.349294,0.154274],[0.084487,-0.206946,0.974698]]
2025-10-27T17:05:11.385Z,1761584711.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376778,0.911950,0.162433],[-0.922435,0.353381,0.155676],[0.084568,-0.208490,0.974362]]
2025-10-27T17:05:11.794Z,1761584711.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379438,0.910578,0.163935],[-0.921365,0.355730,0.156660],[0.084334,-0.210487,0.973952]]
2025-10-27T17:05:12.199Z,1761584712.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380320,0.909899,0.165650],[-0.921049,0.356397,0.157006],[0.083822,-0.212284,0.973606]]
2025-10-27T17:05:12.601Z,1761584712.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380141,0.909725,0.167013],[-0.921217,0.356231,0.156396],[0.082782,-0.213308,0.973472]]
2025-10-27T17:05:13.410Z,1761584713.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376951,0.910840,0.168164],[-0.922946,0.354088,0.150973],[0.077968,-0.212116,0.974129]]
2025-10-27T17:05:13.815Z,1761584713.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374560,0.911987,0.167286],[-0.924170,0.352628,0.146840],[0.074927,-0.209601,0.974912]]
2025-10-27T17:05:14.217Z,1761584714.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372020,0.913427,0.165083],[-0.925434,0.351208,0.142214],[0.071923,-0.205680,0.975973]]
2025-10-27T17:05:14.519Z,1761584714.519 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:05:14.621Z,1761584714.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369380,0.915470,0.159603],[-0.926689,0.350064,0.136755],[0.069324,-0.198417,0.977663]]
2025-10-27T17:05:15.025Z,1761584715.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366623,0.917604,0.153591],[-0.927916,0.348657,0.131947],[0.067525,-0.190894,0.979285]]
2025-10-27T17:05:15.442Z,1761584715.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363900,0.919462,0.148885],[-0.929009,0.346749,0.129255],[0.067220,-0.185352,0.980370]]
2025-10-27T17:05:15.523Z,1761584715.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:05:15.835Z,1761584715.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361354,0.921166,0.144484],[-0.929916,0.344661,0.128314],[0.068401,-0.180725,0.981152]]
2025-10-27T17:05:16.237Z,1761584716.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359851,0.922230,0.141420],[-0.930358,0.343263,0.128857],[0.070291,-0.177941,0.981528]]
2025-10-27T17:05:16.564Z,1761584716.564 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:05:16.564Z,1761584716.564 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:05:16.642Z,1761584716.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360593,0.922044,0.140739],[-0.929932,0.343731,0.130677],[0.072113,-0.177998,0.981385]]
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateRudder:A] Stopped
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:05:16.693Z,1761584716.693 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateCommandMode] Stopped
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:05:16.694Z,1761584716.694 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:05:16.695Z,1761584716.695 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:05:16.695Z,1761584716.695 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:05:16.695Z,1761584716.695 [marl:UpdateSpeed] Stopped
2025-10-27T17:05:16.695Z,1761584716.695 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:05:16.817Z,1761584716.817 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:05:17.048Z,1761584717.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363514,0.920835,0.141140],[-0.928663,0.346193,0.133173],[0.073768,-0.179482,0.980992]]
2025-10-27T17:05:17.068Z,1761584717.068 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:05:17.131Z,1761584717.131 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:05:17.131Z,1761584717.131 [marl:UpdateRudder:B] Stopped
2025-10-27T17:05:17.131Z,1761584717.131 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:05:17.131Z,1761584717.131 [marl:UpdateRudder] Stopped
2025-10-27T17:05:17.132Z,1761584717.132 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:05:17.320Z,1761584717.320 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:05:17.457Z,1761584717.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367558,0.918895,0.143294],[-0.926948,0.349503,0.136440],[0.075293,-0.182976,0.980230]]
2025-10-27T17:05:17.853Z,1761584717.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372076,0.916394,0.147585],[-0.925018,0.352924,0.140665],[0.076819,-0.188857,0.978995]]
2025-10-27T17:05:18.258Z,1761584718.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377042,0.913383,0.153527],[-0.922928,0.356600,0.145054],[0.077742,-0.196386,0.977440]]
2025-10-27T17:05:18.662Z,1761584718.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382317,0.910168,0.159464],[-0.920780,0.360791,0.148307],[0.077451,-0.203531,0.976000]]
2025-10-27T17:05:19.470Z,1761584719.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393737,0.903522,0.169170],[-0.916395,0.371397,0.149278],[0.072047,-0.213803,0.974216]]
2025-10-27T17:05:19.876Z,1761584719.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399856,0.900416,0.171367],[-0.914088,0.377966,0.146915],[0.067514,-0.215390,0.974192]]
2025-10-27T17:05:20.282Z,1761584720.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404323,0.898052,0.173279],[-0.912438,0.382985,0.144153],[0.063094,-0.216391,0.974266]]
2025-10-27T17:05:20.597Z,1761584720.597 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:05:19.6781

2025-10-27T17:05:20.597Z,1761584720.597 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:05:20.681Z,1761584720.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405970,0.897009,0.174823],[-0.911926,0.385097,0.141741],[0.059819,-0.216969,0.974344]]
2025-10-27T17:05:21.087Z,1761584721.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406401,0.896649,0.175668],[-0.911914,0.386044,0.139221],[0.057017,-0.216774,0.974555]]
2025-10-27T17:05:21.491Z,1761584721.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405934,0.897194,0.173955],[-0.912264,0.386408,0.135878],[0.054691,-0.213851,0.975334]]
2025-10-27T17:05:21.893Z,1761584721.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405859,0.897404,0.173043],[-0.912448,0.387073,0.132712],[0.052116,-0.211756,0.975932]]
2025-10-27T17:05:22.297Z,1761584722.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405894,0.898061,0.169519],[-0.912572,0.388191,0.128529],[0.049621,-0.206868,0.977110]]
2025-10-27T17:05:22.701Z,1761584722.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406200,0.898361,0.167182],[-0.912592,0.389483,0.124410],[0.046650,-0.203104,0.978045]]
2025-10-27T17:05:23.510Z,1761584723.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406291,0.899055,0.163181],[-0.912862,0.391529,0.115707],[0.040137,-0.195972,0.979788]]
2025-10-27T17:05:23.926Z,1761584723.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406845,0.899077,0.161669],[-0.912769,0.393042,0.111222],[0.036454,-0.192817,0.980557]]
2025-10-27T17:05:24.318Z,1761584724.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406699,0.899470,0.159845],[-0.912954,0.393776,0.107026],[0.033324,-0.189458,0.981323]]
2025-10-27T17:05:24.726Z,1761584724.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406725,0.899539,0.159386],[-0.913047,0.394475,0.103604],[0.030322,-0.187665,0.981765]]
2025-10-27T17:05:25.125Z,1761584725.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406928,0.899491,0.159141],[-0.913047,0.395284,0.100479],[0.027474,-0.186191,0.982129]]
2025-10-27T17:05:25.529Z,1761584725.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407063,0.899393,0.159350],[-0.913061,0.395920,0.097808],[0.024878,-0.185310,0.982365]]
2025-10-27T17:05:25.938Z,1761584725.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407512,0.898829,0.161369],[-0.912924,0.396636,0.096172],[0.022437,-0.186509,0.982197]]
2025-10-27T17:05:26.751Z,1761584726.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408369,0.897111,0.168604],[-0.912653,0.397766,0.094064],[0.017321,-0.192290,0.981185]]
2025-10-27T17:05:27.550Z,1761584727.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407055,0.896083,0.177035],[-0.913337,0.396955,0.090792],[0.011083,-0.198650,0.980008]]
2025-10-27T17:05:27.955Z,1761584727.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405230,0.896206,0.180566],[-0.914180,0.395521,0.088530],[0.007923,-0.200945,0.979571]]
2025-10-27T17:05:28.357Z,1761584728.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402470,0.897175,0.181918],[-0.915420,0.393398,0.085109],[0.004792,-0.200785,0.979623]]
2025-10-27T17:05:28.764Z,1761584728.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399892,0.898099,0.183042],[-0.916561,0.391455,0.081731],[0.001750,-0.200453,0.979702]]
2025-10-27T17:05:29.170Z,1761584729.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397490,0.899017,0.183765],[-0.917606,0.389688,0.078376],[-0.001150,-0.199777,0.979841]]
2025-10-27T17:05:29.570Z,1761584729.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395822,0.900076,0.182179],[-0.918320,0.388769,0.074483],[-0.003785,-0.196780,0.980440]]
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateRudder:A] Stopped
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:05:29.621Z,1761584729.621 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode] Stopped
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:05:29.622Z,1761584729.622 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:05:29.623Z,1761584729.623 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:05:29.623Z,1761584729.623 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:05:29.623Z,1761584729.623 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:05:29.623Z,1761584729.623 [marl:UpdateSpeed] Stopped
2025-10-27T17:05:29.623Z,1761584729.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:05:29.974Z,1761584729.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395254,0.900568,0.180974],[-0.918550,0.388864,0.071070],[-0.006371,-0.194324,0.980917]]
2025-10-27T17:05:30.017Z,1761584730.017 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:05:30.017Z,1761584730.017 [marl:UpdateRudder:B] Stopped
2025-10-27T17:05:30.017Z,1761584730.017 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:05:30.017Z,1761584730.017 [marl:UpdateRudder] Stopped
2025-10-27T17:05:30.018Z,1761584730.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:05:30.378Z,1761584730.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395893,0.900543,0.179695],[-0.918257,0.390032,0.068400],[-0.008490,-0.192085,0.981341]]
2025-10-27T17:05:30.676Z,1761584730.676 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:05:30.928Z,1761584730.928 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:05:31.180Z,1761584731.180 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:05:31.590Z,1761584731.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406528,0.896323,0.177030],[-0.913564,0.401255,0.066292],[-0.011615,-0.188678,0.981970]]
2025-10-27T17:05:31.994Z,1761584731.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411417,0.893948,0.177747],[-0.911380,0.405865,0.068271],[-0.011111,-0.190082,0.981705]]
2025-10-27T17:05:32.414Z,1761584732.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416471,0.891193,0.179798],[-0.909091,0.410459,0.071255],[-0.010297,-0.193128,0.981119]]
2025-10-27T17:05:33.612Z,1761584733.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433080,0.880582,0.192398],[-0.901262,0.426124,0.078383],[-0.012963,-0.207348,0.978181]]
2025-10-27T17:05:34.013Z,1761584734.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438095,0.877009,0.197301],[-0.898764,0.431536,0.077459],[-0.017210,-0.211261,0.977278]]
2025-10-27T17:05:34.421Z,1761584734.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441157,0.874782,0.200344],[-0.897145,0.435511,0.073896],[-0.022609,-0.212337,0.976935]]
2025-10-27T17:05:34.460Z,1761584734.460 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:05:33.5281

2025-10-27T17:05:34.461Z,1761584734.461 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:05:35.627Z,1761584735.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435579,0.877807,0.199314],[-0.899271,0.434136,0.053265],[-0.039772,-0.202438,0.978487]]
2025-10-27T17:05:36.029Z,1761584736.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431100,0.880750,0.196040],[-0.901219,0.430947,0.045702],[-0.044231,-0.196377,0.979530]]
2025-10-27T17:05:36.433Z,1761584736.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426114,0.884407,0.190396],[-0.903465,0.426871,0.039137],[-0.046661,-0.188693,0.980927]]
2025-10-27T17:05:36.884Z,1761584736.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420997,0.887988,0.185035],[-0.905865,0.422077,0.035489],[-0.046585,-0.182558,0.982091]]
2025-10-27T17:05:37.641Z,1761584737.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415965,0.891931,0.177289],[-0.908504,0.416150,0.037953],[-0.039928,-0.176855,0.983427]]
2025-10-27T17:05:38.045Z,1761584738.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418296,0.890804,0.177475],[-0.907607,0.417605,0.043075],[-0.035743,-0.179095,0.983182]]
2025-10-27T17:05:38.449Z,1761584738.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422416,0.888409,0.179704],[-0.905850,0.420696,0.049501],[-0.031624,-0.183695,0.982474]]
2025-10-27T17:05:38.901Z,1761584738.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427581,0.885071,0.183911],[-0.903545,0.424727,0.056686],[-0.027941,-0.190410,0.981307]]
2025-10-27T17:05:39.260Z,1761584739.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433334,0.881434,0.187872],[-0.900890,0.429406,0.063306],[-0.024874,-0.196685,0.980151]]
2025-10-27T17:05:39.662Z,1761584739.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439447,0.877185,0.193477],[-0.897973,0.434512,0.069592],[-0.023023,-0.204319,0.978633]]
2025-10-27T17:05:40.066Z,1761584740.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445784,0.872846,0.198535],[-0.894853,0.440167,0.074106],[-0.022705,-0.210695,0.977288]]
2025-10-27T17:05:40.470Z,1761584740.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451410,0.868729,0.203812],[-0.892013,0.445286,0.077675],[-0.023277,-0.216866,0.975924]]
2025-10-27T17:05:40.906Z,1761584740.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456567,0.865250,0.207097],[-0.889338,0.450391,0.078912],[-0.024996,-0.220208,0.975133]]
2025-10-27T17:05:40.969Z,1761584740.969 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:05:40.969Z,1761584740.969 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:05:40.973Z,1761584740.973 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:05:41.020Z,1761584741.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:05:41.071Z,1761584741.071 [DAT](INFO): entering command mode
2025-10-27T17:05:41.272Z,1761584741.272 [DAT](INFO): DAT read: 

2025-10-27T17:05:41.272Z,1761584741.272 [DAT](INFO): DAT read: user:1098>

2025-10-27T17:05:41.273Z,1761584741.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:05:41.273Z,1761584741.273 [DAT](INFO): setting remote address to 0
2025-10-27T17:05:41.524Z,1761584741.524 [DAT](INFO): DAT read: user:1098>

2025-10-27T17:05:41.526Z,1761584741.526 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:05:41.526Z,1761584741.526 [DAT](INFO): set remote address to 0
2025-10-27T17:05:41.527Z,1761584741.527 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:05:41.527Z,1761584741.527 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:05:41.682Z,1761584741.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456425,0.865805,0.205081],[-0.889401,0.450524,0.077427],[-0.025357,-0.217739,0.975678]]
2025-10-27T17:05:41.777Z,1761584741.777 [DAT](INFO): DAT read: user:1099>

2025-10-27T17:05:41.777Z,1761584741.777 [DAT](INFO): DAT read: Tx time:17:05:40.7792

2025-10-27T17:05:41.778Z,1761584741.778 [DAT](INFO): Ping request sent.
2025-10-27T17:05:41.778Z,1761584741.778 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:05:41.778Z,1761584741.778 [DAT](INFO): publishing transmit ping time
2025-10-27T17:05:41.779Z,1761584741.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001109
2025-10-27T17:05:42.028Z,1761584742.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250045
2025-10-27T17:05:42.281Z,1761584742.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502834
2025-10-27T17:05:42.489Z,1761584742.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453494,0.870512,0.191185],[-0.890919,0.448695,0.070255],[-0.024626,-0.202190,0.979037]]
2025-10-27T17:05:42.527Z,1761584742.527 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateRudder:A] Stopped
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:05:42.528Z,1761584742.528 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateCommandMode] Stopped
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:05:42.529Z,1761584742.529 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:05:42.530Z,1761584742.530 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:05:42.530Z,1761584742.530 [marl:UpdateSpeed] Stopped
2025-10-27T17:05:42.530Z,1761584742.530 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:05:42.532Z,1761584742.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754176
2025-10-27T17:05:42.784Z,1761584742.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006225
2025-10-27T17:05:42.913Z,1761584742.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448801,0.875890,0.177187],[-0.893354,0.444699,0.064508],[-0.022293,-0.187242,0.982061]]
2025-10-27T17:05:42.978Z,1761584742.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:05:42.978Z,1761584742.978 [marl:UpdateRudder:B] Stopped
2025-10-27T17:05:42.978Z,1761584742.978 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:05:42.978Z,1761584742.978 [marl:UpdateRudder] Stopped
2025-10-27T17:05:42.979Z,1761584742.979 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:05:43.036Z,1761584743.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258380
2025-10-27T17:05:43.288Z,1761584743.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510139
2025-10-27T17:05:43.304Z,1761584743.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447142,0.877832,0.171682],[-0.894222,0.443159,0.063054],[-0.020732,-0.181716,0.983132]]
2025-10-27T17:05:43.540Z,1761584743.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762032
2025-10-27T17:05:43.711Z,1761584743.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446062,0.878974,0.168624],[-0.894800,0.441978,0.063158],[-0.019014,-0.179057,0.983655]]
2025-10-27T17:05:43.809Z,1761584743.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031476
2025-10-27T17:05:44.060Z,1761584744.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282050
2025-10-27T17:05:44.117Z,1761584744.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446101,0.879487,0.165820],[-0.894814,0.441888,0.063583],[-0.017353,-0.176743,0.984104]]
2025-10-27T17:05:44.313Z,1761584744.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534910
2025-10-27T17:05:44.514Z,1761584744.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447739,0.878641,0.165892],[-0.894028,0.443133,0.065928],[-0.015585,-0.177831,0.983938]]
2025-10-27T17:05:44.564Z,1761584744.564 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:05:44.564Z,1761584744.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786547
2025-10-27T17:05:44.817Z,1761584744.817 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:05:44.817Z,1761584744.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039579
2025-10-27T17:05:44.917Z,1761584744.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450332,0.877159,0.166712],[-0.892748,0.445322,0.068472],[-0.014180,-0.179667,0.983625]]
2025-10-27T17:05:45.068Z,1761584745.068 [DAT](INFO): setting remote address to 6
2025-10-27T17:05:45.070Z,1761584745.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291377
2025-10-27T17:05:45.320Z,1761584745.320 [DAT](INFO): DAT read: Rx Time:17:05:43.8570

2025-10-27T17:05:45.320Z,1761584745.320 [DAT](INFO): Rx dataTimestamp_ set to:1761584745.320132
2025-10-27T17:05:45.321Z,1761584745.321 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:05:45.321Z,1761584745.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543245
2025-10-27T17:05:45.572Z,1761584745.572 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:05:45.572Z,1761584745.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794199
2025-10-27T17:05:45.651Z,1761584745.651 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:05:45.830Z,1761584745.830 [DAT](INFO): DAT read: 17:05:43.8570 LVL= 29568, 23841, 18418, 29507, AGC= 59, IDX= 334, 0.17,-2.060,-0.989,-0.097,-1.067, PHS=-0.891, 0.123, 0.926, RAW= 243.8,  -2.0, CAL= 240.3,  -3.3, ROT= 269.7,   3.3

2025-10-27T17:05:45.831Z,1761584745.831 [DAT](INFO): got valid direction response:
 17:05:43.8570 LVL= 29568, 23841, 18418, 29507, AGC= 59, IDX= 334, 0.17,-2.060,-0.989,-0.097,-1.067, PHS=-0.891, 0.123, 0.926, RAW= 243.8,  -2.0, CAL= 240.3,  -3.3, ROT= 269.7,   3.3

2025-10-27T17:05:45.832Z,1761584745.832 [DAT](INFO): DAT read: Bearing 356.5, -75.9 (Local)

2025-10-27T17:05:45.833Z,1761584745.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5, -75.9 (Local)

2025-10-27T17:05:45.834Z,1761584745.834 [DAT](INFO): DAT read: Range 11 to 20 : 505.2 m  (Round-trip  673.6 ms) speed -0.5 m/s

2025-10-27T17:05:45.835Z,1761584745.835 [DAT](INFO): DAT read: user:1100>

2025-10-27T17:05:45.836Z,1761584745.836 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:05:45.836Z,1761584745.836 [DAT](INFO): set remote address to 6
2025-10-27T17:05:45.837Z,1761584745.837 [DAT](INFO): entering online mode
2025-10-27T17:05:46.076Z,1761584746.076 [DAT](INFO): DAT read: user:1101>

2025-10-27T17:05:46.076Z,1761584746.076 [DAT](INFO): DAT read: 

2025-10-27T17:05:46.078Z,1761584746.078 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:05:46.078Z,1761584746.078 [DAT](INFO): commRate: 600
2025-10-27T17:05:46.078Z,1761584746.078 [DAT](INFO): online mode acknowledged
2025-10-27T17:05:46.078Z,1761584746.078 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:05:46.080Z,1761584746.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.300891
2025-10-27T17:05:46.130Z,1761584746.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462082,0.869176,0.176108],[-0.886775,0.455194,0.080170],[-0.010482,-0.193214,0.981101]]
2025-10-27T17:05:46.328Z,1761584746.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550032
2025-10-27T17:05:46.531Z,1761584746.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466458,0.865792,0.181167],[-0.884491,0.458763,0.084923],[-0.009587,-0.199853,0.979779]]
2025-10-27T17:05:46.580Z,1761584746.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802155
2025-10-27T17:05:46.655Z,1761584746.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:05:46.835Z,1761584746.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.056650
2025-10-27T17:05:46.934Z,1761584746.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470222,0.862454,0.187254],[-0.882503,0.461647,0.089840],[-0.008962,-0.207497,0.978195]]
2025-10-27T17:05:47.084Z,1761584747.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.305982
2025-10-27T17:05:47.337Z,1761584747.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558815
2025-10-27T17:05:47.342Z,1761584747.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473576,0.859427,0.192642],[-0.880710,0.464253,0.093910],[-0.008725,-0.214135,0.976765]]
2025-10-27T17:05:47.588Z,1761584747.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810103
2025-10-27T17:05:47.754Z,1761584747.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475322,0.857439,0.197148],[-0.879770,0.465398,0.097001],[-0.008580,-0.219552,0.975563]]
2025-10-27T17:05:47.840Z,1761584747.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062442
2025-10-27T17:05:48.092Z,1761584748.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314177
2025-10-27T17:05:48.146Z,1761584748.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475935,0.856396,0.200178],[-0.879438,0.465648,0.098796],[-0.008604,-0.223064,0.974766]]
2025-10-27T17:05:48.344Z,1761584748.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566079
2025-10-27T17:05:48.549Z,1761584748.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476069,0.856513,0.199358],[-0.879363,0.465930,0.098127],[-0.008840,-0.222023,0.975001]]
2025-10-27T17:05:48.596Z,1761584748.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818157
2025-10-27T17:05:48.852Z,1761584748.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.073712
2025-10-27T17:05:48.953Z,1761584748.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475450,0.857592,0.196174],[-0.879700,0.465650,0.096425],[-0.008656,-0.218420,0.975817]]
2025-10-27T17:05:49.100Z,1761584749.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322077
2025-10-27T17:05:49.354Z,1761584749.354 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:05:48.4281

2025-10-27T17:05:49.354Z,1761584749.354 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:05:49.355Z,1761584749.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.577188
2025-10-27T17:05:49.375Z,1761584749.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474658,0.859061,0.191609],[-0.880130,0.465349,0.093926],[-0.008477,-0.213223,0.976967]]
2025-10-27T17:05:49.604Z,1761584749.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826046
2025-10-27T17:05:49.775Z,1761584749.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473652,0.861356,0.183629],[-0.880678,0.465055,0.090166],[-0.007732,-0.204425,0.978852]]
2025-10-27T17:05:49.857Z,1761584749.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079237
2025-10-27T17:05:50.109Z,1761584750.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.331459
2025-10-27T17:05:50.166Z,1761584750.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473246,0.862917,0.177236],[-0.880905,0.465077,0.087806],[-0.006659,-0.197682,0.980244]]
2025-10-27T17:05:50.361Z,1761584750.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582336
2025-10-27T17:05:50.570Z,1761584750.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473960,0.864039,0.169701],[-0.880529,0.466253,0.085299],[-0.005422,-0.189855,0.981797]]
2025-10-27T17:05:50.612Z,1761584750.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834254
2025-10-27T17:05:50.868Z,1761584750.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089570
2025-10-27T17:05:50.973Z,1761584750.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476012,0.864298,0.162485],[-0.879432,0.468531,0.084125],[-0.003420,-0.182939,0.983118]]
2025-10-27T17:05:51.116Z,1761584751.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338107
2025-10-27T17:05:51.369Z,1761584751.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591190
2025-10-27T17:05:51.385Z,1761584751.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479311,0.863382,0.157583],[-0.877644,0.471767,0.084715],[-0.001201,-0.178907,0.983865]]
2025-10-27T17:05:51.620Z,1761584751.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842050
2025-10-27T17:05:51.818Z,1761584751.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483068,0.861875,0.154328],[-0.875581,0.475163,0.087050],[0.001695,-0.177178,0.984177]]
2025-10-27T17:05:51.873Z,1761584751.873 [DAT](INFO): Reached modem response timeout
2025-10-27T17:05:52.186Z,1761584752.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487042,0.859836,0.153206],[-0.873364,0.478484,0.091039],[0.004972,-0.178144,0.983992]]
2025-10-27T17:05:52.589Z,1761584752.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491037,0.857088,0.155829],[-0.871097,0.481340,0.097479],[0.008541,-0.183607,0.982963]]
2025-10-27T17:05:52.993Z,1761584752.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494835,0.853887,0.161293],[-0.868908,0.483685,0.105112],[0.011739,-0.192162,0.981293]]
2025-10-27T17:05:53.401Z,1761584753.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498610,0.850017,0.169880],[-0.866720,0.485812,0.113065],[0.013577,-0.203613,0.978957]]
2025-10-27T17:05:53.806Z,1761584753.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502207,0.846164,0.178309],[-0.864636,0.488044,0.119238],[0.013872,-0.214054,0.976723]]
2025-10-27T17:05:54.207Z,1761584754.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504726,0.842644,0.187625],[-0.863186,0.489412,0.124038],[0.012694,-0.224560,0.974378]]
2025-10-27T17:05:54.610Z,1761584754.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505824,0.840507,0.194139],[-0.862575,0.490114,0.125510],[0.010342,-0.230945,0.972912]]
2025-10-27T17:05:55.422Z,1761584755.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505095,0.840311,0.196869],[-0.863062,0.491262,0.117415],[0.001951,-0.229216,0.973374]]
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateRudder:A] Stopped
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:05:55.476Z,1761584755.476 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode] Stopped
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:05:55.477Z,1761584755.477 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:05:55.478Z,1761584755.478 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:05:55.478Z,1761584755.478 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:05:55.478Z,1761584755.478 [marl:UpdateSpeed] Stopped
2025-10-27T17:05:55.478Z,1761584755.478 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:05:55.836Z,1761584755.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504116,0.842142,0.191479],[-0.863630,0.492408,0.108063],[-0.003281,-0.219843,0.975530]]
2025-10-27T17:05:55.897Z,1761584755.897 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:05:55.898Z,1761584755.898 [marl:UpdateRudder:B] Stopped
2025-10-27T17:05:55.898Z,1761584755.898 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:05:55.898Z,1761584755.898 [marl:UpdateRudder] Stopped
2025-10-27T17:05:55.898Z,1761584755.898 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:05:56.226Z,1761584756.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503232,0.844405,0.183680],[-0.864109,0.493802,0.097337],[-0.008510,-0.207702,0.978155]]
2025-10-27T17:05:56.629Z,1761584756.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502018,0.847040,0.174647],[-0.864759,0.494659,0.086627],[-0.013015,-0.194516,0.980813]]
2025-10-27T17:05:57.035Z,1761584757.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500482,0.849918,0.164792],[-0.865603,0.494717,0.077371],[-0.015767,-0.181367,0.983289]]
2025-10-27T17:05:57.443Z,1761584757.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498678,0.852890,0.154591],[-0.866637,0.493918,0.070603],[-0.016138,-0.169182,0.985453]]
2025-10-27T17:05:57.861Z,1761584757.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496538,0.855683,0.145796],[-0.867904,0.492109,0.067613],[-0.013892,-0.160109,0.987002]]
2025-10-27T17:05:58.245Z,1761584758.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494834,0.857429,0.141264],[-0.868935,0.490015,0.069554],[-0.009584,-0.157167,0.987525]]
2025-10-27T17:05:58.649Z,1761584758.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494675,0.857608,0.140727],[-0.869066,0.488968,0.075061],[-0.004438,-0.159432,0.987199]]
2025-10-27T17:05:59.055Z,1761584759.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497315,0.855721,0.142896],[-0.867570,0.490546,0.081772],[-0.000123,-0.164639,0.986354]]
2025-10-27T17:05:59.432Z,1761584759.432 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:05:59.457Z,1761584759.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501623,0.852418,0.147503],[-0.865080,0.493638,0.089205],[0.003227,-0.172349,0.985031]]
2025-10-27T17:05:59.684Z,1761584759.684 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:05:59.870Z,1761584759.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506718,0.847996,0.155371],[-0.862096,0.497323,0.097261],[0.005207,-0.183229,0.983057]]
2025-10-27T17:05:59.936Z,1761584759.936 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:06:00.266Z,1761584760.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512356,0.842893,0.164383],[-0.858756,0.501655,0.104310],[0.005459,-0.194609,0.980866]]
2025-10-27T17:06:00.671Z,1761584760.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518153,0.837526,0.173398],[-0.855277,0.506392,0.109853],[0.004197,-0.205224,0.978706]]
2025-10-27T17:06:01.477Z,1761584761.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528486,0.828140,0.186780],[-0.848941,0.515844,0.114909],[-0.001188,-0.219293,0.975658]]
2025-10-27T17:06:01.886Z,1761584761.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531117,0.825677,0.190190],[-0.847294,0.518246,0.116249],[-0.002581,-0.222889,0.974840]]
2025-10-27T17:06:02.287Z,1761584762.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531726,0.825096,0.191009],[-0.846911,0.518818,0.116484],[-0.002988,-0.223706,0.974652]]
2025-10-27T17:06:02.689Z,1761584762.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532428,0.824954,0.189664],[-0.846471,0.519600,0.116200],[-0.002690,-0.222413,0.974949]]
2025-10-27T17:06:03.097Z,1761584763.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533612,0.825017,0.186025],[-0.845726,0.521116,0.114828],[-0.002206,-0.218600,0.975812]]
2025-10-27T17:06:03.212Z,1761584763.212 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:06:02.2781

2025-10-27T17:06:03.213Z,1761584763.213 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:06:03.498Z,1761584763.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534998,0.825038,0.181904],[-0.844851,0.522947,0.112929],[-0.001956,-0.214099,0.976810]]
2025-10-27T17:06:03.905Z,1761584763.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536159,0.825373,0.176897],[-0.844115,0.524768,0.109951],[-0.002079,-0.208273,0.978069]]
2025-10-27T17:06:04.306Z,1761584764.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536826,0.825550,0.174026],[-0.843689,0.525892,0.107821],[-0.002507,-0.204705,0.978820]]
2025-10-27T17:06:05.115Z,1761584765.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535679,0.827098,0.170169],[-0.844414,0.525585,0.103569],[-0.003776,-0.199173,0.979957]]
2025-10-27T17:06:05.518Z,1761584765.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534016,0.828237,0.169857],[-0.845463,0.524173,0.102149],[-0.004431,-0.198157,0.980160]]
2025-10-27T17:06:05.925Z,1761584765.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532118,0.829370,0.170281],[-0.846655,0.522458,0.101063],[-0.005146,-0.197947,0.980199]]
2025-10-27T17:06:06.338Z,1761584766.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529973,0.830708,0.170447],[-0.847994,0.520537,0.099734],[-0.005874,-0.197395,0.980307]]
2025-10-27T17:06:06.738Z,1761584766.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527651,0.832144,0.170651],[-0.849437,0.518417,0.098497],[-0.006505,-0.196929,0.980396]]
2025-10-27T17:06:07.134Z,1761584767.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525451,0.833694,0.169873],[-0.850794,0.516523,0.096710],[-0.007117,-0.195343,0.980709]]
2025-10-27T17:06:07.537Z,1761584767.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523185,0.835403,0.168461],[-0.852183,0.514668,0.094349],[-0.007882,-0.192921,0.981183]]
2025-10-27T17:06:07.942Z,1761584767.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521352,0.836932,0.166540],[-0.853297,0.513285,0.091770],[-0.008677,-0.189953,0.981755]]
2025-10-27T17:06:08.349Z,1761584768.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519965,0.838208,0.164453],[-0.854137,0.512298,0.089443],[-0.009277,-0.186972,0.982321]]
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateRudder:A] Stopped
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:06:08.410Z,1761584768.410 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:06:08.411Z,1761584768.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:06:08.411Z,1761584768.411 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:06:08.415Z,1761584768.415 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:06:08.415Z,1761584768.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:06:08.415Z,1761584768.415 [marl:UpdateCommandMode] Stopped
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed] Stopped
2025-10-27T17:06:08.416Z,1761584768.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:06:08.760Z,1761584768.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519179,0.839214,0.161779],[-0.854611,0.511900,0.087171],[-0.009659,-0.183515,0.982969]]
2025-10-27T17:06:08.783Z,1761584768.783 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:06:08.783Z,1761584768.783 [marl:UpdateRudder:B] Stopped
2025-10-27T17:06:08.783Z,1761584768.783 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:06:08.783Z,1761584768.783 [marl:UpdateRudder] Stopped
2025-10-27T17:06:08.783Z,1761584768.783 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:06:09.153Z,1761584769.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519854,0.839258,0.159367],[-0.854199,0.512840,0.085675],[-0.009827,-0.180670,0.983495]]
2025-10-27T17:06:09.558Z,1761584769.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522085,0.838153,0.157883],[-0.852839,0.515111,0.085589],[-0.009591,-0.179334,0.983742]]
2025-10-27T17:06:09.969Z,1761584769.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525389,0.836393,0.156246],[-0.850821,0.518241,0.086779],[-0.008392,-0.178530,0.983899]]
2025-10-27T17:06:10.367Z,1761584770.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529338,0.833964,0.155902],[-0.848389,0.521646,0.090124],[-0.006165,-0.179972,0.983652]]
2025-10-27T17:06:10.770Z,1761584770.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533452,0.831179,0.156751],[-0.845826,0.524841,0.095506],[-0.002887,-0.183532,0.983010]]
2025-10-27T17:06:11.174Z,1761584771.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537411,0.827880,0.160635],[-0.843320,0.527434,0.103076],[0.000610,-0.190861,0.981617]]
2025-10-27T17:06:11.577Z,1761584771.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541118,0.824309,0.166452],[-0.840940,0.529593,0.111137],[0.003460,-0.200114,0.979767]]
2025-10-27T17:06:11.989Z,1761584771.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544516,0.820679,0.173170],[-0.838738,0.531651,0.117755],[0.004574,-0.209364,0.977827]]
2025-10-27T17:06:12.386Z,1761584772.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547865,0.816861,0.180503],[-0.836561,0.534181,0.121722],[0.003009,-0.217689,0.976014]]
2025-10-27T17:06:12.789Z,1761584772.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550796,0.813219,0.187879],[-0.834640,0.536896,0.122960],[-0.000878,-0.224537,0.974465]]
2025-10-27T17:06:13.194Z,1761584773.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552692,0.810470,0.194088],[-0.833362,0.539230,0.121403],[-0.006265,-0.228844,0.973443]]
2025-10-27T17:06:13.305Z,1761584773.305 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:06:13.305Z,1761584773.305 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:06:13.556Z,1761584773.556 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:06:13.598Z,1761584773.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552746,0.809322,0.198669],[-0.833269,0.540084,0.118208],[-0.011630,-0.230884,0.972912]]
2025-10-27T17:06:13.808Z,1761584773.808 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:06:14.002Z,1761584774.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551040,0.810412,0.198967],[-0.834330,0.539550,0.113046],[-0.015739,-0.228297,0.973464]]
2025-10-27T17:06:14.060Z,1761584774.060 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:06:14.406Z,1761584774.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548601,0.813038,0.194951],[-0.835880,0.538509,0.106363],[-0.018505,-0.221307,0.975029]]
2025-10-27T17:06:14.828Z,1761584774.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545537,0.816820,0.187602],[-0.837865,0.536701,0.099673],[-0.019271,-0.211560,0.977175]]
2025-10-27T17:06:15.617Z,1761584775.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544003,0.822028,0.168319],[-0.838894,0.537081,0.088317],[-0.017802,-0.189246,0.981768]]
2025-10-27T17:06:16.022Z,1761584776.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546771,0.822040,0.159032],[-0.837113,0.540532,0.084070],[-0.016854,-0.179095,0.983687]]
2025-10-27T17:06:16.427Z,1761584776.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551140,0.820340,0.152600],[-0.834257,0.545274,0.081796],[-0.016108,-0.172389,0.984897]]
2025-10-27T17:06:16.775Z,1761584776.775 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:06:16.897Z,1761584776.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555571,0.817872,0.149754],[-0.831324,0.549753,0.081680],[-0.015524,-0.169873,0.985344]]
2025-10-27T17:06:17.238Z,1761584777.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560013,0.814652,0.150759],[-0.828349,0.553860,0.084127],[-0.014966,-0.171993,0.984984]]
2025-10-27T17:06:17.339Z,1761584777.339 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:06:16.4281

2025-10-27T17:06:17.339Z,1761584777.339 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:06:17.638Z,1761584777.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564422,0.810738,0.155343],[-0.825347,0.557696,0.088185],[-0.015139,-0.177985,0.983917]]
2025-10-27T17:06:17.779Z,1761584777.779 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:06:18.042Z,1761584778.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568506,0.806823,0.160745],[-0.822523,0.561247,0.091962],[-0.016020,-0.184497,0.982702]]
2025-10-27T17:06:18.446Z,1761584778.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572038,0.802968,0.167373],[-0.820047,0.564154,0.096193],[-0.017184,-0.192280,0.981190]]
2025-10-27T17:06:18.895Z,1761584778.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574028,0.800201,0.173694],[-0.818638,0.565485,0.100287],[-0.017971,-0.199760,0.979680]]
2025-10-27T17:06:19.255Z,1761584779.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574570,0.798738,0.178566],[-0.818244,0.565536,0.103177],[-0.018574,-0.205393,0.978503]]
2025-10-27T17:06:19.657Z,1761584779.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574838,0.797753,0.182077],[-0.818045,0.565465,0.105126],[-0.019093,-0.209378,0.977648]]
2025-10-27T17:06:20.061Z,1761584780.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575082,0.796955,0.184779],[-0.817868,0.565390,0.106891],[-0.019285,-0.212596,0.976950]]
2025-10-27T17:06:20.465Z,1761584780.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574856,0.796738,0.186411],[-0.818031,0.564909,0.108179],[-0.019115,-0.214677,0.976498]]
2025-10-27T17:06:20.903Z,1761584780.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574523,0.797164,0.185613],[-0.818259,0.564763,0.107212],[-0.019361,-0.213475,0.976757]]
2025-10-27T17:06:21.273Z,1761584781.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574057,0.797958,0.183636],[-0.818578,0.564676,0.105224],[-0.019731,-0.210725,0.977346]]
2025-10-27T17:06:21.321Z,1761584781.321 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:06:21.321Z,1761584781.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:06:21.321Z,1761584781.321 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateRudder:A] Stopped
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:06:21.322Z,1761584781.322 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateCommandMode] Stopped
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:06:21.323Z,1761584781.323 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:06:21.324Z,1761584781.324 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:06:21.324Z,1761584781.324 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:06:21.324Z,1761584781.324 [marl:UpdateSpeed] Stopped
2025-10-27T17:06:21.324Z,1761584781.324 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:06:21.677Z,1761584781.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573096,0.799098,0.181667],[-0.819240,0.564121,0.103019],[-0.020160,-0.207868,0.977949]]
2025-10-27T17:06:21.721Z,1761584781.721 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:06:21.721Z,1761584781.721 [marl:UpdateRudder:B] Stopped
2025-10-27T17:06:21.721Z,1761584781.721 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:06:21.721Z,1761584781.721 [marl:UpdateRudder] Stopped
2025-10-27T17:06:21.721Z,1761584781.721 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:06:22.081Z,1761584782.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571470,0.801128,0.177811],[-0.820373,0.563072,0.099689],[-0.020257,-0.202840,0.979002]]
2025-10-27T17:06:22.487Z,1761584782.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569879,0.803141,0.173790],[-0.821485,0.561970,0.096705],[-0.019997,-0.197876,0.980023]]
2025-10-27T17:06:22.906Z,1761584782.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568383,0.804844,0.170786],[-0.822537,0.560733,0.094929],[-0.019362,-0.194434,0.980725]]
2025-10-27T17:06:23.305Z,1761584783.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567413,0.806537,0.165953],[-0.823231,0.560101,0.092617],[-0.018251,-0.189170,0.981775]]
2025-10-27T17:06:23.697Z,1761584783.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567960,0.807019,0.161683],[-0.822880,0.560838,0.091262],[-0.017028,-0.184880,0.982614]]
2025-10-27T17:06:24.108Z,1761584784.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569706,0.806642,0.157363],[-0.821705,0.562650,0.090698],[-0.015379,-0.180977,0.983367]]
2025-10-27T17:06:24.506Z,1761584784.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571238,0.805951,0.155338],[-0.820678,0.563892,0.092268],[-0.013230,-0.180190,0.983543]]
2025-10-27T17:06:24.910Z,1761584784.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570024,0.805503,0.161983],[-0.821563,0.561280,0.099995],[-0.010372,-0.190078,0.981714]]
2025-10-27T17:06:25.316Z,1761584785.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564938,0.804924,0.181500],[-0.825105,0.552885,0.116272],[-0.006759,-0.215444,0.976493]]
2025-10-27T17:06:25.721Z,1761584785.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557356,0.803788,0.208039],[-0.830268,0.540548,0.135880],[-0.003236,-0.248462,0.968636]]
2025-10-27T17:06:26.118Z,1761584786.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548136,0.801880,0.237773],[-0.836389,0.525501,0.155887],[0.000053,-0.284318,0.958730]]
2025-10-27T17:06:26.994Z,1761584786.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512305,0.798184,0.316932],[-0.858735,0.471443,0.200788],[0.010851,-0.375026,0.926951]]
2025-10-27T17:06:27.452Z,1761584787.452 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:06:27.704Z,1761584787.704 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:06:27.804Z,1761584787.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480519,0.803805,0.350712],[-0.876749,0.431051,0.213321],[0.020294,-0.409991,0.911864]]
2025-10-27T17:06:27.956Z,1761584787.956 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:06:28.202Z,1761584788.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463439,0.809449,0.360579],[-0.885788,0.411880,0.213856],[0.024590,-0.418506,0.907881]]
2025-10-27T17:06:28.610Z,1761584788.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445746,0.817081,0.365635],[-0.894709,0.393712,0.210917],[0.028382,-0.421152,0.906546]]
2025-10-27T17:06:29.011Z,1761584789.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427563,0.826542,0.366085],[-0.903433,0.376529,0.205025],[0.031620,-0.418394,0.907715]]
2025-10-27T17:06:29.414Z,1761584789.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408887,0.837094,0.363435],[-0.911931,0.359715,0.197453],[0.034553,-0.412163,0.910455]]
2025-10-27T17:06:29.817Z,1761584789.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389547,0.848168,0.358976],[-0.920239,0.342536,0.189284],[0.037582,-0.404078,0.913952]]
2025-10-27T17:06:30.222Z,1761584790.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369686,0.859764,0.352333],[-0.928226,0.324767,0.181447],[0.041575,-0.394123,0.918117]]
2025-10-27T17:06:30.632Z,1761584790.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349826,0.870608,0.345924],[-0.935638,0.306198,0.175566],[0.046928,-0.385077,0.921690]]
2025-10-27T17:06:31.169Z,1761584791.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331679,0.879522,0.341219],[-0.941908,0.288456,0.172054],[0.052898,-0.378463,0.924103]]
2025-10-27T17:06:31.249Z,1761584791.249 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:06:30.3281

2025-10-27T17:06:31.249Z,1761584791.249 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:06:31.690Z,1761584791.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316506,0.885811,0.339357],[-0.946775,0.272870,0.170761],[0.058661,-0.375342,0.925028]]
2025-10-27T17:06:32.217Z,1761584792.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291616,0.891834,0.345822],[-0.954070,0.245251,0.172052],[0.068629,-0.380111,0.922391]]
2025-10-27T17:06:32.620Z,1761584792.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280773,0.892444,0.353143],[-0.957106,0.232934,0.172307],[0.071515,-0.386374,0.919565]]
2025-10-27T17:06:33.068Z,1761584793.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270275,0.892609,0.360834],[-0.960004,0.221394,0.171399],[0.073106,-0.392727,0.916745]]
2025-10-27T17:06:33.466Z,1761584793.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259117,0.893403,0.367000],[-0.963005,0.209852,0.169069],[0.074031,-0.397231,0.914728]]
2025-10-27T17:06:33.962Z,1761584793.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246161,0.894877,0.372290],[-0.966317,0.196842,0.165785],[0.075074,-0.400560,0.913190]]
2025-10-27T17:06:34.362Z,1761584794.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230701,0.897905,0.374891],[-0.969990,0.181823,0.161428],[0.076784,-0.400883,0.912906]]
2025-10-27T17:06:34.905Z,1761584794.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213860,0.901794,0.375541],[-0.973663,0.165681,0.156620],[0.079019,-0.399146,0.913476]]
2025-10-27T17:06:34.991Z,1761584794.991 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:06:34.991Z,1761584794.991 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:06:34.991Z,1761584794.991 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:06:34.991Z,1761584794.991 [marl:UpdateRudder:A] Stopped
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode] Stopped
2025-10-27T17:06:34.992Z,1761584794.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed] Stopped
2025-10-27T17:06:34.993Z,1761584794.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:06:35.432Z,1761584795.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180928,0.910490,0.371852],[-0.979981,0.134960,0.146368],[0.083081,-0.390890,0.916680]]
2025-10-27T17:06:35.509Z,1761584795.509 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:06:35.509Z,1761584795.509 [marl:UpdateRudder:B] Stopped
2025-10-27T17:06:35.510Z,1761584795.510 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:06:35.510Z,1761584795.510 [marl:UpdateRudder] Stopped
2025-10-27T17:06:35.510Z,1761584795.510 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:06:35.841Z,1761584795.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166464,0.913972,0.370060],[-0.982362,0.121304,0.142301],[0.085169,-0.387221,0.918045]]
2025-10-27T17:06:36.242Z,1761584796.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152218,0.916884,0.368990],[-0.984489,0.107705,0.138496],[0.087242,-0.384348,0.919057]]
2025-10-27T17:06:36.646Z,1761584796.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138220,0.919509,0.367966],[-0.986458,0.094694,0.133915],[0.088292,-0.381493,0.920145]]
2025-10-27T17:06:37.054Z,1761584797.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126352,0.922357,0.365092],[-0.988095,0.084457,0.128593],[0.087774,-0.376993,0.922048]]
2025-10-27T17:06:37.061Z,1761584797.061 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS0545576,35.0, +13.1,   0.0,1500.8,  0
2025-10-27T17:06:37.857Z,1761584797.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108380,0.935669,0.335823],[-0.990834,0.074271,0.112837],[0.080636,-0.344974,0.935142]]
2025-10-27T17:06:38.273Z,1761584798.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100919,0.944291,0.313258],[-0.992094,0.071906,0.102858],[0.074603,-0.321162,0.944081]]
2025-10-27T17:06:38.666Z,1761584798.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093324,0.951686,0.292548],[-0.993284,0.068812,0.093010],[0.068385,-0.299263,0.951717]]
2025-10-27T17:06:39.072Z,1761584799.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085968,0.958146,0.273066],[-0.994343,0.065352,0.083734],[0.062384,-0.278720,0.958344]]
2025-10-27T17:06:39.475Z,1761584799.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079651,0.963449,0.255775],[-0.995189,0.062173,0.075722],[0.057052,-0.260576,0.963766]]
2025-10-27T17:06:39.877Z,1761584799.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075757,0.967037,0.243105],[-0.995764,0.060630,0.069123],[0.052105,-0.247312,0.967534]]
2025-10-27T17:06:40.282Z,1761584800.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074687,0.969298,0.234270],[-0.996075,0.061326,0.063820],[0.047494,-0.238117,0.970075]]
2025-10-27T17:06:40.685Z,1761584800.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076326,0.970058,0.230568],[-0.996144,0.064151,0.059856],[0.043272,-0.234247,0.971213]]
2025-10-27T17:06:41.092Z,1761584801.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079610,0.970146,0.229084],[-0.996053,0.068368,0.056610],[0.039258,-0.232686,0.971759]]
2025-10-27T17:06:41.171Z,1761584801.171 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:06:41.327Z,1761584801.327 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:06:41.327Z,1761584801.327 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:06:41.344Z,1761584801.344 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:06:41.344Z,1761584801.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:06:41.396Z,1761584801.396 [DAT](INFO): entering command mode
2025-10-27T17:06:41.493Z,1761584801.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084051,0.969438,0.230489],[-0.995849,0.073615,0.053526],[0.034923,-0.234031,0.971602]]
2025-10-27T17:06:41.596Z,1761584801.596 [DAT](INFO): DAT read: 

2025-10-27T17:06:41.597Z,1761584801.597 [DAT](INFO): DAT read: user:1102>

2025-10-27T17:06:41.598Z,1761584801.598 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:06:41.598Z,1761584801.598 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:06:41.599Z,1761584801.599 [DAT](INFO): setting remote address to 0
2025-10-27T17:06:41.848Z,1761584801.848 [DAT](INFO): DAT read: user:1102>

2025-10-27T17:06:41.849Z,1761584801.849 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:06:41.849Z,1761584801.849 [DAT](INFO): set remote address to 0
2025-10-27T17:06:41.849Z,1761584801.849 [DAT](INFO): setting remote address to 6
2025-10-27T17:06:41.850Z,1761584801.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:06:41.850Z,1761584801.850 [DAT](INFO): setting remote address to 0
2025-10-27T17:06:41.909Z,1761584801.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089574,0.968562,0.232086],[-0.995538,0.080126,0.049838],[0.029674,-0.235515,0.971418]]
2025-10-27T17:06:42.100Z,1761584802.100 [DAT](INFO): DAT read: user:1103>

2025-10-27T17:06:42.101Z,1761584802.101 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:06:42.101Z,1761584802.101 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:06:42.102Z,1761584802.102 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:06:42.102Z,1761584802.102 [DAT](ERROR): Communications Fault
2025-10-27T17:06:42.103Z,1761584802.103 [DAT](INFO): DAT read: user:1104>

2025-10-27T17:06:42.104Z,1761584802.104 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:06:42.104Z,1761584802.104 [DAT](INFO): set remote address to 0
2025-10-27T17:06:42.104Z,1761584802.104 [DAT](INFO): setting remote address to 6
2025-10-27T17:06:42.105Z,1761584802.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:06:42.105Z,1761584802.105 [DAT](INFO): setting remote address to 0
2025-10-27T17:06:42.116Z,1761584802.116 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:06:42.302Z,1761584802.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095422,0.967955,0.232290],[-0.995161,0.087265,0.045166],[0.023447,-0.235475,0.971597]]
2025-10-27T17:06:42.511Z,1761584802.511 [DAT](INFO): Powering down
2025-10-27T17:06:42.705Z,1761584802.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101322,0.967626,0.231158],[-0.994726,0.094809,0.039144],[0.015960,-0.233905,0.972128]]
2025-10-27T17:06:43.109Z,1761584803.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105963,0.967781,0.228410],[-0.994337,0.101251,0.032281],[0.008114,-0.230537,0.973030]]
2025-10-27T17:06:43.515Z,1761584803.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106662,0.968901,0.223282],[-0.994294,0.103645,0.025225],[0.001298,-0.224698,0.974428]]
2025-10-27T17:06:43.710Z,1761584803.710 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:06:43.710Z,1761584803.710 [DAT] No Fault, FailCount= 1
2025-10-27T17:06:43.917Z,1761584803.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104167,0.970547,0.217225],[-0.994548,0.102715,0.017997],[-0.004845,-0.217916,0.975956]]
2025-10-27T17:06:44.321Z,1761584804.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099516,0.972133,0.212257],[-0.994981,0.099472,0.010911],[-0.010506,-0.212277,0.977153]]
2025-10-27T17:06:44.734Z,1761584804.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093083,0.973615,0.208349],[-0.995530,0.094372,0.003766],[-0.015995,-0.207769,0.978047]]
2025-10-27T17:06:45.131Z,1761584805.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085571,0.974732,0.206339],[-0.996108,0.088091,-0.003039],[-0.021139,-0.205275,0.978476]]
2025-10-27T17:06:45.534Z,1761584805.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077191,0.975496,0.206034],[-0.996683,0.080844,-0.009360],[-0.025787,-0.204628,0.978500]]
2025-10-27T17:06:45.740Z,1761584805.740 [DAT](INFO): Powering up
2025-10-27T17:06:45.740Z,1761584805.740 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:06:45.938Z,1761584805.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068286,0.975519,0.209045],[-0.997224,0.072976,-0.014792],[-0.029685,-0.207455,0.977794]]
2025-10-27T17:06:46.342Z,1761584806.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059609,0.975093,0.213638],[-0.997685,0.065214,-0.019280],[-0.032732,-0.211994,0.976723]]
2025-10-27T17:06:46.761Z,1761584806.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053458,0.974368,0.218515],[-0.997940,0.059904,-0.022978],[-0.035479,-0.216836,0.975563]]
2025-10-27T17:06:47.205Z,1761584807.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050357,0.973172,0.224502],[-0.998008,0.057585,-0.025760],[-0.037997,-0.222757,0.974133]]
2025-10-27T17:06:47.232Z,1761584807.232 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050320550576,35.0, +0.0,1500.5,  0
2025-10-27T17:06:47.608Z,1761584807.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049875,0.971817,0.230399],[-0.997945,0.057783,-0.027703],[-0.040235,-0.228543,0.972702]]
2025-10-27T17:06:47.911Z,1761584807.911 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:06:48.010Z,1761584808.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051106,0.970242,0.236683],[-0.997793,0.059668,-0.029150],[-0.042405,-0.234671,0.971150]]
2025-10-27T17:06:48.044Z,1761584808.044 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:06:48.044Z,1761584808.044 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:06:48.044Z,1761584808.044 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateRudder:A] Stopped
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode] Stopped
2025-10-27T17:06:48.045Z,1761584808.045 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed] Stopped
2025-10-27T17:06:48.046Z,1761584808.046 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:06:48.414Z,1761584808.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053625,0.969011,0.241128],[-0.997546,0.062873,-0.030817],[-0.045022,-0.238884,0.970004]]
2025-10-27T17:06:48.437Z,1761584808.437 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:06:48.438Z,1761584808.438 [marl:UpdateRudder:B] Stopped
2025-10-27T17:06:48.438Z,1761584808.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:06:48.438Z,1761584808.438 [marl:UpdateRudder] Stopped
2025-10-27T17:06:48.438Z,1761584808.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:06:48.840Z,1761584808.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057489,0.967691,0.245497],[-0.997176,0.067559,-0.032786],[-0.048313,-0.242918,0.968843]]
2025-10-27T17:06:48.915Z,1761584808.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:06:49.230Z,1761584809.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060675,0.967414,0.245823],[-0.996774,0.071686,-0.036085],[-0.052531,-0.242840,0.968643]]
2025-10-27T17:06:49.626Z,1761584809.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062001,0.967497,0.245164],[-0.996435,0.074083,-0.040363],[-0.057214,-0.241788,0.968641]]
2025-10-27T17:06:50.030Z,1761584810.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060426,0.968122,0.243080],[-0.996274,0.073509,-0.045106],[-0.061536,-0.239448,0.968957]]
2025-10-27T17:06:50.434Z,1761584810.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056858,0.969320,0.239138],[-0.996222,0.070834,-0.050252],[-0.065649,-0.235377,0.969684]]
2025-10-27T17:06:50.896Z,1761584810.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052067,0.970697,0.234598],[-0.996232,0.066804,-0.055311],[-0.069362,-0.230834,0.970518]]
2025-10-27T17:06:51.268Z,1761584811.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047534,0.971936,0.230395],[-0.996208,0.062957,-0.060055],[-0.072875,-0.226667,0.971242]]
2025-10-27T17:06:51.674Z,1761584811.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043989,0.972579,0.228374],[-0.996190,0.059933,-0.063353],[-0.075303,-0.224717,0.971510]]
2025-10-27T17:06:52.076Z,1761584812.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042585,0.972989,0.226890],[-0.996123,0.058846,-0.065391],[-0.076976,-0.223226,0.971723]]
2025-10-27T17:06:52.479Z,1761584812.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043200,0.972664,0.228165],[-0.996029,0.059725,-0.066024],[-0.077847,-0.224407,0.971381]]
2025-10-27T17:06:52.905Z,1761584812.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045630,0.972089,0.230134],[-0.995890,0.062309,-0.065736],[-0.078240,-0.226188,0.970936]]
2025-10-27T17:06:53.286Z,1761584813.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049177,0.971176,0.233235],[-0.995699,0.066028,-0.064995],[-0.078522,-0.229036,0.970246]]
2025-10-27T17:06:53.697Z,1761584813.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052716,0.969914,0.237670],[-0.995474,0.069887,-0.064404],[-0.079076,-0.233199,0.969209]]
2025-10-27T17:06:54.095Z,1761584814.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055112,0.969122,0.240345],[-0.995279,0.072580,-0.064437],[-0.079891,-0.235659,0.968546]]
2025-10-27T17:06:54.497Z,1761584814.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055685,0.968604,0.242294],[-0.995146,0.073562,-0.065366],[-0.081138,-0.237478,0.967998]]
2025-10-27T17:06:54.914Z,1761584814.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053858,0.968868,0.241649],[-0.995086,0.072211,-0.067739],[-0.083080,-0.236814,0.967996]]
2025-10-27T17:06:55.306Z,1761584815.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050173,0.969435,0.240163],[-0.995093,0.069055,-0.070858],[-0.085277,-0.235429,0.968143]]
2025-10-27T17:06:55.721Z,1761584815.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044757,0.970544,0.236728],[-0.995178,0.064018,-0.074308],[-0.087274,-0.232261,0.968730]]
2025-10-27T17:06:56.114Z,1761584816.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038194,0.971865,0.232420],[-0.995322,0.057655,-0.077521],[-0.088740,-0.228372,0.969521]]
2025-10-27T17:06:56.517Z,1761584816.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031633,0.973373,0.227034],[-0.995471,0.051055,-0.080189],[-0.089645,-0.223469,0.970580]]
2025-10-27T17:06:56.941Z,1761584816.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026707,0.974402,0.223220],[-0.995602,0.045987,-0.081623],[-0.089798,-0.220058,0.971345]]
2025-10-27T17:06:56.952Z,1761584816.952 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.34, 570.80, 619.90, 702.76
2025-10-27T17:06:57.332Z,1761584817.332 [DAT](INFO): DAT read: 

2025-10-27T17:06:57.333Z,1761584817.333 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:06:57.337Z,1761584817.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024633,0.974935,0.221122],[-0.995721,0.043633,-0.081457],[-0.089064,-0.218169,0.971838]]
2025-10-27T17:06:57.749Z,1761584817.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025578,0.975200,0.219842],[-0.995827,0.044128,-0.079886],[-0.087606,-0.216881,0.972259]]
2025-10-27T17:06:58.142Z,1761584818.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028535,0.974955,0.220565],[-0.995943,0.046569,-0.077000],[-0.085343,-0.217473,0.972328]]
2025-10-27T17:06:58.546Z,1761584818.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032686,0.974423,0.222332],[-0.996026,0.050197,-0.073567],[-0.082846,-0.219044,0.972192]]
2025-10-27T17:06:58.846Z,1761584818.846 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:06:58.850Z,1761584818.850 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:06:58.853Z,1761584818.853 [DAT](INFO): DAT read: Oct 27 2025 17:06:53 

2025-10-27T17:06:58.950Z,1761584818.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037843,0.974065,0.223081],[-0.996008,0.054828,-0.070444],[-0.080848,-0.219525,0.972251]]
2025-10-27T17:06:59.355Z,1761584819.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042001,0.973654,0.224131],[-0.995984,0.058555,-0.067726],[-0.079066,-0.220386,0.972203]]
2025-10-27T17:06:59.762Z,1761584819.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043725,0.973051,0.226408],[-0.996038,0.060025,-0.065615],[-0.077437,-0.222642,0.971820]]
2025-10-27T17:06:59.853Z,1761584819.853 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:06:59.855Z,1761584819.855 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:06:59.855Z,1761584819.855 [DAT](INFO): commRate: 600
2025-10-27T17:07:00.162Z,1761584820.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043033,0.972649,0.228258],[-0.996173,0.059172,-0.064335],[-0.076082,-0.224616,0.971473]]
2025-10-27T17:07:00.568Z,1761584820.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040132,0.972432,0.229708],[-0.996369,0.056224,-0.063942],[-0.075094,-0.226308,0.971157]]
2025-10-27T17:07:00.972Z,1761584820.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035722,0.972785,0.228939],[-0.996590,0.051725,-0.064285],[-0.074378,-0.225862,0.971316]]
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateRudder:A] Stopped
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:07:01.050Z,1761584821.050 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:07:01.051Z,1761584821.051 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateCommandMode] Stopped
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:07:01.060Z,1761584821.060 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed] Stopped
2025-10-27T17:07:01.061Z,1761584821.061 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:07:01.375Z,1761584821.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029776,0.973115,0.228388],[-0.996828,0.045781,-0.065103],[-0.073808,-0.225725,0.971391]]
2025-10-27T17:07:01.436Z,1761584821.436 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:07:01.436Z,1761584821.436 [marl:UpdateRudder:B] Stopped
2025-10-27T17:07:01.436Z,1761584821.436 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:07:01.436Z,1761584821.436 [marl:UpdateRudder] Stopped
2025-10-27T17:07:01.436Z,1761584821.436 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:07:01.778Z,1761584821.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023268,0.973455,0.227693],[-0.997030,0.039320,-0.066218],[-0.073414,-0.225476,0.971479]]
2025-10-27T17:07:01.919Z,1761584821.919 [DAT](INFO): entering command mode
2025-10-27T17:07:02.120Z,1761584822.120 [DAT](INFO): DAT read: 

2025-10-27T17:07:02.121Z,1761584822.121 [DAT](INFO): DAT read: user:1>

2025-10-27T17:07:02.121Z,1761584822.121 [DAT](INFO): setting verbose to 3
2025-10-27T17:07:02.372Z,1761584822.372 [DAT](INFO): DAT read: user:1>

2025-10-27T17:07:02.374Z,1761584822.374 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:07:02.374Z,1761584822.374 [DAT](INFO): set verbose to 3
2025-10-27T17:07:02.375Z,1761584822.375 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:07:02.590Z,1761584822.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002443,0.974887,0.222686],[-0.997629,0.017692,-0.066508],[-0.068777,-0.221996,0.972619]]
2025-10-27T17:07:02.624Z,1761584822.624 [DAT](INFO): DAT read: user:2>

2025-10-27T17:07:02.625Z,1761584822.625 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:07:02.625Z,1761584822.625 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:07:02.625Z,1761584822.625 [DAT](INFO): setting transmit power to 8
2025-10-27T17:07:02.878Z,1761584822.878 [DAT](INFO): DAT read: user:3>

2025-10-27T17:07:02.882Z,1761584822.882 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:07:02.882Z,1761584822.882 [DAT](INFO): set transmit power to 8
2025-10-27T17:07:02.883Z,1761584822.883 [DAT](INFO): setting local address to 11
2025-10-27T17:07:03.020Z,1761584823.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002067,0.975154,0.221516],[-0.997818,0.012607,-0.064809],[-0.065992,-0.221167,0.973001]]
2025-10-27T17:07:03.128Z,1761584823.128 [DAT](INFO): DAT read: user:4>

2025-10-27T17:07:03.130Z,1761584823.130 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:07:03.130Z,1761584823.130 [DAT](INFO): set local address to 11
2025-10-27T17:07:03.132Z,1761584823.132 [DAT](INFO): Setting time to: 17:7:3 And date to:10/27/2025
2025-10-27T17:07:03.380Z,1761584823.380 [DAT](INFO): DAT read: user:5>

2025-10-27T17:07:03.381Z,1761584823.381 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:07:03  

2025-10-27T17:07:03.381Z,1761584823.381 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:07:03  

2025-10-27T17:07:03.384Z,1761584823.384 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:03.386Z,1761584823.386 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:03.387Z,1761584823.387 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:03.425Z,1761584823.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003948,0.975015,0.222105],[-0.998002,0.010163,-0.062352],[-0.063051,-0.221908,0.973027]]
2025-10-27T17:07:03.635Z,1761584823.635 [DAT](INFO): DAT read: user:6>

2025-10-27T17:07:03.636Z,1761584823.636 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:07:03.636Z,1761584823.636 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:07:03.636Z,1761584823.636 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:07:03.636Z,1761584823.636 [DAT](ERROR): Communications Fault
2025-10-27T17:07:03.637Z,1761584823.637 [DAT](INFO): DAT read: user:7>

2025-10-27T17:07:03.638Z,1761584823.638 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:07:03.638Z,1761584823.638 [DAT](INFO): set remote address to 0
2025-10-27T17:07:03.639Z,1761584823.639 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:03.641Z,1761584823.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:03.642Z,1761584823.642 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:03.762Z,1761584823.762 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:07:03.826Z,1761584823.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003957,0.974208,0.225616],[-0.998223,0.009567,-0.058818],[-0.059460,-0.225448,0.972439]]
2025-10-27T17:07:04.059Z,1761584824.059 [DAT](INFO): Powering down
2025-10-27T17:07:04.233Z,1761584824.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005947,0.972197,0.234087],[-0.998519,0.006885,-0.053963],[-0.054074,-0.234062,0.970717]]
2025-10-27T17:07:04.729Z,1761584824.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010666,0.967085,0.254229],[-0.998854,0.001558,-0.047833],[-0.046655,-0.254448,0.965961]]
2025-10-27T17:07:05.190Z,1761584825.190 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:07:05.190Z,1761584825.190 [DAT] No Fault, FailCount= 2
2025-10-27T17:07:05.232Z,1761584825.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017984,0.959515,0.281081],[-0.999136,-0.006709,-0.041021],[-0.037475,-0.281576,0.958807]]
2025-10-27T17:07:06.028Z,1761584826.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035115,0.938422,0.343702],[-0.999203,-0.026435,-0.029908],[-0.018981,-0.344478,0.938603]]
2025-10-27T17:07:06.433Z,1761584826.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043330,0.927737,0.370710],[-0.998995,-0.035976,-0.026732],[-0.011463,-0.371496,0.928364]]
2025-10-27T17:07:06.904Z,1761584826.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051225,0.918787,0.391416],[-0.998671,-0.044902,-0.025298],[-0.005669,-0.392192,0.919866]]
2025-10-27T17:07:06.921Z,1761584826.921 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00, 583.49, 715.89
2025-10-27T17:07:07.242Z,1761584827.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060236,0.912554,0.404495],[-0.998184,-0.054610,-0.025443],[-0.001129,-0.405293,0.914186]]
2025-10-27T17:07:07.295Z,1761584827.295 [DAT](INFO): Powering up
2025-10-27T17:07:07.295Z,1761584827.295 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:07:08.146Z,1761584828.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086579,0.909744,0.406043],[-0.996219,-0.082029,-0.028634],[0.007257,-0.406986,0.913405]]
2025-10-27T17:07:08.610Z,1761584828.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123421,0.913202,0.388368],[-0.992238,-0.119565,-0.034186],[0.015217,-0.389573,0.920870]]
2025-10-27T17:07:09.015Z,1761584829.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144227,0.914604,0.377754],[-0.989357,-0.140718,-0.037035],[0.019284,-0.379075,0.925165]]
2025-10-27T17:07:09.817Z,1761584829.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189766,0.912244,0.363042],[-0.981397,-0.187210,-0.042569],[0.029131,-0.364367,0.930800]]
2025-10-27T17:07:10.625Z,1761584830.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238774,0.900848,0.362573],[-0.970111,-0.237921,-0.047734],[0.043262,-0.363134,0.930732]]
2025-10-27T17:07:11.037Z,1761584831.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262734,0.891964,0.367928],[-0.963478,-0.262993,-0.050438],[0.051773,-0.367743,0.928485]]
2025-10-27T17:07:11.520Z,1761584831.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284187,0.881526,0.377027],[-0.956880,-0.285451,-0.053841],[0.060161,-0.376070,0.924636]]
2025-10-27T17:07:11.922Z,1761584831.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301482,0.871647,0.386446],[-0.951091,-0.303545,-0.057325],[0.067336,-0.384828,0.920529]]
2025-10-27T17:07:12.461Z,1761584832.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314787,0.862375,0.396508],[-0.946352,-0.317282,-0.061244],[0.072989,-0.394515,0.915986]]
2025-10-27T17:07:12.951Z,1761584832.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326172,0.854013,0.405308],[-0.942118,-0.328881,-0.065196],[0.077620,-0.403113,0.911853]]
2025-10-27T17:07:13.490Z,1761584833.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346592,0.842339,0.412722],[-0.934291,-0.349176,-0.071946],[0.083510,-0.410538,0.908011]]
2025-10-27T17:07:13.891Z,1761584833.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355546,0.838781,0.412350],[-0.930761,-0.357992,-0.074335],[0.085267,-0.410229,0.907988]]
2025-10-27T17:07:14.294Z,1761584834.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364976,0.836469,0.408795],[-0.926965,-0.367407,-0.075821],[0.086772,-0.406611,0.909471]]
2025-10-27T17:07:14.703Z,1761584834.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375058,0.834071,0.404545],[-0.922765,-0.377592,-0.077003],[0.088527,-0.402181,0.911270]]
2025-10-27T17:07:14.791Z,1761584834.791 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:07:14.791Z,1761584834.791 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:07:14.791Z,1761584834.791 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateRudder:A] Stopped
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode] Stopped
2025-10-27T17:07:14.792Z,1761584834.792 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed] Stopped
2025-10-27T17:07:14.793Z,1761584834.793 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:07:15.112Z,1761584835.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385692,0.831554,0.399700],[-0.918185,-0.388409,-0.077942],[0.090434,-0.397060,0.913327]]
2025-10-27T17:07:15.205Z,1761584835.205 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:07:15.205Z,1761584835.205 [marl:UpdateRudder:B] Stopped
2025-10-27T17:07:15.205Z,1761584835.205 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:07:15.206Z,1761584835.206 [marl:UpdateRudder] Stopped
2025-10-27T17:07:15.206Z,1761584835.206 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:07:15.679Z,1761584835.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397285,0.828608,0.394428],[-0.913059,-0.400057,-0.079238],[0.092136,-0.391616,0.915504]]
2025-10-27T17:07:16.128Z,1761584836.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410914,0.824916,0.388153],[-0.906876,-0.413477,-0.081319],[0.093411,-0.385421,0.918000]]
2025-10-27T17:07:16.584Z,1761584836.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427100,0.820373,0.380228],[-0.899365,-0.428875,-0.084900],[0.093420,-0.378224,0.920988]]
2025-10-27T17:07:16.986Z,1761584836.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444977,0.814228,0.372863],[-0.890759,-0.445385,-0.090441],[0.092428,-0.372376,0.923468]]
2025-10-27T17:07:17.393Z,1761584837.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464794,0.806672,0.365030],[-0.880776,-0.463402,-0.097432],[0.090560,-0.366795,0.925883]]
2025-10-27T17:07:17.806Z,1761584837.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508626,0.786070,0.351274],[-0.856668,-0.502854,-0.115139],[0.086132,-0.359488,0.929166]]
2025-10-27T17:07:18.608Z,1761584838.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553591,0.759672,0.341225],[-0.828626,-0.543379,-0.134604],[0.083159,-0.357263,0.930294]]
2025-10-27T17:07:18.924Z,1761584838.924 [DAT](INFO): DAT read: 

2025-10-27T17:07:18.924Z,1761584838.924 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:07:19.011Z,1761584839.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573821,0.745003,0.340146],[-0.814857,-0.560985,-0.145955],[0.082080,-0.360923,0.928977]]
2025-10-27T17:07:19.035Z,1761584839.035 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:07:19.416Z,1761584839.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590961,0.731246,0.340653],[-0.802598,-0.575496,-0.156976],[0.081256,-0.366174,0.926992]]
2025-10-27T17:07:20.041Z,1761584840.041 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:07:20.187Z,1761584840.187 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:07:20.188Z,1761584840.188 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:07:20.292Z,1761584840.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616897,0.708427,0.342884],[-0.783055,-0.596266,-0.176894],[0.079134,-0.377623,0.922572]]
2025-10-27T17:07:20.436Z,1761584840.436 [DAT](INFO): DAT read: Oct 27 2025 17:07:15 

2025-10-27T17:07:20.804Z,1761584840.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627327,0.699344,0.342606],[-0.774890,-0.604343,-0.185243],[0.077502,-0.381690,0.921035]]
2025-10-27T17:07:21.353Z,1761584841.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636605,0.691578,0.341253],[-0.767537,-0.611201,-0.193186],[0.074971,-0.384907,0.919905]]
2025-10-27T17:07:21.444Z,1761584841.444 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:07:21.446Z,1761584841.446 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:07:21.447Z,1761584841.447 [DAT](INFO): commRate: 600
2025-10-27T17:07:21.767Z,1761584841.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644961,0.684673,0.339483],[-0.760804,-0.617179,-0.200668],[0.072130,-0.387703,0.918958]]
2025-10-27T17:07:22.166Z,1761584842.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653064,0.679093,0.335171],[-0.754171,-0.623406,-0.206375],[0.068800,-0.387552,0.919277]]
2025-10-27T17:07:22.559Z,1761584842.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661053,0.673606,0.330551],[-0.747480,-0.629614,-0.211803],[0.065447,-0.387093,0.919715]]
2025-10-27T17:07:22.962Z,1761584842.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669556,0.668495,0.323743],[-0.740171,-0.636878,-0.215715],[0.061981,-0.384058,0.921226]]
2025-10-27T17:07:23.369Z,1761584843.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678827,0.662575,0.316526],[-0.731960,-0.644943,-0.219732],[0.058552,-0.380844,0.922783]]
2025-10-27T17:07:23.511Z,1761584843.511 [DAT](INFO): entering command mode
2025-10-27T17:07:23.711Z,1761584843.711 [DAT](INFO): DAT read: 

2025-10-27T17:07:23.712Z,1761584843.712 [DAT](INFO): DAT read: user:1>

2025-10-27T17:07:23.712Z,1761584843.712 [DAT](INFO): setting verbose to 3
2025-10-27T17:07:23.801Z,1761584843.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688202,0.656411,0.309036],[-0.723453,-0.652995,-0.224082],[0.054709,-0.377787,0.924275]]
2025-10-27T17:07:23.964Z,1761584843.964 [DAT](INFO): DAT read: user:1>

2025-10-27T17:07:23.965Z,1761584843.965 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:07:23.965Z,1761584843.965 [DAT](INFO): set verbose to 3
2025-10-27T17:07:23.965Z,1761584843.965 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:07:24.182Z,1761584844.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699174,0.649251,0.299381],[-0.713130,-0.663181,-0.227237],[0.051011,-0.372376,0.926679]]
2025-10-27T17:07:24.216Z,1761584844.216 [DAT](INFO): DAT read: user:2>

2025-10-27T17:07:24.217Z,1761584844.217 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:07:24.217Z,1761584844.217 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:07:24.217Z,1761584844.217 [DAT](INFO): setting transmit power to 8
2025-10-27T17:07:24.468Z,1761584844.468 [DAT](INFO): DAT read: user:3>

2025-10-27T17:07:24.469Z,1761584844.469 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:07:24.469Z,1761584844.469 [DAT](INFO): set transmit power to 8
2025-10-27T17:07:24.469Z,1761584844.469 [DAT](INFO): setting local address to 11
2025-10-27T17:07:24.574Z,1761584844.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711237,0.640703,0.289208],[-0.701366,-0.674413,-0.230764],[0.047195,-0.366969,0.929035]]
2025-10-27T17:07:24.720Z,1761584844.720 [DAT](INFO): DAT read: user:4>

2025-10-27T17:07:24.721Z,1761584844.721 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:07:24.722Z,1761584844.722 [DAT](INFO): set local address to 11
2025-10-27T17:07:24.723Z,1761584844.723 [DAT](INFO): Setting time to: 17:7:24 And date to:10/27/2025
2025-10-27T17:07:24.972Z,1761584844.972 [DAT](INFO): DAT read: user:5>

2025-10-27T17:07:24.973Z,1761584844.973 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:07:24  

2025-10-27T17:07:24.973Z,1761584844.973 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:07:24  

2025-10-27T17:07:24.974Z,1761584844.974 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:24.974Z,1761584844.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:24.974Z,1761584844.974 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:24.991Z,1761584844.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724601,0.630587,0.278054],[-0.687801,-0.687097,-0.234154],[0.043396,-0.360914,0.931589]]
2025-10-27T17:07:25.224Z,1761584845.224 [DAT](INFO): DAT read: user:6>

2025-10-27T17:07:25.225Z,1761584845.225 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:07:25.225Z,1761584845.225 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:07:25.225Z,1761584845.225 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:07:25.226Z,1761584845.226 [DAT](ERROR): Communications Fault
2025-10-27T17:07:25.226Z,1761584845.226 [DAT](INFO): DAT read: user:7>

2025-10-27T17:07:25.227Z,1761584845.227 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:07:25.228Z,1761584845.228 [DAT](INFO): set remote address to 0
2025-10-27T17:07:25.228Z,1761584845.228 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:25.228Z,1761584845.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:25.228Z,1761584845.228 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:25.415Z,1761584845.415 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:07:25.438Z,1761584845.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753782,0.605648,0.254957],[-0.656175,-0.714583,-0.242500],[0.035318,-0.350088,0.936051]]
2025-10-27T17:07:25.631Z,1761584845.631 [DAT](INFO): Powering down
2025-10-27T17:07:25.838Z,1761584845.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768954,0.590646,0.244638],[-0.638542,-0.728266,-0.248783],[0.031219,-0.347514,0.937155]]
2025-10-27T17:07:26.243Z,1761584846.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784346,0.573779,0.235751],[-0.619720,-0.741544,-0.257020],[0.027347,-0.347692,0.937210]]
2025-10-27T17:07:26.614Z,1761584846.614 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:07:26.614Z,1761584846.614 [DAT] No Fault, FailCount= 3
2025-10-27T17:07:26.673Z,1761584846.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799705,0.555533,0.227717],[-0.599909,-0.754584,-0.265916],[0.024107,-0.349264,0.936714]]
2025-10-27T17:07:27.081Z,1761584847.081 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +165.02,      +743.99,    ,  20.00,  0.00
2025-10-27T17:07:27.450Z,1761584847.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828746,0.517232,0.213663],[-0.559283,-0.778843,-0.283910],[0.019562,-0.354787,0.934742]]
2025-10-27T17:07:27.855Z,1761584847.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841038,0.499096,0.208706],[-0.540686,-0.788122,-0.294147],[0.017678,-0.360233,0.932695]]
2025-10-27T17:07:28.258Z,1761584848.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851136,0.483223,0.205090],[-0.524699,-0.795071,-0.304226],[0.016052,-0.366549,0.930260]]
2025-10-27T17:07:28.293Z,1761584848.293 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:07:28.293Z,1761584848.293 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:07:28.293Z,1761584848.293 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateRudder:A] Stopped
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:07:28.294Z,1761584848.294 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:07:28.294Z,1761584848.295 [marl:UpdateCommandMode] Stopped
2025-10-27T17:07:28.295Z,1761584848.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:07:28.295Z,1761584848.295 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:07:28.295Z,1761584848.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:07:28.295Z,1761584848.295 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:07:28.295Z,1761584848.295 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:07:28.296Z,1761584848.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:07:28.296Z,1761584848.296 [marl:UpdateSpeed] Stopped
2025-10-27T17:07:28.296Z,1761584848.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:07:28.670Z,1761584848.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859404,0.469781,0.201821],[-0.511097,-0.800372,-0.313344],[0.014329,-0.372439,0.927946]]
2025-10-27T17:07:28.710Z,1761584848.710 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:07:28.710Z,1761584848.710 [marl:UpdateRudder:B] Stopped
2025-10-27T17:07:28.710Z,1761584848.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:07:28.710Z,1761584848.710 [marl:UpdateRudder] Stopped
2025-10-27T17:07:28.710Z,1761584848.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:07:28.864Z,1761584848.864 [DAT](INFO): Powering up
2025-10-27T17:07:28.864Z,1761584848.864 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:07:29.066Z,1761584849.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866160,0.458593,0.198643],[-0.499611,-0.804486,-0.321234],[0.012490,-0.377484,0.925932]]
2025-10-27T17:07:29.471Z,1761584849.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871844,0.449015,0.195635],[-0.489667,-0.807765,-0.328241],[0.010642,-0.381971,0.924113]]
2025-10-27T17:07:29.875Z,1761584849.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876666,0.441568,0.190985],[-0.481026,-0.811478,-0.331839],[0.008450,-0.382781,0.923801]]
2025-10-27T17:07:30.278Z,1761584850.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880200,0.437527,0.183898],[-0.474577,-0.815486,-0.331299],[0.005015,-0.378883,0.925431]]
2025-10-27T17:07:30.684Z,1761584850.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881745,0.438961,0.172741],[-0.471727,-0.820300,-0.323390],[-0.000256,-0.366634,0.930365]]
2025-10-27T17:07:31.086Z,1761584851.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882284,0.443724,0.157111],[-0.470668,-0.826766,-0.308106],[-0.006820,-0.345785,0.938289]]
2025-10-27T17:07:31.491Z,1761584851.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883112,0.448114,0.138949],[-0.468955,-0.834339,-0.289756],[-0.013913,-0.321048,0.946961]]
2025-10-27T17:07:31.908Z,1761584851.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883895,0.451585,0.121658],[-0.467211,-0.840885,-0.273177],[-0.021063,-0.298300,0.954240]]
2025-10-27T17:07:32.298Z,1761584852.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884744,0.454206,0.104523],[-0.465226,-0.847086,-0.256924],[-0.028157,-0.275939,0.960763]]
2025-10-27T17:07:33.108Z,1761584853.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885855,0.457916,0.074658],[-0.461966,-0.855639,-0.233385],[-0.042991,-0.241235,0.969514]]
2025-10-27T17:07:33.510Z,1761584853.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885978,0.459485,0.062589],[-0.461003,-0.858103,-0.226130],[-0.050196,-0.229200,0.972084]]
2025-10-27T17:07:33.915Z,1761584853.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885623,0.461321,0.053418],[-0.460883,-0.858940,-0.223178],[-0.057074,-0.222272,0.973313]]
2025-10-27T17:07:34.319Z,1761584854.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884842,0.463719,0.044941],[-0.461559,-0.859400,-0.219987],[-0.063390,-0.215397,0.974467]]
2025-10-27T17:07:34.724Z,1761584854.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883987,0.465856,0.039307],[-0.462386,-0.858787,-0.220643],[-0.069031,-0.213221,0.974562]]
2025-10-27T17:07:35.134Z,1761584855.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883023,0.468033,0.034862],[-0.463410,-0.857716,-0.222651],[-0.074306,-0.212761,0.974275]]
2025-10-27T17:07:35.530Z,1761584855.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882178,0.469884,0.031172],[-0.464266,-0.856725,-0.224679],[-0.078867,-0.212679,0.973934]]
2025-10-27T17:07:35.936Z,1761584855.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881447,0.471451,0.028021],[-0.464888,-0.855661,-0.227429],[-0.083245,-0.213493,0.973392]]
2025-10-27T17:07:36.749Z,1761584856.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882319,0.470249,0.019456],[-0.461581,-0.856497,-0.230989],[-0.091959,-0.212786,0.972762]]
2025-10-27T17:07:37.153Z,1761584857.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884112,0.467077,0.013632],[-0.457158,-0.858562,-0.232116],[-0.096712,-0.211449,0.972593]]
2025-10-27T17:07:37.549Z,1761584857.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886379,0.462902,0.007278],[-0.451602,-0.861067,-0.233708],[-0.101917,-0.210441,0.972280]]
2025-10-27T17:07:37.956Z,1761584857.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888930,0.458042,0.000676],[-0.445322,-0.863896,-0.235312],[-0.107199,-0.209477,0.971920]]
2025-10-27T17:07:38.358Z,1761584858.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891557,0.452880,-0.005078],[-0.438654,-0.866235,-0.239207],[-0.112731,-0.211039,0.970955]]
2025-10-27T17:07:38.764Z,1761584858.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894363,0.447211,-0.010866],[-0.431437,-0.868728,-0.243258],[-0.118227,-0.212873,0.969901]]
2025-10-27T17:07:39.166Z,1761584859.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897416,0.440911,-0.015551],[-0.423615,-0.870989,-0.248854],[-0.123267,-0.216737,0.968416]]
2025-10-27T17:07:39.572Z,1761584859.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900536,0.434328,-0.019882],[-0.415545,-0.873241,-0.254504],[-0.127900,-0.220928,0.966867]]
2025-10-27T17:07:39.974Z,1761584859.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903434,0.428084,-0.023474],[-0.407876,-0.875073,-0.260545],[-0.132077,-0.225811,0.965176]]
2025-10-27T17:07:40.378Z,1761584860.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905760,0.422929,-0.027003],[-0.401375,-0.876557,-0.265604],[-0.136001,-0.229735,0.963704]]
2025-10-27T17:07:40.460Z,1761584860.460 [DAT](INFO): DAT read: 

2025-10-27T17:07:40.461Z,1761584860.461 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:07:40.782Z,1761584860.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906733,0.420707,-0.029007],[-0.397896,-0.876297,-0.271630],[-0.139696,-0.234754,0.961964]]
2025-10-27T17:07:41.187Z,1761584861.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906031,0.422200,-0.029249],[-0.398360,-0.874123,-0.277881],[-0.142888,-0.240117,0.960170]]
2025-10-27T17:07:41.271Z,1761584861.271 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:07:41.275Z,1761584861.275 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:07:41.275Z,1761584861.275 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:07:41.275Z,1761584861.275 [marl:UpdateRudder:A] Stopped
2025-10-27T17:07:41.275Z,1761584861.275 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:07:41.275Z,1761584861.275 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode] Stopped
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:07:41.276Z,1761584861.276 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:07:41.277Z,1761584861.277 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:07:41.277Z,1761584861.277 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:07:41.277Z,1761584861.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:07:41.277Z,1761584861.277 [marl:UpdateSpeed] Stopped
2025-10-27T17:07:41.277Z,1761584861.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:07:41.278Z,1761584861.278 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:07:41.560Z,1761584861.560 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:07:41.560Z,1761584861.560 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:07:41.589Z,1761584861.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904284,0.425986,-0.028388],[-0.401610,-0.871329,-0.281948],[-0.144841,-0.243561,0.959009]]
2025-10-27T17:07:41.653Z,1761584861.653 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:07:41.653Z,1761584861.653 [marl:UpdateRudder:B] Stopped
2025-10-27T17:07:41.653Z,1761584861.653 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:07:41.653Z,1761584861.653 [marl:UpdateRudder] Stopped
2025-10-27T17:07:41.653Z,1761584861.653 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:07:41.972Z,1761584861.972 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:07:41.973Z,1761584861.973 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:07:41.974Z,1761584861.974 [DAT](INFO): DAT read: Oct 27 2025 17:07:36 

2025-10-27T17:07:41.994Z,1761584861.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901661,0.431614,-0.026791],[-0.407087,-0.868063,-0.284161],[-0.145904,-0.245310,0.958402]]
2025-10-27T17:07:42.400Z,1761584862.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898599,0.438022,-0.025641],[-0.413628,-0.865154,-0.283584],[-0.146399,-0.244223,0.958604]]
2025-10-27T17:07:42.802Z,1761584862.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895343,0.444649,-0.025481],[-0.420494,-0.862789,-0.280676],[-0.146787,-0.240587,0.959464]]
2025-10-27T17:07:42.981Z,1761584862.981 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:07:42.982Z,1761584862.982 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:07:42.983Z,1761584862.983 [DAT](INFO): commRate: 600
2025-10-27T17:07:43.205Z,1761584863.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892021,0.451228,-0.026311],[-0.427387,-0.860971,-0.275805],[-0.147104,-0.234779,0.960854]]
2025-10-27T17:07:43.621Z,1761584863.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889094,0.456897,-0.027524],[-0.433463,-0.859761,-0.270039],[-0.147044,-0.228159,0.962456]]
2025-10-27T17:07:44.016Z,1761584864.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887651,0.459516,-0.030331],[-0.436602,-0.860678,-0.261940],[-0.146471,-0.219268,0.964607]]
2025-10-27T17:07:44.418Z,1761584864.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887376,0.459837,-0.033361],[-0.437458,-0.862618,-0.254009],[-0.145581,-0.210808,0.966626]]
2025-10-27T17:07:44.829Z,1761584864.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887968,0.458480,-0.036176],[-0.436680,-0.865193,-0.246478],[-0.144304,-0.203067,0.968473]]
2025-10-27T17:07:44.888Z,1761584864.888 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:07:45.047Z,1761584865.047 [DAT](INFO): entering command mode
2025-10-27T17:07:45.247Z,1761584865.247 [DAT](INFO): DAT read: 

2025-10-27T17:07:45.248Z,1761584865.248 [DAT](INFO): DAT read: user:1

2025-10-27T17:07:45.248Z,1761584865.248 [DAT](INFO): setting verbose to 3
2025-10-27T17:07:45.500Z,1761584865.500 [DAT](INFO): DAT read: user:1>

2025-10-27T17:07:45.501Z,1761584865.501 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:07:45.501Z,1761584865.501 [DAT](INFO): set verbose to 3
2025-10-27T17:07:45.501Z,1761584865.501 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:07:45.753Z,1761584865.753 [DAT](INFO): DAT read: user:2>

2025-10-27T17:07:45.754Z,1761584865.754 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:07:45.754Z,1761584865.754 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:07:45.755Z,1761584865.755 [DAT](INFO): setting transmit power to 8
2025-10-27T17:07:46.004Z,1761584866.004 [DAT](INFO): DAT read: user:3>

2025-10-27T17:07:46.005Z,1761584866.005 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:07:46.005Z,1761584866.005 [DAT](INFO): set transmit power to 8
2025-10-27T17:07:46.005Z,1761584866.005 [DAT](INFO): setting local address to 11
2025-10-27T17:07:46.033Z,1761584866.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890860,0.452806,-0.036538],[-0.432742,-0.870348,-0.235007],[-0.138214,-0.193547,0.971307]]
2025-10-27T17:07:46.256Z,1761584866.256 [DAT](INFO): DAT read: user:4>

2025-10-27T17:07:46.258Z,1761584866.258 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:07:46.258Z,1761584866.258 [DAT](INFO): set local address to 11
2025-10-27T17:07:46.259Z,1761584866.259 [DAT](INFO): Setting time to: 17:7:46 And date to:10/27/2025
2025-10-27T17:07:46.438Z,1761584866.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891908,0.450955,-0.033762],[-0.431658,-0.871238,-0.233698],[-0.134802,-0.193864,0.971723]]
2025-10-27T17:07:46.508Z,1761584866.508 [DAT](INFO): DAT read: user:5>

2025-10-27T17:07:46.509Z,1761584866.509 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:07:46  

2025-10-27T17:07:46.509Z,1761584866.509 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:07:46  

2025-10-27T17:07:46.510Z,1761584866.510 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:46.510Z,1761584866.510 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:46.510Z,1761584866.510 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:46.760Z,1761584866.760 [DAT](INFO): DAT read: user:6>

2025-10-27T17:07:46.761Z,1761584866.761 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:07:46.761Z,1761584866.761 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:07:46.761Z,1761584866.761 [DAT] Communications Fault, FailCount= 4
2025-10-27T17:07:46.761Z,1761584866.761 [DAT](ERROR): Communications Fault
2025-10-27T17:07:46.762Z,1761584866.762 [DAT](INFO): DAT read: user:7>

2025-10-27T17:07:46.763Z,1761584866.763 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:07:46.764Z,1761584866.764 [DAT](INFO): set remote address to 0
2025-10-27T17:07:46.764Z,1761584866.764 [DAT](INFO): setting remote address to 6
2025-10-27T17:07:46.764Z,1761584866.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:07:46.764Z,1761584866.764 [DAT](INFO): setting remote address to 0
2025-10-27T17:07:46.935Z,1761584866.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892871,0.449412,-0.028458],[-0.430977,-0.871146,-0.235295],[-0.130536,-0.197823,0.971507]]
2025-10-27T17:07:47.155Z,1761584867.155 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:07:47.167Z,1761584867.167 [DAT](INFO): Powering down
2025-10-27T17:07:47.245Z,1761584867.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893922,0.447613,-0.023378],[-0.430194,-0.871441,-0.235634],[-0.125846,-0.200581,0.971561]]
2025-10-27T17:07:48.054Z,1761584868.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897243,0.441175,-0.017860],[-0.425637,-0.874984,-0.230731],[-0.117420,-0.199420,0.972854]]
2025-10-27T17:07:48.215Z,1761584868.215 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:07:48.215Z,1761584868.215 [DAT] No Fault, FailCount= 4
2025-10-27T17:07:48.458Z,1761584868.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899190,0.437234,-0.016827],[-0.422368,-0.877379,-0.227623],[-0.114288,-0.197569,0.973604]]
2025-10-27T17:07:48.910Z,1761584868.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901384,0.432744,-0.015511],[-0.418400,-0.879619,-0.226301],[-0.111574,-0.197494,0.973934]]
2025-10-27T17:07:49.266Z,1761584869.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903740,0.427832,-0.014634],[-0.413843,-0.881913,-0.225748],[-0.109489,-0.197962,0.974076]]
2025-10-27T17:07:49.672Z,1761584869.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906349,0.422321,-0.013314],[-0.408577,-0.884014,-0.227121],[-0.107688,-0.200411,0.973776]]
2025-10-27T17:07:50.074Z,1761584870.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909141,0.416334,-0.011348],[-0.402827,-0.885913,-0.229975],[-0.105800,-0.204509,0.973130]]
2025-10-27T17:07:50.163Z,1761584870.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:07:50.395Z,1761584870.395 [DAT](INFO): Powering up
2025-10-27T17:07:50.395Z,1761584870.395 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:07:50.478Z,1761584870.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911961,0.410194,-0.008306],[-0.396927,-0.887225,-0.235119],[-0.103813,-0.211122,0.971931]]
2025-10-27T17:07:51.167Z,1761584871.167 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:07:51.288Z,1761584871.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916894,0.399129,-0.001187],[-0.386518,-0.888657,-0.246765],[-0.099546,-0.225799,0.969075]]
2025-10-27T17:07:51.689Z,1761584871.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918252,0.395983,0.003275],[-0.383839,-0.887998,-0.253235],[-0.097368,-0.233791,0.967399]]
2025-10-27T17:07:52.105Z,1761584872.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918247,0.395925,0.008104],[-0.384433,-0.886308,-0.258204],[-0.095046,-0.240210,0.966057]]
2025-10-27T17:07:52.498Z,1761584872.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916992,0.398703,0.012741],[-0.388013,-0.884081,-0.260473],[-0.092588,-0.243795,0.965397]]
2025-10-27T17:07:52.911Z,1761584872.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914750,0.403619,0.017986],[-0.393934,-0.881145,-0.261533],[-0.089712,-0.246323,0.965027]]
2025-10-27T17:07:53.306Z,1761584873.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911861,0.409853,0.023011],[-0.401304,-0.878237,-0.260106],[-0.086397,-0.246415,0.965306]]
2025-10-27T17:07:53.710Z,1761584873.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908396,0.417232,0.027094],[-0.409767,-0.875515,-0.256055],[-0.083113,-0.243702,0.966282]]
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateRudder:A] Stopped
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:07:54.161Z,1761584874.161 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateCommandMode] Stopped
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:07:54.162Z,1761584874.162 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:07:54.163Z,1761584874.163 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:07:54.163Z,1761584874.163 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:07:54.163Z,1761584874.163 [marl:UpdateSpeed] Stopped
2025-10-27T17:07:54.163Z,1761584874.163 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:07:54.520Z,1761584874.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900608,0.433488,0.031527],[-0.427779,-0.871242,-0.240712],[-0.076878,-0.230274,0.970084]]
2025-10-27T17:07:54.545Z,1761584874.545 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:07:54.545Z,1761584874.545 [marl:UpdateRudder:B] Stopped
2025-10-27T17:07:54.545Z,1761584874.545 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:07:54.545Z,1761584874.545 [marl:UpdateRudder] Stopped
2025-10-27T17:07:54.545Z,1761584874.545 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:07:54.922Z,1761584874.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897452,0.439935,0.032219],[-0.434821,-0.869994,-0.232470],[-0.074241,-0.222640,0.972070]]
2025-10-27T17:07:55.737Z,1761584875.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897140,0.440863,0.027913],[-0.436317,-0.874467,-0.211978],[-0.069044,-0.202352,0.976876]]
2025-10-27T17:07:56.136Z,1761584876.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898892,0.437343,0.026916],[-0.433194,-0.877771,-0.204598],[-0.065853,-0.195571,0.978476]]
2025-10-27T17:07:56.538Z,1761584876.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901204,0.432484,0.028077],[-0.428870,-0.880587,-0.201587],[-0.062459,-0.193713,0.979068]]
2025-10-27T17:07:56.949Z,1761584876.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904158,0.426088,0.030773],[-0.423167,-0.883430,-0.201202],[-0.058544,-0.194940,0.979066]]
2025-10-27T17:07:57.346Z,1761584877.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907535,0.418487,0.035341],[-0.416432,-0.885773,-0.204917],[-0.054451,-0.200687,0.978141]]
2025-10-27T17:07:58.153Z,1761584878.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915245,0.400106,0.047345],[-0.400324,-0.889834,-0.218944],[-0.045471,-0.219341,0.974588]]
2025-10-27T17:07:58.558Z,1761584878.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918863,0.390950,0.053371],[-0.392461,-0.891549,-0.226087],[-0.040806,-0.228689,0.972644]]
2025-10-27T17:07:58.962Z,1761584878.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921485,0.383798,0.059711],[-0.386724,-0.892238,-0.233142],[-0.036203,-0.237929,0.970608]]
2025-10-27T17:07:59.035Z,1761584879.035 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +217,  +973,  

2025-10-27T17:07:59.366Z,1761584879.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922242,0.380857,0.066468],[-0.385313,-0.891357,-0.238782],[-0.031695,-0.245825,0.968796]]
2025-10-27T17:07:59.771Z,1761584879.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921143,0.382090,0.074179],[-0.388248,-0.888506,-0.244583],[-0.027544,-0.254095,0.966787]]
2025-10-27T17:08:00.174Z,1761584880.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918842,0.386038,0.081883],[-0.393942,-0.885065,-0.247931],[-0.023239,-0.260066,0.965311]]
2025-10-27T17:08:00.589Z,1761584880.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916072,0.391117,0.088543],[-0.400556,-0.881886,-0.248660],[-0.019171,-0.263257,0.964535]]
2025-10-27T17:08:00.983Z,1761584880.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912886,0.397296,0.093780],[-0.407912,-0.878985,-0.246968],[-0.015688,-0.263708,0.964475]]
2025-10-27T17:08:01.387Z,1761584881.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909909,0.403148,0.097656],[-0.414620,-0.876856,-0.243338],[-0.012471,-0.261906,0.965013]]
2025-10-27T17:08:01.790Z,1761584881.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907671,0.407809,0.099118],[-0.419576,-0.876475,-0.236108],[-0.009413,-0.255896,0.966658]]
2025-10-27T17:08:01.988Z,1761584881.988 [DAT](INFO): DAT read: 

2025-10-27T17:08:01.989Z,1761584881.989 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:08:02.193Z,1761584882.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906568,0.410220,0.099269],[-0.422013,-0.877512,-0.227766],[-0.006324,-0.248379,0.968642]]
2025-10-27T17:08:02.603Z,1761584882.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906498,0.410637,0.098174],[-0.422197,-0.879812,-0.218360],[-0.003293,-0.239392,0.970917]]
2025-10-27T17:08:03.002Z,1761584883.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907365,0.409131,0.096437],[-0.420343,-0.883100,-0.208439],[-0.000116,-0.229667,0.973269]]
2025-10-27T17:08:03.406Z,1761584883.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908844,0.405771,0.096711],[-0.417122,-0.885980,-0.202605],[0.003473,-0.224477,0.974473]]
2025-10-27T17:08:03.501Z,1761584883.501 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:08:03.502Z,1761584883.502 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:08:03.503Z,1761584883.503 [DAT](INFO): DAT read: Oct 27 2025 17:07:58 

2025-10-27T17:08:03.810Z,1761584883.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911141,0.400546,0.096881],[-0.412035,-0.889525,-0.197416],[0.007104,-0.219792,0.975521]]
2025-10-27T17:08:04.218Z,1761584884.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913970,0.393700,0.098284],[-0.405630,-0.893052,-0.194738],[0.011104,-0.217851,0.975919]]
2025-10-27T17:08:04.508Z,1761584884.508 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:08:04.509Z,1761584884.509 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:08:04.510Z,1761584884.510 [DAT](INFO): commRate: 600
2025-10-27T17:08:04.618Z,1761584884.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917136,0.385341,0.101851],[-0.398266,-0.896040,-0.196205],[0.015657,-0.220511,0.975259]]
2025-10-27T17:08:05.023Z,1761584885.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920440,0.376219,0.106059],[-0.390343,-0.898945,-0.198822],[0.020540,-0.224403,0.974280]]
2025-10-27T17:08:05.426Z,1761584885.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923260,0.367796,0.110983],[-0.383362,-0.900815,-0.203876],[0.024991,-0.230777,0.972686]]
2025-10-27T17:08:05.832Z,1761584885.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925290,0.360910,0.116543],[-0.378148,-0.901458,-0.210659],[0.029030,-0.238991,0.970588]]
2025-10-27T17:08:06.575Z,1761584886.575 [DAT](INFO): entering command mode
2025-10-27T17:08:06.637Z,1761584886.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925328,0.357203,0.127179],[-0.377593,-0.898646,-0.223292],[0.034528,-0.254640,0.966419]]
2025-10-27T17:08:06.776Z,1761584886.776 [DAT](INFO): DAT read: 

2025-10-27T17:08:06.776Z,1761584886.776 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:06.777Z,1761584886.777 [DAT](INFO): setting verbose to 3
2025-10-27T17:08:07.028Z,1761584887.028 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:07.029Z,1761584887.029 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:08:07.029Z,1761584887.029 [DAT](INFO): set verbose to 3
2025-10-27T17:08:07.029Z,1761584887.029 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:08:07.072Z,1761584887.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923330,0.360498,0.132297],[-0.382263,-0.895665,-0.227287],[0.036557,-0.260433,0.964800]]
2025-10-27T17:08:07.164Z,1761584887.164 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:08:07.164Z,1761584887.164 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:08:07.164Z,1761584887.164 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:08:07.165Z,1761584887.165 [marl:UpdateRudder:A] Stopped
2025-10-27T17:08:07.165Z,1761584887.165 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:08:07.165Z,1761584887.165 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:08:07.165Z,1761584887.165 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:08:07.165Z,1761584887.165 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateCommandMode] Stopped
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:08:07.166Z,1761584887.166 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:08:07.167Z,1761584887.167 [marl:UpdateSpeed] Stopped
2025-10-27T17:08:07.171Z,1761584887.171 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:08:07.280Z,1761584887.280 [DAT](INFO): DAT read: user:2>

2025-10-27T17:08:07.281Z,1761584887.281 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:08:07.281Z,1761584887.281 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:08:07.281Z,1761584887.281 [DAT](INFO): setting transmit power to 8
2025-10-27T17:08:07.458Z,1761584887.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917410,0.372384,0.140315],[-0.395858,-0.890036,-0.226127],[0.040680,-0.262996,0.963939]]
2025-10-27T17:08:07.513Z,1761584887.513 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:08:07.513Z,1761584887.513 [marl:UpdateRudder:B] Stopped
2025-10-27T17:08:07.513Z,1761584887.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:08:07.513Z,1761584887.513 [marl:UpdateRudder] Stopped
2025-10-27T17:08:07.514Z,1761584887.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:08:07.532Z,1761584887.532 [DAT](INFO): DAT read: user:3>

2025-10-27T17:08:07.533Z,1761584887.533 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:08:07.533Z,1761584887.533 [DAT](INFO): set transmit power to 8
2025-10-27T17:08:07.533Z,1761584887.533 [DAT](INFO): setting local address to 11
2025-10-27T17:08:07.784Z,1761584887.784 [DAT](INFO): DAT read: user:4>

2025-10-27T17:08:07.785Z,1761584887.785 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:08:07.785Z,1761584887.785 [DAT](INFO): set local address to 11
2025-10-27T17:08:07.786Z,1761584887.786 [DAT](INFO): Setting time to: 17:8:7 And date to:10/27/2025
2025-10-27T17:08:08.036Z,1761584888.036 [DAT](INFO): DAT read: user:5>

2025-10-27T17:08:08.037Z,1761584888.037 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:08:07  

2025-10-27T17:08:08.038Z,1761584888.038 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:08:07  

2025-10-27T17:08:08.039Z,1761584888.039 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:08.040Z,1761584888.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:08.040Z,1761584888.040 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:08.262Z,1761584888.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910518,0.386760,0.146198],[-0.410944,-0.885522,-0.216740],[0.045635,-0.257425,0.965220]]
2025-10-27T17:08:08.288Z,1761584888.288 [DAT](INFO): DAT read: user:6>

2025-10-27T17:08:08.289Z,1761584888.289 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:08:08.289Z,1761584888.289 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:08:08.289Z,1761584888.289 [DAT] Communications Fault, FailCount= 5
2025-10-27T17:08:08.289Z,1761584888.289 [DAT](ERROR): Communications Fault
2025-10-27T17:08:08.290Z,1761584888.290 [DAT](INFO): DAT read: user:7>

2025-10-27T17:08:08.291Z,1761584888.291 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:08:08.292Z,1761584888.292 [DAT](INFO): set remote address to 0
2025-10-27T17:08:08.292Z,1761584888.292 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:08.292Z,1761584888.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:08.292Z,1761584888.292 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:08.507Z,1761584888.507 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:08:08.668Z,1761584888.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907628,0.393023,0.147458],[-0.416958,-0.884715,-0.208389],[0.048557,-0.250624,0.966866]]
2025-10-27T17:08:08.695Z,1761584888.695 [DAT](INFO): Powering down
2025-10-27T17:08:09.080Z,1761584889.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905616,0.397253,0.148496],[-0.420936,-0.884646,-0.200535],[0.051703,-0.244115,0.968367]]
2025-10-27T17:08:09.476Z,1761584889.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904858,0.398854,0.148823],[-0.422181,-0.885677,-0.193236],[0.054736,-0.237681,0.969800]]
2025-10-27T17:08:09.770Z,1761584889.770 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:08:09.770Z,1761584889.770 [DAT] No Fault, FailCount= 5
2025-10-27T17:08:09.875Z,1761584889.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905968,0.396593,0.148106],[-0.419454,-0.888242,-0.187308],[0.057268,-0.231819,0.971072]]
2025-10-27T17:08:10.277Z,1761584890.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909498,0.388139,0.148868],[-0.411372,-0.891913,-0.187791],[0.059888,-0.232036,0.970862]]
2025-10-27T17:08:10.779Z,1761584890.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915114,0.372686,0.153858],[-0.398236,-0.895132,-0.200368],[0.063049,-0.244631,0.967564]]
2025-10-27T17:08:11.344Z,1761584891.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922307,0.351437,0.160754],[-0.380694,-0.897793,-0.221448],[0.066499,-0.265441,0.961831]]
2025-10-27T17:08:11.751Z,1761584891.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930330,0.326326,0.167323],[-0.359942,-0.899880,-0.246289],[0.070200,-0.289357,0.954644]]
2025-10-27T17:08:11.923Z,1761584891.923 [DAT](INFO): Powering up
2025-10-27T17:08:11.923Z,1761584891.923 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:08:12.561Z,1761584892.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947014,0.268349,0.176501],[-0.311229,-0.902469,-0.297802],[0.079372,-0.336955,0.938169]]
2025-10-27T17:08:12.954Z,1761584892.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954786,0.237448,0.178893],[-0.284946,-0.902535,-0.322857],[0.084795,-0.359234,0.929387]]
2025-10-27T17:08:13.359Z,1761584893.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961878,0.206876,0.178864],[-0.258138,-0.902780,-0.344025],[0.090304,-0.377082,0.921767]]
2025-10-27T17:08:13.764Z,1761584893.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968055,0.177588,0.177009],[-0.231886,-0.902642,-0.362582],[0.095386,-0.392045,0.914988]]
2025-10-27T17:08:14.163Z,1761584894.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973175,0.150764,0.173782],[-0.207156,-0.902820,-0.376832],[0.100082,-0.402724,0.909834]]
2025-10-27T17:08:14.681Z,1761584894.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980052,0.107689,0.167039],[-0.167021,-0.901807,-0.398558],[0.107717,-0.418507,0.901803]]
2025-10-27T17:08:15.078Z,1761584895.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982261,0.091415,0.163724],[-0.151334,-0.902029,-0.404280],[0.110727,-0.421886,0.899862]]
2025-10-27T17:08:15.592Z,1761584895.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983995,0.077435,0.160491],[-0.137464,-0.902959,-0.407147],[0.113389,-0.422692,0.899152]]
2025-10-27T17:08:16.474Z,1761584896.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986371,0.055342,0.154950],[-0.114740,-0.906329,-0.406697],[0.117928,-0.418933,0.900326]]
2025-10-27T17:08:16.925Z,1761584896.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987270,0.045529,0.152401],[-0.104279,-0.908778,-0.404040],[0.120103,-0.414789,0.901957]]
2025-10-27T17:08:17.344Z,1761584897.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988105,0.035402,0.149650],[-0.093237,-0.911795,-0.399922],[0.122292,-0.409117,0.904250]]
2025-10-27T17:08:17.855Z,1761584897.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988783,0.024790,0.147288],[-0.081827,-0.914884,-0.395338],[0.124951,-0.402956,0.906650]]
2025-10-27T17:08:19.325Z,1761584899.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990756,-0.038214,0.130165],[-0.014610,-0.923865,-0.382438],[0.134869,-0.380805,0.914767]]
2025-10-27T17:08:19.733Z,1761584899.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990701,-0.058502,0.122841],[0.007199,-0.924117,-0.382042],[0.135869,-0.377605,0.915944]]
2025-10-27T17:08:20.129Z,1761584900.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990261,-0.078695,0.114849],[0.028910,-0.923175,-0.383292],[0.136189,-0.376239,0.916459]]
2025-10-27T17:08:20.542Z,1761584900.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989409,-0.098359,0.106752],[0.050099,-0.921627,-0.384830],[0.136237,-0.375406,0.916793]]
2025-10-27T17:08:21.057Z,1761584901.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988107,-0.118114,0.098452],[0.071529,-0.919860,-0.385670],[0.136115,-0.374042,0.917369]]
2025-10-27T17:08:21.118Z,1761584901.118 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:08:21.118Z,1761584901.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateRudder:A] Stopped
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:08:21.119Z,1761584901.119 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateCommandMode] Stopped
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:08:21.120Z,1761584901.120 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:08:21.121Z,1761584901.121 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:08:21.121Z,1761584901.121 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:08:21.121Z,1761584901.121 [marl:UpdateSpeed] Stopped
2025-10-27T17:08:21.121Z,1761584901.121 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:08:21.287Z,1761584901.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:08:21.465Z,1761584901.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986356,-0.137866,0.089975],[0.092929,-0.917398,-0.386969],[0.135893,-0.373327,0.917693]]
2025-10-27T17:08:21.494Z,1761584901.494 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:08:21.494Z,1761584901.494 [marl:UpdateRudder:B] Stopped
2025-10-27T17:08:21.495Z,1761584901.495 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:08:21.495Z,1761584901.495 [marl:UpdateRudder] Stopped
2025-10-27T17:08:21.495Z,1761584901.495 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:08:21.897Z,1761584901.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981899,-0.175673,0.070807],[0.135096,-0.911594,-0.388260],[0.132754,-0.371666,0.918826]]
2025-10-27T17:08:22.291Z,1761584902.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:08:22.297Z,1761584902.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979255,-0.193557,0.059963],[0.155657,-0.908009,-0.388960],[0.129733,-0.371557,0.919301]]
2025-10-27T17:08:22.698Z,1761584902.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976476,-0.209898,0.049378],[0.175043,-0.905349,-0.386914],[0.125917,-0.369169,0.920793]]
2025-10-27T17:08:23.102Z,1761584903.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974417,-0.221166,0.039962],[0.189292,-0.903475,-0.384578],[0.121160,-0.367175,0.922227]]
2025-10-27T17:08:23.506Z,1761584903.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973494,-0.226232,0.033604],[0.197630,-0.906012,-0.374279],[0.115120,-0.357717,0.926707]]
2025-10-27T17:08:23.524Z,1761584903.524 [DAT](INFO): DAT read: 

2025-10-27T17:08:23.526Z,1761584903.526 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:08:23.921Z,1761584903.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973498,-0.226807,0.029321],[0.201839,-0.912371,-0.356148],[0.107529,-0.340791,0.933969]]
2025-10-27T17:08:24.318Z,1761584904.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974089,-0.224529,0.027167],[0.202808,-0.920322,-0.334479],[0.100103,-0.320302,0.942012]]
2025-10-27T17:08:24.719Z,1761584904.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975016,-0.220706,0.025170],[0.201933,-0.927845,-0.313572],[0.092561,-0.300654,0.949231]]
2025-10-27T17:08:25.052Z,1761584905.052 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:08:25.053Z,1761584905.053 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:08:25.054Z,1761584905.054 [DAT](INFO): DAT read: Oct 27 2025 17:08:19 

2025-10-27T17:08:25.122Z,1761584905.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975971,-0.216711,0.022734],[0.200511,-0.934028,-0.295612],[0.085297,-0.283951,0.955037]]
2025-10-27T17:08:25.542Z,1761584905.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977026,-0.212139,0.020434],[0.198210,-0.939717,-0.278649],[0.078315,-0.268197,0.960176]]
2025-10-27T17:08:25.930Z,1761584905.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977754,-0.209007,0.017678],[0.197029,-0.944082,-0.264363],[0.071943,-0.254999,0.964261]]
2025-10-27T17:08:26.060Z,1761584906.060 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:08:26.061Z,1761584906.061 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:08:26.062Z,1761584906.062 [DAT](INFO): commRate: 600
2025-10-27T17:08:26.745Z,1761584906.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978803,-0.204504,0.011112],[0.195769,-0.950176,-0.242572],[0.060165,-0.235255,0.970070]]
2025-10-27T17:08:27.142Z,1761584907.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978765,-0.204882,0.006590],[0.197634,-0.951695,-0.234984],[0.054415,-0.228692,0.971977]]
2025-10-27T17:08:27.549Z,1761584907.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978494,-0.206270,0.001367],[0.200484,-0.952564,-0.228974],[0.048533,-0.223775,0.973432]]
2025-10-27T17:08:27.950Z,1761584907.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977990,-0.208601,-0.004640],[0.204286,-0.952758,-0.224764],[0.042465,-0.220764,0.974402]]
2025-10-27T17:08:28.127Z,1761584908.127 [DAT](INFO): entering command mode
2025-10-27T17:08:28.327Z,1761584908.327 [DAT](INFO): DAT read: 

2025-10-27T17:08:28.328Z,1761584908.328 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:28.328Z,1761584908.328 [DAT](INFO): setting verbose to 3
2025-10-27T17:08:28.380Z,1761584908.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977312,-0.211530,-0.010763],[0.208657,-0.952828,-0.220412],[0.036368,-0.217657,0.975348]]
2025-10-27T17:08:28.580Z,1761584908.580 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:28.581Z,1761584908.581 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:08:28.581Z,1761584908.581 [DAT](INFO): set verbose to 3
2025-10-27T17:08:28.581Z,1761584908.581 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:08:28.761Z,1761584908.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976392,-0.215270,-0.017822],[0.213938,-0.952357,-0.217364],[0.029819,-0.216045,0.975928]]
2025-10-27T17:08:28.834Z,1761584908.834 [DAT](INFO): DAT read: user:2>

2025-10-27T17:08:28.838Z,1761584908.838 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:08:28.839Z,1761584908.839 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:08:28.840Z,1761584908.840 [DAT](INFO): setting transmit power to 8
2025-10-27T17:08:29.084Z,1761584909.084 [DAT](INFO): DAT read: user:3>

2025-10-27T17:08:29.085Z,1761584909.085 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:08:29.085Z,1761584909.085 [DAT](INFO): set transmit power to 8
2025-10-27T17:08:29.085Z,1761584909.085 [DAT](INFO): setting local address to 11
2025-10-27T17:08:29.163Z,1761584909.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975513,-0.218469,-0.025410],[0.218737,-0.951602,-0.215887],[0.022984,-0.216158,0.976088]]
2025-10-27T17:08:29.340Z,1761584909.340 [DAT](INFO): DAT read: user:4>

2025-10-27T17:08:29.341Z,1761584909.341 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:08:29.341Z,1761584909.341 [DAT](INFO): set local address to 11
2025-10-27T17:08:29.343Z,1761584909.342 [DAT](INFO): Setting time to: 17:8:29 And date to:10/27/2025
2025-10-27T17:08:29.568Z,1761584909.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974803,-0.220571,-0.033277],[0.222492,-0.950707,-0.215992],[0.016005,-0.217953,0.975828]]
2025-10-27T17:08:29.588Z,1761584909.588 [DAT](INFO): DAT read: user:5>

2025-10-27T17:08:29.589Z,1761584909.589 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:08:29  

2025-10-27T17:08:29.589Z,1761584909.589 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:08:29  

2025-10-27T17:08:29.590Z,1761584909.590 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:29.590Z,1761584909.590 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:29.590Z,1761584909.590 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:29.840Z,1761584909.840 [DAT](INFO): DAT read: user:6>

2025-10-27T17:08:29.841Z,1761584909.841 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:08:29.841Z,1761584909.841 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:08:29.841Z,1761584909.841 [DAT] Communications Fault, FailCount= 6
2025-10-27T17:08:29.841Z,1761584909.841 [DAT](ERROR): Communications Fault
2025-10-27T17:08:29.842Z,1761584909.842 [DAT](INFO): DAT read: user:7>

2025-10-27T17:08:29.843Z,1761584909.843 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:08:29.844Z,1761584909.844 [DAT](INFO): set remote address to 0
2025-10-27T17:08:29.844Z,1761584909.844 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:29.844Z,1761584909.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:29.844Z,1761584909.844 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:29.970Z,1761584909.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974559,-0.220470,-0.040343],[0.223943,-0.950456,-0.215601],[0.009190,-0.219150,0.975648]]
2025-10-27T17:08:30.158Z,1761584910.158 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:08:30.247Z,1761584910.247 [DAT](INFO): Powering down
2025-10-27T17:08:30.374Z,1761584910.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974490,-0.219464,-0.046955],[0.224416,-0.950416,-0.215285],[0.002621,-0.220331,0.975422]]
2025-10-27T17:08:30.778Z,1761584910.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974667,-0.217286,-0.053027],[0.223633,-0.950588,-0.215338],[-0.003617,-0.221742,0.975099]]
2025-10-27T17:08:31.182Z,1761584911.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974936,-0.214750,-0.058155],[0.222289,-0.951171,-0.214153],[-0.009327,-0.221713,0.975067]]
2025-10-27T17:08:31.410Z,1761584911.410 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:08:31.410Z,1761584911.410 [DAT] No Fault, FailCount= 6
2025-10-27T17:08:31.990Z,1761584911.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975270,-0.210521,-0.067301],[0.220187,-0.951823,-0.213424],[-0.019129,-0.222965,0.974639]]
2025-10-27T17:08:32.396Z,1761584912.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975021,-0.210365,-0.071279],[0.220910,-0.951799,-0.212784],[-0.023081,-0.223215,0.974496]]
2025-10-27T17:08:33.202Z,1761584913.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973611,-0.213986,-0.079322],[0.226217,-0.950807,-0.211641],[-0.030131,-0.224000,0.974123]]
2025-10-27T17:08:33.481Z,1761584913.481 [DAT](INFO): Powering up
2025-10-27T17:08:33.481Z,1761584913.481 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:08:33.606Z,1761584913.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972448,-0.217532,-0.083810],[0.230688,-0.949748,-0.211569],[-0.033576,-0.225073,0.973763]]
2025-10-27T17:08:34.024Z,1761584914.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971236,-0.221235,-0.088065],[0.235244,-0.948772,-0.210932],[-0.036888,-0.225582,0.973526]]
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateRudder:A] Stopped
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:08:34.073Z,1761584914.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateCommandMode] Stopped
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:08:34.074Z,1761584914.074 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:08:34.075Z,1761584914.075 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:08:34.079Z,1761584914.079 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:08:34.079Z,1761584914.079 [marl:UpdateSpeed] Stopped
2025-10-27T17:08:34.079Z,1761584914.079 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:08:34.414Z,1761584914.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969988,-0.224756,-0.092784],[0.239746,-0.947692,-0.210717],[-0.040571,-0.226637,0.973134]]
2025-10-27T17:08:34.461Z,1761584914.461 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:08:34.462Z,1761584914.462 [marl:UpdateRudder:B] Stopped
2025-10-27T17:08:34.462Z,1761584914.462 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:08:34.462Z,1761584914.462 [marl:UpdateRudder] Stopped
2025-10-27T17:08:34.462Z,1761584914.462 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:08:34.822Z,1761584914.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968833,-0.227606,-0.097769],[0.243617,-0.946953,-0.209595],[-0.044877,-0.226880,0.972888]]
2025-10-27T17:08:35.227Z,1761584915.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967779,-0.229777,-0.102986],[0.246870,-0.946382,-0.208364],[-0.049586,-0.227075,0.972614]]
2025-10-27T17:08:35.627Z,1761584915.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967023,-0.230546,-0.108239],[0.248735,-0.946247,-0.206756],[-0.054754,-0.226860,0.972387]]
2025-10-27T17:08:36.032Z,1761584916.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966486,-0.230344,-0.113342],[0.249603,-0.946380,-0.205093],[-0.060023,-0.226510,0.972158]]
2025-10-27T17:08:36.434Z,1761584916.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966297,-0.228643,-0.118290],[0.249048,-0.946597,-0.204767],[-0.065155,-0.227326,0.971637]]
2025-10-27T17:08:36.888Z,1761584916.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966332,-0.226437,-0.122179],[0.247708,-0.947166,-0.203756],[-0.069586,-0.227161,0.971368]]
2025-10-27T17:08:37.315Z,1761584917.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966482,-0.224089,-0.125287],[0.246165,-0.947442,-0.204346],[-0.072911,-0.228338,0.970848]]
2025-10-27T17:08:38.121Z,1761584918.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966745,-0.221892,-0.127152],[0.244501,-0.947706,-0.205116],[-0.074989,-0.229384,0.970443]]
2025-10-27T17:08:38.528Z,1761584918.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966781,-0.221773,-0.127092],[0.244641,-0.946897,-0.208654],[-0.074069,-0.232815,0.969696]]
2025-10-27T17:08:38.930Z,1761584918.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966434,-0.223827,-0.126119],[0.246529,-0.946098,-0.210053],[-0.072305,-0.234094,0.969522]]
2025-10-27T17:08:39.334Z,1761584919.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966107,-0.225809,-0.125092],[0.248433,-0.944963,-0.212897],[-0.070133,-0.236758,0.969034]]
2025-10-27T17:08:39.754Z,1761584919.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965278,-0.229623,-0.124543],[0.252169,-0.943535,-0.214830],[-0.068181,-0.238777,0.968678]]
2025-10-27T17:08:40.141Z,1761584920.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964175,-0.234408,-0.124176],[0.256774,-0.942234,-0.215085],[-0.066585,-0.239265,0.968669]]
2025-10-27T17:08:40.546Z,1761584920.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962940,-0.239519,-0.124009],[0.261742,-0.940818,-0.215295],[-0.065102,-0.239774,0.968643]]
2025-10-27T17:08:40.968Z,1761584920.968 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T17:08:40.968Z,1761584920.968 [NAL9602] Data Fault, FailCount= 1
2025-10-27T17:08:40.968Z,1761584920.968 [NAL9602](ERROR): Data Fault
2025-10-27T17:08:41.060Z,1761584921.060 [marl:NeedComms] Running Loop=1
2025-10-27T17:08:41.060Z,1761584921.060 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T17:08:41.060Z,1761584921.060 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T17:08:41.060Z,1761584921.060 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T17:08:41.061Z,1761584921.061 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T17:08:41.061Z,1761584921.061 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T17:08:41.061Z,1761584921.061 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T17:08:41.062Z,1761584921.062 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T17:08:41.062Z,1761584921.062 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T17:08:41.062Z,1761584921.062 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T17:08:41.063Z,1761584921.063 [marl:NeedComms:A] Running Loop=1
2025-10-27T17:08:41.073Z,1761584921.073 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T17:08:41.074Z,1761584921.074 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T17:08:41.074Z,1761584921.074 [marl:NeedComms:A] Stopped
2025-10-27T17:08:41.150Z,1761584921.150 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T17:08:41.370Z,1761584921.370 [NAL9602](INFO): Powering down
2025-10-27T17:08:41.400Z,1761584921.400 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:08:41.762Z,1761584921.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959664,-0.252666,-0.123311],[0.274143,-0.938251,-0.211024],[-0.062378,-0.236317,0.969672]]
2025-10-27T17:08:41.895Z,1761584921.895 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:08:41.896Z,1761584921.895 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:08:42.163Z,1761584922.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958715,-0.256095,-0.123612],[0.277463,-0.937642,-0.209385],[-0.062282,-0.235038,0.969989]]
2025-10-27T17:08:42.550Z,1761584922.550 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T17:08:42.550Z,1761584922.550 [NAL9602] No Fault, FailCount= 1
2025-10-27T17:08:42.583Z,1761584922.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957815,-0.259302,-0.123907],[0.280480,-0.937400,-0.206429],[-0.062623,-0.232474,0.970584]]
2025-10-27T17:08:43.382Z,1761584923.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956334,-0.263529,-0.126404],[0.284710,-0.937721,-0.199048],[-0.066077,-0.226345,0.971803]]
2025-10-27T17:08:43.793Z,1761584923.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955708,-0.263531,-0.131052],[0.285375,-0.938662,-0.193582],[-0.071999,-0.222406,0.972292]]
2025-10-27T17:08:44.191Z,1761584924.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955189,-0.261035,-0.139552],[0.284379,-0.940093,-0.188027],[-0.082110,-0.219287,0.972199]]
2025-10-27T17:08:44.596Z,1761584924.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954225,-0.257963,-0.151357],[0.283448,-0.941485,-0.182382],[-0.095452,-0.216935,0.971508]]
2025-10-27T17:08:45.005Z,1761584925.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952838,-0.254489,-0.165331],[0.282662,-0.942510,-0.178261],[-0.110461,-0.216587,0.969994]]
2025-10-27T17:08:45.088Z,1761584925.088 [DAT](INFO): DAT read: 

2025-10-27T17:08:45.089Z,1761584925.089 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:08:45.402Z,1761584925.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951011,-0.251110,-0.180336],[0.282209,-0.943307,-0.174729],[-0.126236,-0.217061,0.967961]]
2025-10-27T17:08:46.210Z,1761584926.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946268,-0.246185,-0.209691],[0.282707,-0.944597,-0.166771],[-0.157017,-0.217091,0.963440]]
2025-10-27T17:08:46.600Z,1761584926.600 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:08:46.601Z,1761584926.601 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:08:46.602Z,1761584926.602 [DAT](INFO): DAT read: Oct 27 2025 17:08:41 

2025-10-27T17:08:46.617Z,1761584926.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943702,-0.244179,-0.223167],[0.283142,-0.945082,-0.163251],[-0.171049,-0.217248,0.961013]]
2025-10-27T17:08:47.020Z,1761584927.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941107,-0.242304,-0.235811],[0.283666,-0.945362,-0.160697],[-0.183989,-0.218125,0.958420]]
2025-10-27T17:08:47.061Z,1761584927.061 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:08:47.061Z,1761584927.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:08:47.062Z,1761584927.062 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:08:47.064Z,1761584927.064 [marl:UpdateRudder:A] Stopped
2025-10-27T17:08:47.064Z,1761584927.064 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:08:47.064Z,1761584927.064 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:08:47.064Z,1761584927.064 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:08:47.064Z,1761584927.064 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:08:47.065Z,1761584927.065 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:08:47.065Z,1761584927.065 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:08:47.065Z,1761584927.065 [marl:UpdateCommandMode] Stopped
2025-10-27T17:08:47.065Z,1761584927.065 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:08:47.071Z,1761584927.071 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:08:47.071Z,1761584927.071 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:08:47.071Z,1761584927.071 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:08:47.072Z,1761584927.072 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:08:47.072Z,1761584927.072 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:08:47.072Z,1761584927.072 [marl:UpdateSpeed] Stopped
2025-10-27T17:08:47.072Z,1761584927.072 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:08:47.473Z,1761584927.473 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:08:47.473Z,1761584927.473 [marl:UpdateRudder:B] Stopped
2025-10-27T17:08:47.473Z,1761584927.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:08:47.473Z,1761584927.473 [marl:UpdateRudder] Stopped
2025-10-27T17:08:47.473Z,1761584927.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:08:47.608Z,1761584927.608 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:08:47.609Z,1761584927.609 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:08:47.610Z,1761584927.610 [DAT](INFO): commRate: 600
2025-10-27T17:08:47.834Z,1761584927.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936051,-0.238977,-0.258260],[0.284088,-0.946355,-0.153969],[-0.207610,-0.217491,0.953727]]
2025-10-27T17:08:48.234Z,1761584928.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932903,-0.238339,-0.269975],[0.285261,-0.946636,-0.150018],[-0.219813,-0.216966,0.951109]]
2025-10-27T17:08:48.639Z,1761584928.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929004,-0.238626,-0.282858],[0.287549,-0.946598,-0.145837],[-0.232952,-0.216819,0.948010]]
2025-10-27T17:08:49.514Z,1761584929.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913056,-0.245247,-0.325858],[0.298360,-0.946400,-0.123729],[-0.278048,-0.210194,0.937287]]
2025-10-27T17:08:49.675Z,1761584929.675 [DAT](INFO): entering command mode
2025-10-27T17:08:49.876Z,1761584929.876 [DAT](INFO): DAT read: 

2025-10-27T17:08:49.876Z,1761584929.876 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:49.877Z,1761584929.877 [DAT](INFO): setting verbose to 3
2025-10-27T17:08:49.921Z,1761584929.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906396,-0.247815,-0.342101],[0.303155,-0.945577,-0.118243],[-0.294181,-0.210884,0.932194]]
2025-10-27T17:08:50.128Z,1761584930.128 [DAT](INFO): DAT read: user:1>

2025-10-27T17:08:50.129Z,1761584930.129 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:08:50.129Z,1761584930.129 [DAT](INFO): set verbose to 3
2025-10-27T17:08:50.129Z,1761584930.129 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:08:50.318Z,1761584930.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898338,-0.252514,-0.359481],[0.311187,-0.943366,-0.114993],[-0.310084,-0.215168,0.926040]]
2025-10-27T17:08:50.380Z,1761584930.380 [DAT](INFO): DAT read: user:2>

2025-10-27T17:08:50.381Z,1761584930.381 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:08:50.381Z,1761584930.381 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:08:50.381Z,1761584930.381 [DAT](INFO): setting transmit power to 8
2025-10-27T17:08:50.632Z,1761584930.632 [DAT](INFO): DAT read: user:3>

2025-10-27T17:08:50.633Z,1761584930.633 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:08:50.634Z,1761584930.634 [DAT](INFO): set transmit power to 8
2025-10-27T17:08:50.634Z,1761584930.634 [DAT](INFO): setting local address to 11
2025-10-27T17:08:50.757Z,1761584930.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888584,-0.257709,-0.379480],[0.322867,-0.939019,-0.118322],[-0.325846,-0.227661,0.917603]]
2025-10-27T17:08:50.886Z,1761584930.886 [DAT](INFO): DAT read: user:4>

2025-10-27T17:08:50.890Z,1761584930.890 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:08:50.892Z,1761584930.892 [DAT](INFO): set local address to 11
2025-10-27T17:08:50.893Z,1761584930.893 [DAT](INFO): Setting time to: 17:8:50 And date to:10/27/2025
2025-10-27T17:08:51.140Z,1761584931.140 [DAT](INFO): DAT read: user:5>

2025-10-27T17:08:51.141Z,1761584931.141 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:08:50  

2025-10-27T17:08:51.141Z,1761584931.141 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:08:50  

2025-10-27T17:08:51.142Z,1761584931.142 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:51.142Z,1761584931.142 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:51.142Z,1761584931.142 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:51.192Z,1761584931.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877404,-0.264501,-0.400250],[0.337819,-0.933010,-0.123976],[-0.340646,-0.243990,0.907981]]
2025-10-27T17:08:51.394Z,1761584931.394 [DAT](INFO): DAT read: user:6>

2025-10-27T17:08:51.395Z,1761584931.395 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:08:51.395Z,1761584931.395 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:08:51.395Z,1761584931.395 [DAT] Communications Fault, FailCount= 7
2025-10-27T17:08:51.395Z,1761584931.395 [DAT](ERROR): Communications Fault
2025-10-27T17:08:51.396Z,1761584931.396 [DAT](INFO): DAT read: user:7>

2025-10-27T17:08:51.397Z,1761584931.397 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:08:51.397Z,1761584931.397 [DAT](INFO): set remote address to 0
2025-10-27T17:08:51.398Z,1761584931.398 [DAT](INFO): setting remote address to 6
2025-10-27T17:08:51.398Z,1761584931.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:08:51.398Z,1761584931.398 [DAT](INFO): setting remote address to 0
2025-10-27T17:08:51.746Z,1761584931.746 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:08:51.787Z,1761584931.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865712,-0.271717,-0.420373],[0.354028,-0.926088,-0.130484],[-0.353847,-0.261785,0.897920]]
2025-10-27T17:08:51.806Z,1761584931.806 [DAT](INFO): Powering down
2025-10-27T17:08:52.358Z,1761584932.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845959,-0.282288,-0.452401],[0.381267,-0.913331,-0.143044],[-0.372812,-0.293494,0.880268]]
2025-10-27T17:08:52.424Z,1761584932.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:08:52.973Z,1761584932.973 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:08:52.973Z,1761584932.973 [DAT] No Fault, FailCount= 7
2025-10-27T17:08:53.012Z,1761584933.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838437,-0.287164,-0.463206],[0.392908,-0.907493,-0.148593],[-0.377686,-0.306583,0.873705]]
2025-10-27T17:08:53.427Z,1761584933.427 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:08:53.621Z,1761584933.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824725,-0.301942,-0.478184],[0.416860,-0.895965,-0.153216],[-0.382174,-0.325696,0.864792]]
2025-10-27T17:08:54.113Z,1761584934.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818919,-0.310061,-0.482943],[0.428175,-0.890411,-0.154384],[-0.382150,-0.333212,0.861935]]
2025-10-27T17:08:54.523Z,1761584934.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812731,-0.318880,-0.487631],[0.439555,-0.884931,-0.153912],[-0.382440,-0.339430,0.859376]]
2025-10-27T17:08:54.928Z,1761584934.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806399,-0.327491,-0.492414],[0.450475,-0.879634,-0.152697],[-0.383137,-0.344955,0.856862]]
2025-10-27T17:08:55.036Z,1761584935.036 [DAT](INFO): Powering up
2025-10-27T17:08:55.036Z,1761584935.036 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:08:55.371Z,1761584935.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799871,-0.337573,-0.496236],[0.461427,-0.874611,-0.148795],[-0.383785,-0.347994,0.855342]]
2025-10-27T17:08:55.774Z,1761584935.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793822,-0.346060,-0.500090],[0.471642,-0.869449,-0.147011],[-0.383928,-0.352564,0.853404]]
2025-10-27T17:08:56.182Z,1761584936.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788161,-0.354589,-0.503059],[0.481410,-0.864429,-0.144935],[-0.383467,-0.356410,0.852013]]
2025-10-27T17:08:56.574Z,1761584936.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783074,-0.362775,-0.505162],[0.490742,-0.859397,-0.143558],[-0.382056,-0.360322,0.851000]]
2025-10-27T17:08:57.432Z,1761584937.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774518,-0.379237,-0.506262],[0.508994,-0.848836,-0.142841],[-0.375563,-0.368317,0.850468]]
2025-10-27T17:08:57.848Z,1761584937.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770786,-0.388474,-0.504953],[0.518293,-0.843264,-0.142403],[-0.370488,-0.371476,0.851319]]
2025-10-27T17:08:58.245Z,1761584938.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767252,-0.399773,-0.501504],[0.527950,-0.837662,-0.139969],[-0.364135,-0.372161,0.853758]]
2025-10-27T17:08:58.650Z,1761584938.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763572,-0.411786,-0.497384],[0.538115,-0.831555,-0.137654],[-0.356918,-0.372758,0.856540]]
2025-10-27T17:08:59.056Z,1761584939.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759365,-0.425423,-0.492322],[0.549089,-0.824939,-0.134081],[-0.349094,-0.372145,0.860024]]
2025-10-27T17:08:59.489Z,1761584939.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754079,-0.439719,-0.487864],[0.561089,-0.817399,-0.130527],[-0.341385,-0.372163,0.863106]]
2025-10-27T17:08:59.897Z,1761584939.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747319,-0.454795,-0.484435],[0.574148,-0.808959,-0.126252],[-0.334469,-0.372488,0.865669]]
2025-10-27T17:09:00.300Z,1761584940.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739026,-0.469799,-0.482835],[0.587915,-0.799709,-0.121743],[-0.328933,-0.373838,0.867207]]
2025-10-27T17:09:00.697Z,1761584940.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730150,-0.484785,-0.481524],[0.601627,-0.790206,-0.116708],[-0.323925,-0.374912,0.868628]]
2025-10-27T17:09:01.365Z,1761584941.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711349,-0.512185,-0.481300],[0.627892,-0.770807,-0.107740],[-0.315807,-0.378845,0.869909]]
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateRudder:A] Stopped
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:09:01.466Z,1761584941.466 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateCommandMode] Stopped
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:09:01.468Z,1761584941.468 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:09:01.469Z,1761584941.469 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:09:01.469Z,1761584941.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:09:01.469Z,1761584941.469 [marl:UpdateSpeed] Stopped
2025-10-27T17:09:01.469Z,1761584941.469 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:09:02.069Z,1761584942.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689098,-0.540679,-0.482505],[0.653862,-0.750959,-0.092325],[-0.312423,-0.379113,0.871014]]
2025-10-27T17:09:02.106Z,1761584942.106 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:09:02.106Z,1761584942.106 [marl:UpdateRudder:B] Stopped
2025-10-27T17:09:02.106Z,1761584942.106 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:09:02.106Z,1761584942.106 [marl:UpdateRudder] Stopped
2025-10-27T17:09:02.106Z,1761584942.106 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:09:02.563Z,1761584942.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677104,-0.554452,-0.483852],[0.666628,-0.740620,-0.084196],[-0.311668,-0.379559,0.871090]]
2025-10-27T17:09:02.971Z,1761584942.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665101,-0.566443,-0.486603],[0.679019,-0.729920,-0.078417],[-0.310763,-0.382568,0.870097]]
2025-10-27T17:09:03.366Z,1761584943.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653393,-0.577822,-0.489079],[0.690861,-0.719274,-0.073182],[-0.309496,-0.385703,0.869164]]
2025-10-27T17:09:03.770Z,1761584943.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642263,-0.588586,-0.490984],[0.701804,-0.709122,-0.067953],[-0.308171,-0.388218,0.868514]]
2025-10-27T17:09:04.176Z,1761584944.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634081,-0.598577,-0.489537],[0.709757,-0.701781,-0.061228],[-0.306898,-0.386276,0.869830]]
2025-10-27T17:09:04.578Z,1761584944.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628981,-0.609538,-0.482541],[0.714582,-0.697759,-0.050044],[-0.306194,-0.376292,0.874442]]
2025-10-27T17:09:04.982Z,1761584944.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626004,-0.621706,-0.470746],[0.717295,-0.695900,-0.034806],[-0.305953,-0.359452,0.881582]]
2025-10-27T17:09:05.386Z,1761584945.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624551,-0.633064,-0.457347],[0.718357,-0.695433,-0.018360],[-0.306431,-0.340005,0.889099]]
2025-10-27T17:09:05.790Z,1761584945.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624153,-0.643012,-0.443811],[0.718110,-0.695928,-0.001624],[-0.307817,-0.319719,0.896119]]
2025-10-27T17:09:06.197Z,1761584946.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624309,-0.652001,-0.430272],[0.716822,-0.697068,0.016201],[-0.310492,-0.298314,0.902554]]
2025-10-27T17:09:06.598Z,1761584946.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624227,-0.659225,-0.419240],[0.714882,-0.698427,0.033804],[-0.315093,-0.278606,0.907246]]
2025-10-27T17:09:06.648Z,1761584946.648 [DAT](INFO): DAT read: 

2025-10-27T17:09:06.649Z,1761584946.649 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:09:07.002Z,1761584947.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623830,-0.665190,-0.410316],[0.712676,-0.699656,0.050731],[-0.320826,-0.260775,0.910531]]
2025-10-27T17:09:07.407Z,1761584947.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622809,-0.669528,-0.404773],[0.710592,-0.700557,0.065415],[-0.327364,-0.246888,0.912074]]
2025-10-27T17:09:07.810Z,1761584947.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621928,-0.671689,-0.402542],[0.708633,-0.701504,0.075704],[-0.333234,-0.238172,0.912266]]
2025-10-27T17:09:08.160Z,1761584948.160 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:09:08.161Z,1761584948.161 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:09:08.162Z,1761584948.162 [DAT](INFO): DAT read: Oct 27 2025 17:09:02 

2025-10-27T17:09:08.240Z,1761584948.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620823,-0.672388,-0.403080],[0.707477,-0.702030,0.081420],[-0.337720,-0.234623,0.911536]]
2025-10-27T17:09:08.618Z,1761584948.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619672,-0.671978,-0.405527],[0.707084,-0.702224,0.083149],[-0.340645,-0.235216,0.910293]]
2025-10-27T17:09:09.032Z,1761584949.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618580,-0.670993,-0.408812],[0.707342,-0.702091,0.082070],[-0.342092,-0.238403,0.908921]]
2025-10-27T17:09:09.169Z,1761584949.169 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:09:09.170Z,1761584949.170 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:09:09.171Z,1761584949.171 [DAT](INFO): commRate: 600
2025-10-27T17:09:09.439Z,1761584949.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616892,-0.670622,-0.411959],[0.708358,-0.701217,0.080763],[-0.343034,-0.241993,0.907616]]
2025-10-27T17:09:09.832Z,1761584949.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614399,-0.670830,-0.415333],[0.709875,-0.699757,0.080107],[-0.344371,-0.245617,0.906135]]
2025-10-27T17:09:10.234Z,1761584950.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610569,-0.672154,-0.418825],[0.711847,-0.697561,0.081746],[-0.347102,-0.248228,0.904380]]
2025-10-27T17:09:10.638Z,1761584950.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605922,-0.673615,-0.423203],[0.713724,-0.695275,0.084797],[-0.351363,-0.250670,0.902058]]
2025-10-27T17:09:11.042Z,1761584951.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600560,-0.675352,-0.428051],[0.715327,-0.693001,0.089763],[-0.357261,-0.252288,0.899286]]
2025-10-27T17:09:11.235Z,1761584951.235 [DAT](INFO): entering command mode
2025-10-27T17:09:11.436Z,1761584951.436 [DAT](INFO): DAT read: 

2025-10-27T17:09:11.438Z,1761584951.438 [DAT](INFO): DAT read: user:1>

2025-10-27T17:09:11.438Z,1761584951.438 [DAT](INFO): setting verbose to 3
2025-10-27T17:09:11.508Z,1761584951.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595148,-0.677048,-0.432902],[0.716121,-0.691260,0.096599],[-0.364650,-0.252519,0.896250]]
2025-10-27T17:09:11.515Z,1761584951.515 [NAL9602](INFO): Powering up NAL9602
2025-10-27T17:09:11.688Z,1761584951.688 [DAT](INFO): DAT read: user:1>

2025-10-27T17:09:11.689Z,1761584951.689 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:09:11.689Z,1761584951.689 [DAT](INFO): set verbose to 3
2025-10-27T17:09:11.689Z,1761584951.689 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:09:11.941Z,1761584951.941 [DAT](INFO): DAT read: user:2>

2025-10-27T17:09:11.944Z,1761584951.944 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:09:11.945Z,1761584951.945 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:09:11.945Z,1761584951.945 [DAT](INFO): setting transmit power to 8
2025-10-27T17:09:12.042Z,1761584952.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585814,-0.679718,-0.441367],[0.716046,-0.689177,0.110964],[-0.379604,-0.251035,0.890439]]
2025-10-27T17:09:12.192Z,1761584952.192 [DAT](INFO): DAT read: user:3>

2025-10-27T17:09:12.193Z,1761584952.193 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:09:12.193Z,1761584952.193 [DAT](INFO): set transmit power to 8
2025-10-27T17:09:12.193Z,1761584952.193 [DAT](INFO): setting local address to 11
2025-10-27T17:09:12.444Z,1761584952.444 [DAT](INFO): DAT read: user:4>

2025-10-27T17:09:12.445Z,1761584952.445 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:09:12.446Z,1761584952.446 [DAT](INFO): set local address to 11
2025-10-27T17:09:12.447Z,1761584952.447 [DAT](INFO): Setting time to: 17:9:12 And date to:10/27/2025
2025-10-27T17:09:12.461Z,1761584952.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583233,-0.679795,-0.444655],[0.715210,-0.689272,0.115664],[-0.385116,-0.250563,0.888203]]
2025-10-27T17:09:12.696Z,1761584952.696 [DAT](INFO): DAT read: user:5>

2025-10-27T17:09:12.697Z,1761584952.697 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:09:12  

2025-10-27T17:09:12.697Z,1761584952.697 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:09:12  

2025-10-27T17:09:12.698Z,1761584952.698 [DAT](INFO): setting remote address to 6
2025-10-27T17:09:12.698Z,1761584952.698 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:09:12.698Z,1761584952.698 [DAT](INFO): setting remote address to 0
2025-10-27T17:09:12.874Z,1761584952.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581605,-0.679960,-0.446531],[0.714354,-0.689505,0.119508],[-0.389146,-0.249475,0.886751]]
2025-10-27T17:09:12.948Z,1761584952.948 [DAT](INFO): DAT read: user:6>

2025-10-27T17:09:12.949Z,1761584952.949 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:09:12.949Z,1761584952.949 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:09:12.950Z,1761584952.950 [DAT] Communications Fault, FailCount= 8
2025-10-27T17:09:12.950Z,1761584952.950 [DAT](ERROR): Communications Fault
2025-10-27T17:09:12.950Z,1761584952.950 [DAT](INFO): DAT read: user:7>

2025-10-27T17:09:12.952Z,1761584952.952 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:09:12.952Z,1761584952.952 [DAT](INFO): set remote address to 0
2025-10-27T17:09:12.952Z,1761584952.952 [DAT](INFO): setting remote address to 6
2025-10-27T17:09:12.952Z,1761584952.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:09:12.953Z,1761584952.953 [DAT](INFO): setting remote address to 0
2025-10-27T17:09:13.129Z,1761584953.129 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:09:13.130Z,1761584953.130 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-27T17:09:13.242Z,1761584953.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579680,-0.682297,-0.445468],[0.714250,-0.688594,0.125238],[-0.392196,-0.245578,0.886495]]
2025-10-27T17:09:13.355Z,1761584953.355 [DAT](INFO): Powering down
2025-10-27T17:09:13.644Z,1761584953.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578226,-0.683609,-0.445346],[0.714297,-0.687933,0.128557],[-0.394251,-0.243774,0.886081]]
2025-10-27T17:09:14.045Z,1761584954.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576257,-0.685611,-0.444821],[0.714997,-0.686563,0.131947],[-0.395862,-0.242010,0.885847]]
2025-10-27T17:09:14.453Z,1761584954.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574248,-0.687748,-0.444119],[0.715932,-0.684985,0.135043],[-0.397090,-0.240411,0.885732]]
2025-10-27T17:09:14.967Z,1761584954.967 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:09:14.967Z,1761584954.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:09:14.967Z,1761584954.967 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateRudder:A] Stopped
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:09:14.968Z,1761584954.968 [marl:UpdateCommandMode] Stopped
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed] Stopped
2025-10-27T17:09:14.969Z,1761584954.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:09:15.278Z,1761584955.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567896,-0.693747,-0.442955],[0.719132,-0.679996,0.143024],[-0.400429,-0.237320,0.885062]]
2025-10-27T17:09:15.301Z,1761584955.301 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:09:15.301Z,1761584955.301 [marl:UpdateRudder:B] Stopped
2025-10-27T17:09:15.302Z,1761584955.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:09:15.302Z,1761584955.302 [marl:UpdateRudder] Stopped
2025-10-27T17:09:15.302Z,1761584955.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:09:15.682Z,1761584955.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563721,-0.696013,-0.444731],[0.721377,-0.677123,0.145325],[-0.402285,-0.238896,0.883796]]
2025-10-27T17:09:16.087Z,1761584956.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560122,-0.696896,-0.447882],[0.723328,-0.674970,0.145645],[-0.403806,-0.242387,0.882150]]
2025-10-27T17:09:16.490Z,1761584956.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557957,-0.696469,-0.451237],[0.724669,-0.673874,0.144046],[-0.404400,-0.246626,0.880702]]
2025-10-27T17:09:16.904Z,1761584956.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556863,-0.695305,-0.454373],[0.725511,-0.673511,0.141483],[-0.404398,-0.250866,0.879505]]
2025-10-27T17:09:17.304Z,1761584957.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556275,-0.695314,-0.455078],[0.725885,-0.673162,0.141222],[-0.404535,-0.251776,0.879182]]
2025-10-27T17:09:17.702Z,1761584957.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555844,-0.695158,-0.455844],[0.725933,-0.673098,0.141284],[-0.405042,-0.252380,0.878775]]
2025-10-27T17:09:18.105Z,1761584958.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555074,-0.696492,-0.454744],[0.725452,-0.672825,0.145000],[-0.406954,-0.249409,0.878740]]
2025-10-27T17:09:18.510Z,1761584958.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554256,-0.698401,-0.452810],[0.724084,-0.672866,0.151504],[-0.410491,-0.243900,0.878641]]
2025-10-27T17:09:18.930Z,1761584958.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553714,-0.700457,-0.450289],[0.721870,-0.673337,0.159751],[-0.415095,-0.236594,0.878475]]
2025-10-27T17:09:19.319Z,1761584959.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553028,-0.702308,-0.448244],[0.719501,-0.673844,0.168083],[-0.420093,-0.229558,0.877967]]
2025-10-27T17:09:19.725Z,1761584959.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551335,-0.704295,-0.447212],[0.718339,-0.673360,0.174858],[-0.424287,-0.224844,0.877169]]
2025-10-27T17:09:20.126Z,1761584960.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549273,-0.705288,-0.448183],[0.718493,-0.672459,0.177668],[-0.426692,-0.224428,0.876108]]
2025-10-27T17:09:20.530Z,1761584960.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547828,-0.704112,-0.451786],[0.719751,-0.671949,0.174480],[-0.426430,-0.229589,0.874898]]
2025-10-27T17:09:20.941Z,1761584960.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547350,-0.701604,-0.456245],[0.721591,-0.671783,0.167372],[-0.423927,-0.237611,0.873972]]
2025-10-27T17:09:21.337Z,1761584961.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546610,-0.699446,-0.460427],[0.724149,-0.670937,0.159540],[-0.420507,-0.246211,0.873244]]
2025-10-27T17:09:21.749Z,1761584961.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547024,-0.697497,-0.462885],[0.726949,-0.669997,0.150497],[-0.415102,-0.254168,0.873549]]
2025-10-27T17:09:22.146Z,1761584962.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549464,-0.696482,-0.461521],[0.729883,-0.668963,0.140570],[-0.406645,-0.259618,0.875922]]
2025-10-27T17:09:22.558Z,1761584962.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553385,-0.695412,-0.458440],[0.733239,-0.667827,0.127936],[-0.395127,-0.265348,0.879469]]
2025-10-27T17:09:22.572Z,1761584962.572 [NAL9602](INFO): NAL9602 initialized
2025-10-27T17:09:22.954Z,1761584962.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557351,-0.695282,-0.453809],[0.737745,-0.665470,0.113500],[-0.380911,-0.271536,0.883841]]
2025-10-27T17:09:23.551Z,1761584963.551 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:09:23.764Z,1761584963.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565218,-0.699518,-0.437268],[0.750218,-0.656310,0.080189],[-0.343077,-0.282722,0.895749]]
2025-10-27T17:09:24.168Z,1761584964.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569907,-0.703259,-0.425010],[0.755782,-0.651612,0.064766],[-0.322489,-0.284305,0.902869]]
2025-10-27T17:09:24.551Z,1761584964.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:09:24.574Z,1761584964.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575438,-0.705521,-0.413655],[0.758294,-0.649731,0.053300],[-0.306369,-0.283001,0.908872]]
2025-10-27T17:09:24.973Z,1761584964.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580579,-0.706372,-0.404929],[0.757882,-0.650602,0.048297],[-0.297563,-0.278848,0.913072]]
2025-10-27T17:09:25.451Z,1761584965.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583948,-0.705637,-0.401349],[0.755024,-0.653724,0.050820],[-0.298233,-0.273352,0.914514]]
2025-10-27T17:09:25.854Z,1761584965.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584802,-0.702686,-0.405265],[0.749966,-0.658750,0.059992],[-0.309124,-0.268851,0.912229]]
2025-10-27T17:09:26.269Z,1761584966.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581291,-0.700919,-0.413296],[0.743758,-0.663703,0.079511],[-0.330036,-0.261173,0.907119]]
2025-10-27T17:09:26.671Z,1761584966.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572888,-0.701819,-0.423379],[0.737704,-0.666621,0.106819],[-0.357200,-0.251133,0.899633]]
2025-10-27T17:09:27.073Z,1761584967.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561705,-0.705426,-0.432276],[0.733015,-0.666612,0.135346],[-0.383637,-0.240840,0.891526]]
2025-10-27T17:09:27.477Z,1761584967.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550677,-0.711778,-0.436036],[0.731008,-0.663409,0.159736],[-0.402967,-0.230782,0.885639]]
2025-10-27T17:09:27.881Z,1761584967.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543565,-0.716608,-0.437047],[0.732301,-0.659340,0.170314],[-0.410211,-0.227473,0.883167]]
2025-10-27T17:09:27.950Z,1761584967.950 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:09:27.950Z,1761584967.950 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:09:27.955Z,1761584967.955 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:09:27.955Z,1761584967.955 [marl:UpdateRudder:A] Stopped
2025-10-27T17:09:27.955Z,1761584967.955 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:09:27.955Z,1761584967.955 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode] Stopped
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:09:27.956Z,1761584967.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:09:27.957Z,1761584967.957 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:09:27.957Z,1761584967.957 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:09:27.957Z,1761584967.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:09:27.957Z,1761584967.957 [marl:UpdateSpeed] Stopped
2025-10-27T17:09:27.957Z,1761584967.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:09:28.296Z,1761584968.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543047,-0.717609,-0.436046],[0.736190,-0.656649,0.163817],[-0.403886,-0.232052,0.884889]]
2025-10-27T17:09:28.360Z,1761584968.360 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:09:28.360Z,1761584968.360 [marl:UpdateRudder:B] Stopped
2025-10-27T17:09:28.360Z,1761584968.360 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:09:28.360Z,1761584968.360 [marl:UpdateRudder] Stopped
2025-10-27T17:09:28.360Z,1761584968.360 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:09:28.685Z,1761584968.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547509,-0.720497,-0.425579],[0.742282,-0.652966,0.150510],[-0.386331,-0.233494,0.892317]]
2025-10-27T17:09:29.238Z,1761584969.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557324,-0.732782,-0.390409],[0.759280,-0.640071,0.117486],[-0.335981,-0.230952,0.913114]]
2025-10-27T17:09:29.634Z,1761584969.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563988,-0.733608,-0.379128],[0.764981,-0.637052,0.094708],[-0.311002,-0.236611,0.920485]]
2025-10-27T17:09:30.038Z,1761584970.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572601,-0.729275,-0.374548],[0.764831,-0.639698,0.076284],[-0.295230,-0.242785,0.924064]]
2025-10-27T17:09:30.444Z,1761584970.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577427,-0.724941,-0.375551],[0.762416,-0.643333,0.069601],[-0.292061,-0.246136,0.924185]]
2025-10-27T17:09:31.282Z,1761584971.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573528,-0.725621,-0.380184],[0.765317,-0.640132,0.067236],[-0.292156,-0.252400,0.922464]]
2025-10-27T17:09:31.688Z,1761584971.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570165,-0.730365,-0.376137],[0.773167,-0.631826,0.054851],[-0.277714,-0.259543,0.924939]]
2025-10-27T17:09:32.090Z,1761584972.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568416,-0.737229,-0.365235],[0.783448,-0.620563,0.033328],[-0.251222,-0.267198,0.930319]]
2025-10-27T17:09:32.494Z,1761584972.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568793,-0.747315,-0.343504],[0.793230,-0.608822,0.011060],[-0.217398,-0.266187,0.939086]]
2025-10-27T17:09:32.916Z,1761584972.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570922,-0.755165,-0.322140],[0.797989,-0.602670,-0.001471],[-0.193033,-0.257904,0.946691]]
2025-10-27T17:09:33.308Z,1761584973.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582543,-0.752064,-0.308289],[0.792351,-0.609997,-0.009151],[-0.181174,-0.249604,0.951249]]
2025-10-27T17:09:33.702Z,1761584973.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597905,-0.742125,-0.302920],[0.778619,-0.627496,0.000463],[-0.190425,-0.235582,0.953016]]
2025-10-27T17:09:34.515Z,1761584974.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606351,-0.718946,-0.339788],[0.747755,-0.660885,0.063977],[-0.270557,-0.215286,0.938323]]
2025-10-27T17:09:34.923Z,1761584974.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594378,-0.721761,-0.354648],[0.746729,-0.659044,0.089760],[-0.298514,-0.211475,0.930681]]
2025-10-27T17:09:35.325Z,1761584975.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584483,-0.733157,-0.347650],[0.755251,-0.648188,0.097203],[-0.296608,-0.205749,0.932572]]
2025-10-27T17:09:35.425Z,1761584975.425 [marl:NeedComms:C] Running Loop=1
2025-10-27T17:09:35.732Z,1761584975.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573568,-0.758215,-0.310048],[0.773385,-0.625982,0.100112],[-0.269991,-0.182366,0.945435]]
2025-10-27T17:09:35.819Z,1761584975.819 [Radio_Surface](INFO): Powering up
2025-10-27T17:09:36.272Z,1761584976.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571717,-0.767839,-0.289072],[0.780562,-0.617566,0.096620],[-0.252710,-0.170399,0.952419]]
2025-10-27T17:09:36.673Z,1761584976.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586298,-0.755976,-0.291126],[0.767366,-0.633444,0.099487],[-0.259622,-0.165071,0.951498]]
2025-10-27T17:09:37.073Z,1761584977.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582703,-0.757362,-0.294720],[0.774236,-0.627571,0.081938],[-0.247015,-0.180437,0.952064]]
2025-10-27T17:09:37.627Z,1761584977.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579286,-0.748147,-0.323579],[0.762232,-0.637854,0.110203],[-0.288844,-0.182803,0.939762]]
2025-10-27T17:09:38.026Z,1761584978.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582198,-0.783487,-0.217238],[0.788652,-0.609158,0.083390],[-0.197668,-0.122776,0.972550]]
2025-10-27T17:09:38.430Z,1761584978.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591478,-0.794365,-0.138343],[0.800534,-0.599045,0.017075],[-0.096438,-0.100648,0.990237]]
2025-10-27T17:09:38.859Z,1761584978.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643909,-0.758068,-0.103508],[0.761582,-0.648016,0.008227],[-0.073312,-0.073532,0.994595]]
2025-10-27T17:09:39.246Z,1761584979.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643052,-0.759302,-0.099719],[0.762041,-0.647353,0.015084],[-0.076007,-0.066290,0.994901]]
2025-10-27T17:09:39.641Z,1761584979.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606482,-0.781628,-0.145731],[0.784997,-0.617755,0.046446],[-0.126330,-0.086230,0.988233]]
2025-10-27T17:09:40.045Z,1761584980.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583761,-0.795026,-0.164793],[0.801577,-0.596628,0.038865],[-0.129219,-0.109406,0.985562]]
2025-10-27T17:09:40.345Z,1761584980.345 [CTD_Seabird](ERROR): Salinity reading out of range: 26.884409 psu
2025-10-27T17:09:40.347Z,1761584980.347 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T17:09:40.449Z,1761584980.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580668,-0.806351,-0.112348],[0.810245,-0.585844,0.017019],[-0.079542,-0.081147,0.993523]]
2025-10-27T17:09:40.897Z,1761584980.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578969,-0.811758,-0.076449],[0.814745,-0.579600,-0.015932],[-0.031377,-0.071510,0.996946]]
2025-10-27T17:09:41.072Z,1761584981.072 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T17:09:41.072Z,1761584981.072 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T17:09:41.264Z,1761584981.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595729,-0.798677,-0.084982],[0.802916,-0.589444,-0.088778],[0.020812,-0.121121,0.992420]]
2025-10-27T17:09:41.305Z,1761584981.305 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateRudder:A] Stopped
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:09:41.306Z,1761584981.306 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:09:41.307Z,1761584981.307 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateCommandMode] Stopped
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:09:41.323Z,1761584981.323 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:09:41.327Z,1761584981.327 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:09:41.327Z,1761584981.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:09:41.327Z,1761584981.327 [marl:UpdateSpeed] Stopped
2025-10-27T17:09:41.327Z,1761584981.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:09:41.661Z,1761584981.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596638,-0.799350,-0.071157],[0.797825,-0.581250,-0.160076],[0.086596,-0.152278,0.984537]]
2025-10-27T17:09:41.696Z,1761584981.696 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:09:41.696Z,1761584981.696 [marl:UpdateRudder:B] Stopped
2025-10-27T17:09:41.697Z,1761584981.697 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:09:41.697Z,1761584981.697 [marl:UpdateRudder] Stopped
2025-10-27T17:09:41.697Z,1761584981.697 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:09:41.699Z,1761584981.699 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:09:42.065Z,1761584982.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576381,-0.815713,-0.048965],[0.811093,-0.563759,-0.155897],[0.099563,-0.129571,0.986559]]
2025-10-27T17:09:42.228Z,1761584982.228 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:09:42.228Z,1761584982.228 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:09:42.469Z,1761584982.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575598,-0.814273,-0.075141],[0.817632,-0.571649,-0.068524],[0.012843,-0.100879,0.994816]]
2025-10-27T17:09:42.901Z,1761584982.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583744,-0.810510,-0.048130],[0.811930,-0.582979,-0.030099],[-0.003663,-0.056649,0.998387]]
2025-10-27T17:09:43.277Z,1761584983.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558722,-0.829191,-0.016486],[0.828450,-0.557074,-0.057788],[0.038734,-0.045946,0.998193]]
2025-10-27T17:09:43.682Z,1761584983.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513901,-0.855699,-0.060695],[0.857008,-0.508978,-0.080488],[0.037982,-0.093379,0.994906]]
2025-10-27T17:09:44.086Z,1761584984.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511895,-0.858885,-0.016739],[0.851667,-0.504851,-0.140674],[0.112372,-0.086267,0.989914]]
2025-10-27T17:09:44.490Z,1761584984.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517436,-0.854408,0.047398],[0.839624,-0.517616,-0.164638],[0.165202,-0.045393,0.985215]]
2025-10-27T17:09:44.905Z,1761584984.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509862,-0.857915,0.063428],[0.844799,-0.513252,-0.151286],[0.162345,-0.023551,0.986453]]
2025-10-27T17:09:45.298Z,1761584985.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472118,-0.880446,0.043818],[0.865765,-0.472459,-0.165027],[0.166000,-0.039976,0.985315]]
2025-10-27T17:09:45.701Z,1761584985.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459769,-0.886895,-0.045046],[0.881203,-0.449361,-0.146821],[0.109973,-0.107198,0.988137]]
2025-10-27T17:09:46.107Z,1761584986.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459369,-0.882762,-0.098547],[0.887495,-0.451586,-0.091777],[0.036515,-0.129619,0.990891]]
2025-10-27T17:09:46.510Z,1761584986.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441288,-0.894399,-0.072907],[0.895904,-0.434479,-0.092649],[0.051188,-0.106202,0.993026]]
2025-10-27T17:09:46.915Z,1761584986.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432398,-0.900386,-0.048345],[0.896655,-0.423714,-0.128360],[0.095089,-0.098851,0.990549]]
2025-10-27T17:09:47.318Z,1761584987.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411781,-0.911261,-0.006368],[0.904456,-0.407832,-0.125028],[0.111336,-0.057244,0.992133]]
2025-10-27T17:09:47.725Z,1761584987.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361515,-0.932211,0.017031],[0.926716,-0.361272,-0.103345],[0.102493,-0.021578,0.994500]]
2025-10-27T17:09:48.126Z,1761584988.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399024,-0.916931,0.004236],[0.912224,-0.397435,-0.099463],[0.092884,-0.035824,0.995032]]
2025-10-27T17:09:48.530Z,1761584988.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391266,-0.917857,0.066698],[0.913933,-0.396042,-0.088750],[0.107875,0.026232,0.993818]]
2025-10-27T17:09:49.338Z,1761584989.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378152,-0.924416,0.049552],[0.924426,-0.379927,-0.033052],[0.049380,0.033309,0.998224]]
2025-10-27T17:09:49.750Z,1761584989.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362531,-0.931961,0.004480],[0.931756,-0.362547,-0.019770],[0.020049,-0.002993,0.999795]]
2025-10-27T17:09:50.146Z,1761584990.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351380,-0.934143,-0.062517],[0.935972,-0.352075,0.000105],[-0.022109,-0.058477,0.998044]]
2025-10-27T17:09:50.550Z,1761584990.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318098,-0.940037,-0.123057],[0.946926,-0.321371,0.007190],[-0.046306,-0.114239,0.992374]]
2025-10-27T17:09:50.954Z,1761584990.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325095,-0.935733,-0.136810],[0.944394,-0.328783,0.004647],[-0.049330,-0.127692,0.990586]]
2025-10-27T17:09:51.368Z,1761584991.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311687,-0.947863,-0.066387],[0.948441,-0.314586,0.038678],[-0.057546,-0.050909,0.997044]]
2025-10-27T17:09:51.766Z,1761584991.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290119,-0.956668,-0.024844],[0.955120,-0.291077,0.054949],[-0.059800,-0.007787,0.998180]]
2025-10-27T17:09:52.166Z,1761584992.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316523,-0.948557,-0.007228],[0.948223,-0.316604,0.025202],[-0.026194,0.001123,0.999656]]
2025-10-27T17:09:52.570Z,1761584992.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289280,-0.957121,-0.015377],[0.957057,-0.288868,-0.024460],[0.018969,-0.021793,0.999583]]
2025-10-27T17:09:52.974Z,1761584992.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279696,-0.959838,-0.021954],[0.955762,-0.276194,-0.101178],[0.091051,-0.049282,0.994626]]
2025-10-27T17:09:53.386Z,1761584993.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264372,-0.964234,-0.018964],[0.955884,-0.259371,-0.137885],[0.128035,-0.054581,0.990267]]
2025-10-27T17:09:53.782Z,1761584993.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268315,-0.962653,-0.036136],[0.959027,-0.263386,-0.104382],[0.090966,-0.062663,0.993881]]
2025-10-27T17:09:54.186Z,1761584994.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267682,-0.962583,-0.042196],[0.956073,-0.259933,-0.135495],[0.119457,-0.076612,0.989879]]
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateRudder:A] Stopped
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:09:54.210Z,1761584994.210 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:09:54.227Z,1761584994.227 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:09:54.227Z,1761584994.227 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:09:54.227Z,1761584994.227 [marl:UpdateCommandMode] Stopped
2025-10-27T17:09:54.227Z,1761584994.227 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:09:54.227Z,1761584994.227 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed] Stopped
2025-10-27T17:09:54.228Z,1761584994.228 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:09:54.592Z,1761584994.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227969,-0.972832,-0.040335],[0.968347,-0.222204,-0.113710],[0.101658,-0.064981,0.992695]]
2025-10-27T17:09:54.618Z,1761584994.618 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:09:54.618Z,1761584994.618 [marl:UpdateRudder:B] Stopped
2025-10-27T17:09:54.618Z,1761584994.618 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:09:54.618Z,1761584994.618 [marl:UpdateRudder] Stopped
2025-10-27T17:09:54.618Z,1761584994.618 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:09:54.671Z,1761584994.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:09:54.994Z,1761584994.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213081,-0.975539,-0.054035],[0.977035,-0.212740,-0.012047],[0.000257,-0.055361,0.998466]]
2025-10-27T17:09:55.398Z,1761584995.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207617,-0.976344,-0.060402],[0.978207,-0.207062,-0.015383],[0.002512,-0.062279,0.998056]]
2025-10-27T17:09:55.675Z,1761584995.675 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T17:09:55.675Z,1761584995.675 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:09:55.802Z,1761584995.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187091,-0.980938,-0.052522],[0.981352,-0.184234,-0.054837],[0.044116,-0.061802,0.997113]]
2025-10-27T17:09:56.207Z,1761584996.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191009,-0.979740,-0.060206],[0.981210,-0.188874,-0.039402],[0.027233,-0.066601,0.997408]]
2025-10-27T17:09:56.610Z,1761584996.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209832,-0.976293,-0.053125],[0.977592,-0.208552,-0.028642],[0.016883,-0.057944,0.998177]]
2025-10-27T17:09:57.024Z,1761584997.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202755,-0.978396,-0.040394],[0.979221,-0.202405,-0.012618],[0.004170,-0.042113,0.999104]]
2025-10-27T17:09:57.421Z,1761584997.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207651,-0.975583,-0.071546],[0.977818,-0.204963,-0.043143],[0.027426,-0.078918,0.996504]]
2025-10-27T17:09:57.823Z,1761584997.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186308,-0.980138,-0.067968],[0.979500,-0.179901,-0.090645],[0.076617,-0.083462,0.993561]]
2025-10-27T17:09:58.226Z,1761584998.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153098,-0.987151,-0.045758],[0.983626,-0.147769,-0.103172],[0.095085,-0.060805,0.993610]]
2025-10-27T17:09:58.629Z,1761584998.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151495,-0.987862,-0.034324],[0.986143,-0.148674,-0.073613],[0.067617,-0.045000,0.996696]]
2025-10-27T17:09:59.033Z,1761584999.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160590,-0.986752,-0.023047],[0.986371,-0.159592,-0.040041],[0.035832,-0.029163,0.998932]]
2025-10-27T17:09:59.851Z,1761584999.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140082,-0.990126,-0.005244],[0.989775,-0.140172,0.026407],[-0.026881,-0.001491,0.999637]]
2025-10-27T17:10:00.246Z,1761585000.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093227,-0.995327,-0.025167],[0.995607,-0.093415,0.006388],[-0.008709,-0.024461,0.999663]]
2025-10-27T17:10:00.649Z,1761585000.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101677,-0.993651,-0.048167],[0.994241,-0.099851,-0.038912],[0.033855,-0.051846,0.998081]]
2025-10-27T17:10:01.054Z,1761585001.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125306,-0.990309,-0.059881],[0.990016,-0.120885,-0.072490],[0.064549,-0.068367,0.995570]]
2025-10-27T17:10:01.458Z,1761585001.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102132,-0.992457,-0.067808],[0.989197,-0.094118,-0.112389],[0.105159,-0.078554,0.991348]]
2025-10-27T17:10:01.868Z,1761585001.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093305,-0.993415,-0.066496],[0.986760,-0.083367,-0.139122],[0.132662,-0.078597,0.988040]]
2025-10-27T17:10:02.267Z,1761585002.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083909,-0.995577,-0.042254],[0.989447,-0.078215,-0.121968],[0.118124,-0.052043,0.991634]]
2025-10-27T17:10:02.670Z,1761585002.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075213,-0.997132,-0.008445],[0.989911,-0.073643,-0.121052],[0.120083,-0.017465,0.992610]]
2025-10-27T17:10:03.073Z,1761585003.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079934,-0.996757,0.009304],[0.989679,-0.080473,-0.118575],[0.118939,-0.000271,0.992902]]
2025-10-27T17:10:03.484Z,1761585003.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076743,-0.996894,0.017692],[0.996802,-0.077108,-0.020964],[0.022263,0.016027,0.999624]]
2025-10-27T17:10:03.882Z,1761585003.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063123,-0.997971,0.008325],[0.997230,-0.062742,0.039945],[-0.039341,0.010824,0.999167]]
2025-10-27T17:10:04.286Z,1761585004.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057067,-0.997813,-0.033355],[0.998155,-0.056329,-0.022667],[0.020738,-0.034587,0.999187]]
2025-10-27T17:10:04.690Z,1761585004.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063556,-0.995122,-0.075449],[0.995925,-0.058397,-0.068719],[0.063978,-0.079509,0.994779]]
2025-10-27T17:10:05.095Z,1761585005.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037435,-0.997503,-0.059882],[0.997681,-0.033899,-0.059013],[0.056836,-0.061952,0.996459]]
2025-10-27T17:10:05.498Z,1761585005.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002281,-0.999183,-0.040352],[0.999950,-0.001887,-0.009801],[0.009717,-0.040372,0.999138]]
2025-10-27T17:10:05.902Z,1761585005.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025011,-0.996811,-0.075781],[0.999528,-0.026289,0.015917],[-0.017858,-0.075348,0.996997]]
2025-10-27T17:10:06.305Z,1761585006.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085880,-0.987445,-0.132578],[0.995989,-0.088441,0.013540],[-0.025095,-0.130883,0.991080]]
2025-10-27T17:10:06.711Z,1761585006.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090030,-0.984214,-0.152376],[0.995558,-0.093169,0.013575],[-0.027557,-0.150477,0.988229]]
2025-10-27T17:10:07.114Z,1761585007.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071259,-0.987148,-0.143045],[0.997165,-0.073979,0.013779],[-0.024184,-0.141657,0.989620]]
2025-10-27T17:10:07.161Z,1761585007.161 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:10:07.161Z,1761585007.161 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:10:07.161Z,1761585007.161 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateRudder:A] Stopped
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:10:07.162Z,1761585007.162 [marl:UpdateCommandMode] Stopped
2025-10-27T17:10:07.163Z,1761585007.163 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:10:07.163Z,1761585007.163 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:10:07.163Z,1761585007.163 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:10:07.163Z,1761585007.163 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:10:07.163Z,1761585007.163 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:10:07.164Z,1761585007.164 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:10:07.164Z,1761585007.164 [marl:UpdateSpeed] Stopped
2025-10-27T17:10:07.164Z,1761585007.164 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:10:07.517Z,1761585007.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092695,-0.992326,-0.081833],[0.995596,-0.091213,-0.021667],[0.014037,-0.083481,0.996411]]
2025-10-27T17:10:07.559Z,1761585007.559 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:10:07.560Z,1761585007.560 [marl:UpdateRudder:B] Stopped
2025-10-27T17:10:07.560Z,1761585007.560 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:10:07.560Z,1761585007.560 [marl:UpdateRudder] Stopped
2025-10-27T17:10:07.560Z,1761585007.560 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:10:07.921Z,1761585007.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093659,-0.995096,-0.031797],[0.995063,-0.092508,-0.035939],[0.032821,-0.035007,0.998848]]
2025-10-27T17:10:08.331Z,1761585008.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080182,-0.995915,-0.041515],[0.995293,-0.077719,-0.057885],[0.054422,-0.045961,0.997460]]
2025-10-27T17:10:08.738Z,1761585008.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115162,-0.991133,-0.066283],[0.991976,-0.111243,-0.060070],[0.052164,-0.072669,0.995991]]
2025-10-27T17:10:09.134Z,1761585009.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145558,-0.987711,-0.056915],[0.984346,-0.138803,-0.108612],[0.099378,-0.071833,0.992454]]
2025-10-27T17:10:09.537Z,1761585009.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114369,-0.991565,-0.060984],[0.985205,-0.105320,-0.135196],[0.127632,-0.075544,0.988940]]
2025-10-27T17:10:09.947Z,1761585009.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083549,-0.992004,-0.094593],[0.993417,-0.075448,-0.086200],[0.078374,-0.101172,0.991777]]
2025-10-27T17:10:10.355Z,1761585010.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088471,-0.989532,-0.114011],[0.995672,-0.084585,-0.038493],[0.028447,-0.116924,0.992733]]
2025-10-27T17:10:10.756Z,1761585010.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093823,-0.991073,-0.094713],[0.995588,-0.093307,-0.009872],[0.000946,-0.095222,0.995456]]
2025-10-27T17:10:11.153Z,1761585011.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084955,-0.995390,-0.044512],[0.995070,-0.087053,0.047516],[-0.051171,-0.040256,0.997878]]
2025-10-27T17:10:11.559Z,1761585011.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054443,-0.998364,-0.017456],[0.995407,-0.055644,0.077896],[-0.078740,-0.013135,0.996809]]
2025-10-27T17:10:12.366Z,1761585012.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135182,-0.990781,-0.008849],[0.989037,-0.134398,-0.061188],[0.059435,-0.017024,0.998087]]
2025-10-27T17:10:12.770Z,1761585012.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150228,-0.988078,-0.033668],[0.987560,-0.148376,-0.052061],[0.046445,-0.041071,0.998076]]
2025-10-27T17:10:13.175Z,1761585013.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158887,-0.984952,-0.067999],[0.985689,-0.154323,-0.067829],[0.056314,-0.077803,0.995377]]
2025-10-27T17:10:13.578Z,1761585013.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137098,-0.988934,-0.056698],[0.986872,-0.131431,-0.093858],[0.085368,-0.068821,0.993970]]
2025-10-27T17:10:13.991Z,1761585013.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084969,-0.995677,-0.037518],[0.991405,-0.080725,-0.102957],[0.099484,-0.045943,0.993978]]
2025-10-27T17:10:14.388Z,1761585014.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054766,-0.996351,-0.065457],[0.992794,-0.047338,-0.110088],[0.106587,-0.071015,0.991764]]
2025-10-27T17:10:14.797Z,1761585014.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108666,-0.984470,-0.137877],[0.993016,-0.101090,-0.060828],[0.045945,-0.143524,0.988580]]
2025-10-27T17:10:15.198Z,1761585015.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073926,-0.985220,-0.154521],[0.996998,-0.069434,-0.034276],[0.023041,-0.156591,0.987395]]
2025-10-27T17:10:15.602Z,1761585015.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050111,-0.990556,-0.127623],[0.998630,-0.047765,-0.021379],[0.015081,-0.128520,0.991592]]
2025-10-27T17:10:16.015Z,1761585016.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066457,-0.994434,-0.081762],[0.997782,-0.065921,-0.009234],[0.003793,-0.082195,0.996609]]
2025-10-27T17:10:16.409Z,1761585016.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084796,-0.994779,-0.056789],[0.996097,-0.083232,-0.029376],[0.024496,-0.059058,0.997954]]
2025-10-27T17:10:16.816Z,1761585016.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054147,-0.997690,-0.041011],[0.998210,-0.053038,-0.027652],[0.025413,-0.042435,0.998776]]
2025-10-27T17:10:17.214Z,1761585017.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070572,-0.996413,-0.046701],[0.997015,-0.071930,0.028064],[-0.031322,-0.044581,0.998515]]
2025-10-27T17:10:17.619Z,1761585017.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105116,-0.993613,-0.041039],[0.994051,-0.106167,0.024321],[-0.028523,-0.038238,0.998861]]
2025-10-27T17:10:18.025Z,1761585018.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101327,-0.994384,-0.030551],[0.992407,-0.098878,-0.073152],[0.069721,-0.037732,0.996853]]
2025-10-27T17:10:18.426Z,1761585018.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074389,-0.996116,-0.047105],[0.993362,-0.069862,-0.091386],[0.087740,-0.053591,0.994701]]
2025-10-27T17:10:18.857Z,1761585018.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052061,-0.996939,-0.058329],[0.998441,-0.050785,-0.023160],[0.020127,-0.059444,0.998029]]
2025-10-27T17:10:19.235Z,1761585019.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065944,-0.995579,-0.066892],[0.997220,-0.063425,-0.039101],[0.034685,-0.069284,0.996994]]
2025-10-27T17:10:19.637Z,1761585019.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060693,-0.997209,-0.043477],[0.994550,-0.056717,-0.087486],[0.084776,-0.048550,0.995216]]
2025-10-27T17:10:20.042Z,1761585020.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046458,-0.998911,-0.004259],[0.993944,-0.045801,-0.099884],[0.099580,-0.008873,0.994990]]
2025-10-27T17:10:20.100Z,1761585020.100 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:10:20.100Z,1761585020.100 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateRudder:A] Stopped
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:10:20.101Z,1761585020.101 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateCommandMode] Stopped
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:10:20.102Z,1761585020.102 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:10:20.103Z,1761585020.103 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:10:20.103Z,1761585020.103 [marl:UpdateSpeed] Stopped
2025-10-27T17:10:20.103Z,1761585020.103 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:10:20.446Z,1761585020.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053768,-0.998405,-0.017228],[0.994545,-0.052000,-0.090421],[0.089381,-0.021996,0.995755]]
2025-10-27T17:10:20.500Z,1761585020.500 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:10:20.500Z,1761585020.500 [marl:UpdateRudder:B] Stopped
2025-10-27T17:10:20.501Z,1761585020.501 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:10:20.501Z,1761585020.501 [marl:UpdateRudder] Stopped
2025-10-27T17:10:20.501Z,1761585020.501 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:10:20.889Z,1761585020.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063417,-0.997313,-0.036673],[0.994842,-0.060259,-0.081598],[0.079169,-0.041658,0.995990]]
2025-10-27T17:10:21.254Z,1761585021.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043531,-0.996186,-0.075618],[0.993729,-0.035371,-0.106077],[0.102998,-0.079762,0.991478]]
2025-10-27T17:10:21.658Z,1761585021.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019751,-0.990605,-0.135320],[0.995756,-0.007321,-0.091741],[0.089888,-0.136558,0.986546]]
2025-10-27T17:10:22.065Z,1761585022.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005374,-0.990283,-0.138960],[0.999383,0.010141,-0.033615],[0.034697,-0.138694,0.989727]]
2025-10-27T17:10:22.896Z,1761585022.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013536,-0.996231,-0.085683],[0.999791,0.012169,0.016448],[-0.015343,-0.085887,0.996187]]
2025-10-27T17:10:23.274Z,1761585023.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008860,-0.999610,-0.026495],[0.999162,-0.009908,0.039711],[-0.039958,-0.026121,0.998860]]
2025-10-27T17:10:23.678Z,1761585023.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020305,-0.999771,-0.006777],[0.998731,-0.020595,0.045965],[-0.046094,-0.005835,0.998920]]
2025-10-27T17:10:24.091Z,1761585024.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004444,-0.999102,-0.042147],[0.998981,-0.006329,0.044695],[-0.044921,-0.041905,0.998111]]
2025-10-27T17:10:24.900Z,1761585024.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010641,-0.987803,-0.155347],[0.999516,0.005967,0.030524],[-0.029224,-0.155597,0.987388]]
2025-10-27T17:10:25.296Z,1761585025.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001232,-0.991509,-0.130033],[0.999484,0.002953,-0.031985],[0.032097,-0.130006,0.990994]]
2025-10-27T17:10:25.699Z,1761585025.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021418,-0.997119,-0.072765],[0.995493,0.027996,-0.090612],[0.092389,-0.070497,0.993224]]
2025-10-27T17:10:25.804Z,1761585025.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:10:26.102Z,1761585026.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017011,-0.997235,-0.072334],[0.989609,0.027123,-0.141206],[0.142777,-0.069180,0.987334]]
2025-10-27T17:10:26.506Z,1761585026.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015437,-0.998130,-0.059143],[0.982880,0.026009,-0.182400],[0.183598,-0.055315,0.981444]]
2025-10-27T17:10:26.809Z,1761585026.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:10:26.912Z,1761585026.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060970,-0.997922,-0.020830],[0.990505,0.063067,-0.122160],[0.123220,-0.013184,0.992292]]
2025-10-27T17:10:27.322Z,1761585027.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108317,-0.994114,-0.002032],[0.994114,0.108321,-0.001753],[0.001963,-0.001830,0.999996]]
2025-10-27T17:10:27.718Z,1761585027.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104123,-0.993881,-0.036863],[0.993968,0.102705,0.038468],[-0.034447,-0.040646,0.998580]]
2025-10-27T17:10:28.128Z,1761585028.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096254,-0.992966,-0.068941],[0.995205,0.094798,0.024096],[-0.017391,-0.070930,0.997330]]
2025-10-27T17:10:28.525Z,1761585028.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109488,-0.991210,-0.074264],[0.993893,0.108138,0.021971],[-0.013748,-0.076216,0.996997]]
2025-10-27T17:10:28.929Z,1761585028.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103615,-0.991450,-0.079313],[0.994132,0.105725,-0.022876],[0.031066,-0.076477,0.996587]]
2025-10-27T17:10:29.334Z,1761585029.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117471,-0.987158,-0.108259],[0.990891,0.123741,-0.053125],[0.065839,-0.101032,0.992702]]
2025-10-27T17:10:29.748Z,1761585029.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160111,-0.977062,-0.140407],[0.986495,0.163363,-0.011874],[0.034539,-0.136609,0.990023]]
2025-10-27T17:10:30.142Z,1761585030.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161792,-0.974660,-0.154468],[0.986662,0.156928,0.043261],[-0.017924,-0.159407,0.987050]]
2025-10-27T17:10:30.550Z,1761585030.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139982,-0.983039,-0.118487],[0.990026,0.137035,0.032701],[-0.015909,-0.121883,0.992417]]
2025-10-27T17:10:30.951Z,1761585030.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133968,-0.988352,-0.072205],[0.990443,0.135949,-0.023242],[0.032787,-0.068401,0.997119]]
2025-10-27T17:10:31.353Z,1761585031.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164126,-0.985898,-0.032675],[0.984942,0.165611,-0.049619],[0.054330,-0.024039,0.998234]]
2025-10-27T17:10:32.162Z,1761585032.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176468,-0.980478,-0.086725],[0.983384,0.179431,-0.027579],[0.042602,-0.080417,0.995850]]
2025-10-27T17:10:32.571Z,1761585032.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192435,-0.978073,-0.079631],[0.977874,0.197913,-0.067768],[0.082042,-0.064828,0.994518]]
2025-10-27T17:10:32.969Z,1761585032.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257694,-0.963314,-0.074962],[0.961733,0.263196,-0.076135],[0.093071,-0.052474,0.994276]]
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateRudder:A] Stopped
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:10:33.018Z,1761585033.018 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateCommandMode] Stopped
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:10:33.019Z,1761585033.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:10:33.020Z,1761585033.020 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:10:33.020Z,1761585033.020 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:10:33.020Z,1761585033.020 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:10:33.020Z,1761585033.020 [marl:UpdateSpeed] Stopped
2025-10-27T17:10:33.020Z,1761585033.020 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:10:33.374Z,1761585033.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261272,-0.960831,-0.092412],[0.964295,0.264101,-0.019622],[0.043260,-0.083986,0.995528]]
2025-10-27T17:10:33.418Z,1761585033.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:10:33.418Z,1761585033.418 [marl:UpdateRudder:B] Stopped
2025-10-27T17:10:33.418Z,1761585033.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:10:33.418Z,1761585033.418 [marl:UpdateRudder] Stopped
2025-10-27T17:10:33.418Z,1761585033.418 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:10:33.779Z,1761585033.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273281,-0.957454,-0.092733],[0.961689,0.269764,0.048793],[-0.021701,-0.102514,0.994495]]
2025-10-27T17:10:34.187Z,1761585034.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286982,-0.951777,-0.108453],[0.957400,0.281191,0.065700],[-0.032036,-0.122688,0.991928]]
2025-10-27T17:10:34.590Z,1761585034.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248012,-0.962808,-0.107198],[0.968318,0.243045,0.057357],[-0.029170,-0.118027,0.992582]]
2025-10-27T17:10:34.990Z,1761585034.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207717,-0.972872,-0.101852],[0.977893,0.203966,0.046069],[-0.024045,-0.109170,0.993732]]
2025-10-27T17:10:35.394Z,1761585035.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230653,-0.968846,-0.090204],[0.972770,0.231765,-0.001906],[0.022753,-0.087308,0.995922]]
2025-10-27T17:10:35.806Z,1761585035.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264731,-0.960817,-0.082152],[0.964202,0.265084,0.006778],[0.015265,-0.081006,0.996597]]
2025-10-27T17:10:36.208Z,1761585036.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237685,-0.969707,-0.056334],[0.969371,0.233110,0.077329],[-0.061855,-0.072988,0.995413]]
2025-10-27T17:10:36.606Z,1761585036.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194150,-0.978717,-0.066476],[0.979891,0.190310,0.059966],[-0.046038,-0.076782,0.995984]]
2025-10-27T17:10:37.010Z,1761585037.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187158,-0.975273,-0.117531],[0.982014,0.188789,-0.002797],[0.024917,-0.114894,0.993065]]
2025-10-27T17:10:37.414Z,1761585037.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182432,-0.970128,-0.159904],[0.982228,0.187120,-0.014637],[0.044120,-0.154392,0.987024]]
2025-10-27T17:10:38.626Z,1761585038.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253406,-0.966043,-0.050464],[0.956541,0.258011,-0.135868],[0.144275,-0.013841,0.989441]]
2025-10-27T17:10:39.030Z,1761585039.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267272,-0.963353,0.022735],[0.961948,0.265344,-0.065178],[0.056756,0.039290,0.997615]]
2025-10-27T17:10:39.434Z,1761585039.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251025,-0.967717,0.022570],[0.967681,0.250299,-0.030731],[0.024089,0.029555,0.999273]]
2025-10-27T17:10:39.838Z,1761585039.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208056,-0.977833,-0.023580],[0.976433,0.209052,-0.053632],[0.057372,-0.011865,0.998282]]
2025-10-27T17:10:40.242Z,1761585040.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233552,-0.969328,-0.076534],[0.971653,0.235629,-0.019210],[0.036655,-0.069878,0.996882]]
2025-10-27T17:10:40.653Z,1761585040.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278833,-0.952838,-0.119798],[0.960042,0.273461,0.059491],[-0.023925,-0.131599,0.991014]]
2025-10-27T17:10:41.051Z,1761585041.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247380,-0.962418,-0.112051],[0.967844,0.240003,0.075342],[-0.045618,-0.127086,0.990842]]
2025-10-27T17:10:41.454Z,1761585041.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216811,-0.974757,-0.053311],[0.975908,0.215053,0.036829],[-0.024435,-0.060012,0.997899]]
2025-10-27T17:10:41.858Z,1761585041.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239624,-0.970828,-0.008544],[0.970158,0.239104,0.040292],[-0.037074,-0.017944,0.999151]]
2025-10-27T17:10:41.908Z,1761585041.908 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:10:42.265Z,1761585042.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243520,-0.969422,-0.030300],[0.969344,0.242210,0.041305],[-0.032703,-0.039430,0.998687]]
2025-10-27T17:10:42.397Z,1761585042.397 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:10:42.397Z,1761585042.397 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:10:42.666Z,1761585042.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241162,-0.969257,-0.048805],[0.970417,0.241435,0.000308],[0.011485,-0.047435,0.998808]]
2025-10-27T17:10:43.070Z,1761585043.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243288,-0.968678,-0.049741],[0.968881,0.245111,-0.034505],[0.045617,-0.039799,0.998166]]
2025-10-27T17:10:43.474Z,1761585043.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257431,-0.961651,-0.094639],[0.966191,0.257612,0.010509],[0.014274,-0.094145,0.995456]]
2025-10-27T17:10:43.878Z,1761585043.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277582,-0.948858,-0.150388],[0.960431,0.277803,0.019966],[0.022834,-0.149979,0.988425]]
2025-10-27T17:10:44.303Z,1761585044.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273501,-0.951071,-0.143742],[0.959387,0.280466,-0.030257],[0.069092,-0.129629,0.989152]]
2025-10-27T17:10:44.686Z,1761585044.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310515,-0.948452,-0.063391],[0.950566,0.309956,0.018724],[0.001889,-0.066072,0.997813]]
2025-10-27T17:10:45.090Z,1761585045.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360443,-0.932253,-0.031395],[0.932012,0.358576,0.052699],[-0.037871,-0.048256,0.998117]]
2025-10-27T17:10:45.494Z,1761585045.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338602,-0.938033,-0.073769],[0.940538,0.339680,-0.002210],[0.027131,-0.068635,0.997273]]
2025-10-27T17:10:45.899Z,1761585045.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328539,-0.941173,-0.079093],[0.942258,0.332366,-0.041026],[0.064900,-0.061047,0.996023]]
2025-10-27T17:10:45.932Z,1761585045.932 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:10:45.932Z,1761585045.932 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:10:45.932Z,1761585045.932 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateRudder:A] Stopped
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:10:45.933Z,1761585045.933 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateCommandMode] Stopped
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:10:45.934Z,1761585045.934 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:10:45.935Z,1761585045.935 [marl:UpdateSpeed] Stopped
2025-10-27T17:10:45.951Z,1761585045.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:10:46.348Z,1761585046.348 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:10:46.348Z,1761585046.348 [marl:UpdateRudder:B] Stopped
2025-10-27T17:10:46.348Z,1761585046.348 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:10:46.348Z,1761585046.348 [marl:UpdateRudder] Stopped
2025-10-27T17:10:46.349Z,1761585046.349 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:10:46.706Z,1761585046.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372267,-0.927237,-0.040604],[0.927630,0.370282,0.048929],[-0.030334,-0.055880,0.997977]]
2025-10-27T17:10:47.110Z,1761585047.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334033,-0.939568,-0.075052],[0.942538,0.333524,0.019589],[0.006626,-0.077282,0.996987]]
2025-10-27T17:10:47.514Z,1761585047.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348932,-0.929881,-0.116482],[0.934728,0.354259,-0.028008],[0.067309,-0.099106,0.992798]]
2025-10-27T17:10:48.322Z,1761585048.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368090,-0.917157,-0.152750],[0.918941,0.383876,-0.090483],[0.141624,-0.107062,0.984114]]
2025-10-27T17:10:48.730Z,1761585048.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402841,-0.906416,-0.127001],[0.901507,0.416918,-0.116040],[0.158129,-0.067746,0.985092]]
2025-10-27T17:10:49.130Z,1761585049.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453769,-0.885182,-0.102698],[0.880109,0.463237,-0.104021],[0.139651,-0.043184,0.989259]]
2025-10-27T17:10:49.536Z,1761585049.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458353,-0.886721,-0.060319],[0.883783,0.461910,-0.074614],[0.094024,-0.019109,0.995387]]
2025-10-27T17:10:49.938Z,1761585049.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484497,-0.873516,-0.047249],[0.870935,0.486723,-0.067622],[0.082066,-0.008388,0.996592]]
2025-10-27T17:10:50.342Z,1761585050.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514139,-0.851938,-0.099315],[0.852667,0.520214,-0.048343],[0.092850,-0.059827,0.993881]]
2025-10-27T17:10:50.754Z,1761585050.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525684,-0.834512,-0.165064],[0.845529,0.533891,-0.006405],[0.093471,-0.136199,0.986262]]
2025-10-27T17:10:51.151Z,1761585051.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509158,-0.832567,-0.218153],[0.857235,0.513196,0.042164],[0.076851,-0.208477,0.975003]]
2025-10-27T17:10:51.554Z,1761585051.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482440,-0.854516,-0.192496],[0.875663,0.475919,0.081947],[0.021587,-0.208096,0.977870]]
2025-10-27T17:10:51.958Z,1761585051.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510963,-0.848439,-0.138089],[0.859322,0.500056,0.107282],[-0.021970,-0.173480,0.984592]]
2025-10-27T17:10:52.362Z,1761585052.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534570,-0.837773,-0.111229],[0.845088,0.531118,0.061161],[0.007837,-0.126693,0.991911]]
2025-10-27T17:10:52.778Z,1761585052.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507649,-0.858072,-0.077494],[0.860778,0.508971,0.003097],[0.036785,-0.068277,0.996988]]
2025-10-27T17:10:53.170Z,1761585053.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517826,-0.855436,-0.009296],[0.855428,0.517634,0.017235],[-0.009932,-0.016877,0.999808]]
2025-10-27T17:10:53.574Z,1761585053.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574420,-0.818459,0.012919],[0.817871,0.574513,0.031964],[-0.033583,-0.007795,0.999406]]
2025-10-27T17:10:53.978Z,1761585053.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577241,-0.815924,-0.032573],[0.816574,0.576754,0.023706],[-0.000556,-0.040282,0.999188]]
2025-10-27T17:10:54.383Z,1761585054.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562603,-0.825056,-0.052533],[0.826684,0.560789,0.045926],[-0.008431,-0.069267,0.997563]]
2025-10-27T17:10:54.788Z,1761585054.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567748,-0.819602,-0.076904],[0.822387,0.560547,0.097295],[-0.036635,-0.118484,0.992280]]
2025-10-27T17:10:55.190Z,1761585055.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559653,-0.822770,-0.099188],[0.827718,0.549049,0.115875],[-0.040879,-0.146950,0.988299]]
2025-10-27T17:10:55.594Z,1761585055.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543185,-0.830333,-0.124484],[0.839601,0.537956,0.075323],[0.004424,-0.145432,0.989358]]
2025-10-27T17:10:55.999Z,1761585055.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542209,-0.824135,-0.163737],[0.836296,0.548183,0.010204],[0.081349,-0.142465,0.986451]]
2025-10-27T17:10:56.402Z,1761585056.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548753,-0.822181,-0.151288],[0.830982,0.556231,-0.008720],[0.091320,-0.120933,0.988451]]
2025-10-27T17:10:56.806Z,1761585056.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579730,-0.810438,-0.084281],[0.814510,0.579209,0.033019],[0.022056,-0.087790,0.995895]]
2025-10-27T17:10:56.927Z,1761585056.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:10:57.210Z,1761585057.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590930,-0.803512,-0.071905],[0.806460,0.590662,0.027215],[0.020604,-0.074070,0.997040]]
2025-10-27T17:10:57.615Z,1761585057.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548003,-0.831329,-0.092653],[0.833631,0.551907,-0.021412],[0.068937,-0.065504,0.995468]]
2025-10-27T17:10:57.931Z,1761585057.931 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:10:58.018Z,1761585058.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527568,-0.843680,-0.099378],[0.846057,0.532355,-0.028026],[0.076549,-0.069294,0.994655]]
2025-10-27T17:10:58.422Z,1761585058.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537693,-0.830505,-0.145422],[0.838016,0.545404,-0.016265],[0.092822,-0.113121,0.989236]]
2025-10-27T17:10:58.842Z,1761585058.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528823,-0.827737,-0.187613],[0.838513,0.543730,-0.035396],[0.131310,-0.138598,0.981605]]
2025-10-27T17:10:58.939Z,1761585058.939 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:10:58.939Z,1761585058.939 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:10:58.939Z,1761585058.939 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateRudder:A] Stopped
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:10:58.940Z,1761585058.940 [marl:UpdateCommandMode] Stopped
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed] Stopped
2025-10-27T17:10:58.941Z,1761585058.941 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:10:59.232Z,1761585059.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538351,-0.829984,-0.145962],[0.834120,0.549485,-0.048057],[0.120091,-0.095878,0.988122]]
2025-10-27T17:10:59.301Z,1761585059.301 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:10:59.301Z,1761585059.301 [marl:UpdateRudder:B] Stopped
2025-10-27T17:10:59.301Z,1761585059.301 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:10:59.302Z,1761585059.302 [marl:UpdateRudder] Stopped
2025-10-27T17:10:59.302Z,1761585059.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:10:59.635Z,1761585059.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573484,-0.818986,-0.019455],[0.818366,0.573809,-0.031932],[0.037316,0.002391,0.999301]]
2025-10-27T17:11:00.044Z,1761585060.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559579,-0.828777,0.000744],[0.828776,0.559576,-0.002359],[0.001539,0.001937,0.999997]]
2025-10-27T17:11:00.448Z,1761585060.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508034,-0.857553,-0.080647],[0.861335,0.505569,0.050023],[-0.002125,-0.094878,0.995487]]
2025-10-27T17:11:00.901Z,1761585060.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500587,-0.854116,-0.141059],[0.863365,0.480649,0.153550],[-0.063350,-0.198650,0.978021]]
2025-10-27T17:11:01.266Z,1761585061.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510725,-0.838919,-0.188083],[0.858981,0.488694,0.152742],[-0.036223,-0.239569,0.970204]]
2025-10-27T17:11:01.656Z,1761585061.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486364,-0.852148,-0.193117],[0.873294,0.481270,0.075735],[0.028404,-0.205483,0.978248]]
2025-10-27T17:11:02.081Z,1761585062.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483197,-0.863736,-0.143108],[0.872896,0.487899,0.002549],[0.067621,-0.126150,0.989704]]
2025-10-27T17:11:02.094Z,1761585062.094 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171101.00,A,3646.73077,N,12151.79615,W,0.700,328.66,271025,,,A*7F
2025-10-27T17:11:02.096Z,1761585062.096 [NAL9602](INFO): GPS fix at 20251027T171101: (36.778846, -121.863269)
2025-10-27T17:11:02.109Z,1761585062.109 [UniversalFixResidualReporter](INFO): Fix residual: 0.9 %DT, over the last 596.1 m. Residual distance 5.2 m at bearing 65.0 degrees. Fix at (36.7788, -121.8633) with 180.9 m made good.
2025-10-27T17:11:02.120Z,1761585062.120 [marl:NeedComms:C] Stopped
2025-10-27T17:11:02.120Z,1761585062.120 [marl:NeedComms:D] Running Loop=1
2025-10-27T17:11:02.122Z,1761585062.122 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585024.00. Resetting abort timer.
2025-10-27T17:11:02.462Z,1761585062.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512770,-0.852793,-0.099049],[0.854329,0.518250,-0.039234],[0.084791,-0.064503,0.994309]]
2025-10-27T17:11:03.006Z,1761585063.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488969,-0.871377,-0.040158],[0.870944,0.490257,-0.033222],[0.048637,-0.018731,0.998641]]
2025-10-27T17:11:03.416Z,1761585063.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458240,-0.888772,0.009979],[0.888382,0.457625,-0.036832],[0.028168,0.025743,0.999272]]
2025-10-27T17:11:03.813Z,1761585063.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483940,-0.874081,-0.042248],[0.872230,0.485698,-0.057553],[0.070826,-0.008998,0.997448]]
2025-10-27T17:11:04.217Z,1761585064.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497923,-0.854879,-0.145786],[0.863675,0.504017,-0.005692],[0.078345,-0.123078,0.989300]]
2025-10-27T17:11:04.622Z,1761585064.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469520,-0.860743,-0.196652],[0.882232,0.466171,0.065964],[0.034896,-0.204464,0.978252]]
2025-10-27T17:11:05.026Z,1761585065.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460627,-0.866044,-0.194398],[0.887390,0.454034,0.079954],[0.019020,-0.209336,0.977659]]
2025-10-27T17:11:05.430Z,1761585065.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477414,-0.861460,-0.173096],[0.877703,0.476819,0.047758],[0.041394,-0.174727,0.983746]]
2025-10-27T17:11:05.834Z,1761585065.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481882,-0.867552,-0.123060],[0.875269,0.483175,0.021105],[0.041150,-0.117881,0.992175]]
2025-10-27T17:11:06.250Z,1761585066.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466787,-0.882459,-0.058102],[0.883887,0.467695,-0.002331],[0.029231,-0.050268,0.998308]]
2025-10-27T17:11:06.641Z,1761585066.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460772,-0.886045,-0.051119],[0.886614,0.462138,-0.018550],[0.040060,-0.036775,0.998520]]
2025-10-27T17:11:07.045Z,1761585067.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457939,-0.883237,-0.100922],[0.887138,0.461345,-0.012107],[0.057253,-0.083987,0.994821]]
2025-10-27T17:11:07.855Z,1761585067.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449405,-0.887179,-0.104631],[0.892452,0.440688,0.096558],[-0.039554,-0.136772,0.989812]]
2025-10-27T17:11:08.261Z,1761585068.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431767,-0.899585,-0.065764],[0.901017,0.426778,0.077649],[-0.041785,-0.092781,0.994809]]
2025-10-27T17:11:08.662Z,1761585068.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457115,-0.889185,-0.019903],[0.888351,0.455367,0.058934],[-0.043340,-0.044621,0.998063]]
2025-10-27T17:11:09.065Z,1761585069.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445957,-0.894169,-0.039796],[0.894696,0.444080,0.048072],[-0.025312,-0.057043,0.998051]]
2025-10-27T17:11:09.873Z,1761585069.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387713,-0.911852,-0.134923],[0.921776,0.383991,0.053675],[0.002865,-0.145180,0.989401]]
2025-10-27T17:11:10.277Z,1761585070.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375523,-0.917109,-0.133764],[0.926212,0.376546,0.018545],[0.033360,-0.130858,0.990840]]
2025-10-27T17:11:10.792Z,1761585070.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409830,-0.902642,-0.131440],[0.907107,0.418455,-0.045306],[0.095896,-0.100662,0.990288]]
2025-10-27T17:11:11.183Z,1761585071.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422439,-0.897040,-0.129862],[0.898157,0.433552,-0.073130],[0.121902,-0.085744,0.988832]]
2025-10-27T17:11:13.392Z,1761585073.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376943,-0.915645,-0.139674],[0.923514,0.383090,-0.019063],[0.070963,-0.121805,0.990014]]
2025-10-27T17:11:13.787Z,1761585073.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354703,-0.929651,-0.099676],[0.934863,0.354317,0.022151],[0.014724,-0.101041,0.994773]]
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateRudder:A] Stopped
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:11:13.836Z,1761585073.836 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode] Stopped
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:11:13.837Z,1761585073.837 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:11:13.838Z,1761585073.838 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:11:13.838Z,1761585073.838 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:11:13.838Z,1761585073.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:11:13.838Z,1761585073.838 [marl:UpdateSpeed] Stopped
2025-10-27T17:11:13.838Z,1761585073.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:11:14.190Z,1761585074.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355310,-0.932520,-0.064508],[0.934703,0.355126,0.014682],[0.009217,-0.065513,0.997809]]
2025-10-27T17:11:14.244Z,1761585074.244 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:11:14.244Z,1761585074.244 [marl:UpdateRudder:B] Stopped
2025-10-27T17:11:14.244Z,1761585074.244 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:11:14.245Z,1761585074.245 [marl:UpdateRudder] Stopped
2025-10-27T17:11:14.245Z,1761585074.245 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:11:14.594Z,1761585074.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340529,-0.938324,-0.059899],[0.940177,0.339114,0.032707],[-0.010377,-0.067453,0.997669]]
2025-10-27T17:11:14.998Z,1761585074.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343821,-0.933681,-0.100133],[0.939022,0.341293,0.041909],[-0.004955,-0.108437,0.994091]]
2025-10-27T17:11:15.402Z,1761585075.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347638,-0.927014,-0.140685],[0.936226,0.351393,-0.001984],[0.051275,-0.131024,0.990052]]
2025-10-27T17:11:15.806Z,1761585075.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336648,-0.934160,-0.118374],[0.939327,0.341948,-0.027132],[0.065824,-0.102058,0.992598]]
2025-10-27T17:11:16.217Z,1761585076.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396401,-0.916594,-0.052171],[0.918046,0.396214,0.014312],[0.007553,-0.053569,0.998536]]
2025-10-27T17:11:16.615Z,1761585076.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410181,-0.910473,-0.052832],[0.911958,0.410054,0.013724],[0.009169,-0.053809,0.998509]]
2025-10-27T17:11:17.477Z,1761585077.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355517,-0.933464,-0.047453],[0.934297,0.356351,-0.010173],[0.026406,-0.040718,0.998822]]
2025-10-27T17:11:18.037Z,1761585078.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396461,-0.915972,-0.061764],[0.917914,0.394339,0.043931],[-0.015884,-0.074111,0.997123]]
2025-10-27T17:11:18.302Z,1761585078.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373492,-0.923001,-0.092593],[0.927589,0.372590,0.027500],[0.009116,-0.096159,0.995324]]
2025-10-27T17:11:18.715Z,1761585078.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381357,-0.922034,-0.066486],[0.924342,0.381314,0.013828],[0.012603,-0.066729,0.997692]]
2025-10-27T17:11:19.109Z,1761585079.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433188,-0.900647,-0.034402],[0.901000,0.431737,0.042437],[-0.023368,-0.049379,0.998507]]
2025-10-27T17:11:19.514Z,1761585079.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428819,-0.901310,-0.061265],[0.903272,0.428874,0.012928],[0.014623,-0.060883,0.998038]]
2025-10-27T17:11:19.918Z,1761585079.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374331,-0.924798,-0.068012],[0.923646,0.378354,-0.061047],[0.082189,-0.039967,0.995815]]
2025-10-27T17:11:20.321Z,1761585080.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376496,-0.924204,-0.064010],[0.922841,0.380212,-0.061668],[0.081331,-0.035854,0.996042]]
2025-10-27T17:11:20.734Z,1761585080.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414016,-0.904049,-0.106236],[0.908165,0.418168,-0.019298],[0.061871,-0.088490,0.994154]]
2025-10-27T17:11:21.536Z,1761585081.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378844,-0.909452,-0.171390],[0.925312,0.375546,0.052557],[0.016567,-0.178500,0.983800]]
2025-10-27T17:11:21.938Z,1761585081.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370456,-0.915381,-0.157604],[0.928849,0.364870,0.064104],[-0.001175,-0.170138,0.985420]]
2025-10-27T17:11:22.342Z,1761585082.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368434,-0.918117,-0.146005],[0.929642,0.363066,0.062841],[-0.004686,-0.158885,0.987286]]
2025-10-27T17:11:22.753Z,1761585082.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361959,-0.924106,-0.122531],[0.932060,0.356540,0.064364],[-0.015792,-0.137503,0.990375]]
2025-10-27T17:11:23.152Z,1761585083.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358804,-0.929743,-0.082689],[0.933225,0.355545,0.051750],[-0.018715,-0.095736,0.995231]]
2025-10-27T17:11:23.554Z,1761585083.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344715,-0.938181,-0.031444],[0.938611,0.344006,0.025877],[-0.013461,-0.038434,0.999170]]
2025-10-27T17:11:23.957Z,1761585083.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364245,-0.931163,-0.016162],[0.931176,0.364427,-0.010198],[0.015386,-0.011335,0.999817]]
2025-10-27T17:11:24.361Z,1761585084.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385008,-0.921776,-0.045794],[0.920839,0.386995,-0.047865],[0.061843,-0.023741,0.997804]]
2025-10-27T17:11:24.772Z,1761585084.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370377,-0.926477,-0.066796],[0.928286,0.371755,-0.009076],[0.033241,-0.058645,0.997725]]
2025-10-27T17:11:25.575Z,1761585085.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328230,-0.935685,-0.129458],[0.944559,0.326355,0.036057],[0.008511,-0.134115,0.990929]]
2025-10-27T17:11:25.978Z,1761585085.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348748,-0.921641,-0.170156],[0.936197,0.351044,0.017393],[0.043702,-0.165365,0.985264]]
2025-10-27T17:11:26.382Z,1761585086.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389423,-0.902669,-0.183136],[0.912599,0.405029,-0.055805],[0.124549,-0.145398,0.981503]]
2025-10-27T17:11:26.790Z,1761585086.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385471,-0.914011,-0.126473],[0.911328,0.398591,-0.102989],[0.144544,-0.075559,0.986609]]
2025-10-27T17:11:26.817Z,1761585086.817 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:11:26.818Z,1761585086.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:11:26.818Z,1761585086.818 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:11:26.818Z,1761585086.818 [marl:UpdateRudder:A] Stopped
2025-10-27T17:11:26.818Z,1761585086.818 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:11:26.818Z,1761585086.818 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:11:26.819Z,1761585086.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:11:26.839Z,1761585086.839 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:11:26.840Z,1761585086.840 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:11:26.841Z,1761585086.841 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:11:26.841Z,1761585086.841 [marl:UpdateCommandMode] Stopped
2025-10-27T17:11:26.841Z,1761585086.841 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:11:26.842Z,1761585086.842 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:11:26.842Z,1761585086.842 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:11:26.842Z,1761585086.842 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:11:26.844Z,1761585086.844 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:11:26.844Z,1761585086.844 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:11:26.844Z,1761585086.844 [marl:UpdateSpeed] Stopped
2025-10-27T17:11:26.845Z,1761585086.845 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:11:27.283Z,1761585087.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:11:27.283Z,1761585087.283 [marl:UpdateRudder:B] Stopped
2025-10-27T17:11:27.284Z,1761585087.284 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:11:27.284Z,1761585087.284 [marl:UpdateRudder] Stopped
2025-10-27T17:11:27.284Z,1761585087.284 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:11:27.594Z,1761585087.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402257,-0.915276,-0.021405],[0.909084,0.402086,-0.109056],[0.108423,0.024410,0.993805]]
2025-10-27T17:11:27.998Z,1761585087.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415023,-0.906930,-0.072343],[0.905537,0.419464,-0.063665],[0.088085,-0.039087,0.995346]]
2025-10-27T17:11:28.051Z,1761585088.051 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:11:28.404Z,1761585088.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416004,-0.905348,-0.085360],[0.909073,0.416406,0.013895],[0.022965,-0.083378,0.996253]]
2025-10-27T17:11:28.806Z,1761585088.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430400,-0.896973,-0.100974],[0.902631,0.427261,0.052007],[-0.003506,-0.113526,0.993529]]
2025-10-27T17:11:29.055Z,1761585089.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:11:29.217Z,1761585089.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432531,-0.888654,-0.152351],[0.901594,0.427570,0.065672],[0.006781,-0.165764,0.986142]]
2025-10-27T17:11:29.614Z,1761585089.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397990,-0.895236,-0.200390],[0.917181,0.383634,0.107718],[-0.019556,-0.226664,0.973777]]
2025-10-27T17:11:29.621Z,1761585089.621 [NAL9602](INFO): SBD MO Status=1, MOMSN=3058, MT Status=0, MTMSN=0
2025-10-27T17:11:29.672Z,1761585089.672 [NAL9602](INFO): Sent 263 bytes from file Logs/20251027T165046/Courier0009.lzma
2025-10-27T17:11:29.672Z,1761585089.672 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:11:30.019Z,1761585090.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374685,-0.901016,-0.218588],[0.927067,0.360888,0.101525],[-0.012590,-0.240685,0.970522]]
2025-10-27T17:11:31.107Z,1761585091.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390232,-0.918645,-0.061731],[0.920308,0.387185,0.055869],[-0.027423,-0.078614,0.996528]]
2025-10-27T17:11:33.485Z,1761585093.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249251,-0.948514,-0.195437],[0.968078,0.249543,0.023530],[0.026451,-0.195063,0.980434]]
2025-10-27T17:11:33.883Z,1761585093.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258377,-0.965882,0.017714],[0.965988,0.258121,-0.015506],[0.010404,0.021118,0.999723]]
2025-10-27T17:11:34.288Z,1761585094.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259471,-0.965273,0.030392],[0.961820,0.255451,-0.098219],[0.087044,0.054716,0.994701]]
2025-10-27T17:11:34.710Z,1761585094.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219434,-0.975627,-0.000452],[0.970767,0.218387,-0.099592],[0.097263,0.021415,0.995028]]
2025-10-27T17:11:35.094Z,1761585095.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238677,-0.969524,-0.055287],[0.969694,0.241007,-0.040117],[0.052219,-0.044037,0.997664]]
2025-10-27T17:11:35.904Z,1761585095.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205156,-0.972076,-0.113931],[0.976770,0.210716,-0.038986],[0.061904,-0.103286,0.992723]]
2025-10-27T17:11:36.305Z,1761585096.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171626,-0.982314,-0.074861],[0.983833,0.174844,-0.038745],[0.051149,-0.067001,0.996441]]
2025-10-27T17:11:36.713Z,1761585096.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175547,-0.983267,-0.048680],[0.983297,0.177537,-0.040088],[0.048060,-0.040830,0.998010]]
2025-10-27T17:11:37.120Z,1761585097.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190464,-0.980734,-0.043398],[0.979584,0.192766,-0.057066],[0.064332,-0.031643,0.997427]]
2025-10-27T17:11:37.517Z,1761585097.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206895,-0.978160,-0.019950],[0.977981,0.207341,-0.023727],[0.027346,-0.014602,0.999519]]
2025-10-27T17:11:37.922Z,1761585097.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187730,-0.982211,-0.004377],[0.981459,0.187407,0.040220],[-0.038684,-0.011847,0.999181]]
2025-10-27T17:11:38.326Z,1761585098.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147457,-0.989027,-0.009076],[0.987167,0.146599,0.063326],[-0.061300,-0.018298,0.997952]]
2025-10-27T17:11:38.745Z,1761585098.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141655,-0.987336,-0.071430],[0.989323,0.138705,0.044728],[-0.034254,-0.077004,0.996442]]
2025-10-27T17:11:39.134Z,1761585099.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121673,-0.974426,-0.188916],[0.991685,0.127379,-0.018315],[0.041910,-0.185116,0.981822]]
2025-10-27T17:11:39.538Z,1761585099.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080001,-0.968339,-0.236473],[0.994477,0.093706,-0.047277],[0.067940,-0.231385,0.970487]]
2025-10-27T17:11:40.347Z,1761585100.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062374,-0.994328,-0.086147],[0.998051,0.061991,0.007127],[-0.001747,-0.086424,0.996257]]
2025-10-27T17:11:40.755Z,1761585100.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069169,-0.997585,-0.006352],[0.997603,0.069179,-0.001356],[0.001793,-0.006243,0.999979]]
2025-10-27T17:11:41.558Z,1761585101.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013853,-0.999366,0.032812],[0.999192,0.015074,0.037247],[-0.037718,0.032270,0.998767]]
2025-10-27T17:11:41.963Z,1761585101.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043972,-0.995123,-0.088303],[0.998795,-0.045718,0.017850],[-0.021800,-0.087412,0.995934]]
2025-10-27T17:11:41.988Z,1761585101.988 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:11:42.404Z,1761585102.404 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:11:42.404Z,1761585102.404 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:11:42.404Z,1761585102.404 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateRudder:A] Stopped
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:11:42.405Z,1761585102.405 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateCommandMode] Stopped
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:11:42.406Z,1761585102.406 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:11:42.407Z,1761585102.407 [marl:UpdateSpeed] Stopped
2025-10-27T17:11:42.407Z,1761585102.407 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:11:42.473Z,1761585102.473 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:11:42.474Z,1761585102.474 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:11:42.769Z,1761585102.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049245,-0.972938,-0.225756],[0.998314,-0.054904,0.018854],[-0.030739,-0.224447,0.974001]]
2025-10-27T17:11:42.812Z,1761585102.812 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:11:42.812Z,1761585102.812 [marl:UpdateRudder:B] Stopped
2025-10-27T17:11:42.812Z,1761585102.812 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:11:42.812Z,1761585102.812 [marl:UpdateRudder] Stopped
2025-10-27T17:11:42.812Z,1761585102.812 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:11:43.577Z,1761585103.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103777,-0.994025,-0.033827],[0.993937,-0.102405,-0.040024],[0.036320,-0.037775,0.998626]]
2025-10-27T17:11:43.981Z,1761585103.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064084,-0.995710,0.066747],[0.997943,-0.063842,0.005760],[-0.001474,0.066978,0.997753]]
2025-10-27T17:11:44.386Z,1761585104.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040751,-0.996109,0.078141],[0.998317,-0.037362,0.044355],[-0.041263,0.079817,0.995955]]
2025-10-27T17:11:44.797Z,1761585104.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053123,-0.998051,0.032743],[0.998162,-0.054030,-0.027461],[0.029177,0.031224,0.999086]]
2025-10-27T17:11:45.598Z,1761585105.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029242,-0.994327,-0.102271],[0.994075,-0.018212,-0.107159],[0.104688,-0.104799,0.988968]]
2025-10-27T17:11:45.603Z,1761585105.603 [NAL9602](INFO): SBD MO Status=2, MOMSN=3059, MT Status=2, MTMSN=0
2025-10-27T17:11:45.603Z,1761585105.603 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T17:11:46.002Z,1761585106.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043659,-0.988496,-0.144811],[0.997578,-0.035278,-0.059951],[0.054153,-0.147078,0.987641]]
2025-10-27T17:11:46.408Z,1761585106.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066358,-0.991706,-0.110070],[0.997639,-0.067902,0.010331],[-0.017720,-0.109124,0.993870]]
2025-10-27T17:11:46.813Z,1761585106.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072478,-0.992352,-0.099922],[0.997299,-0.073303,0.004608],[-0.011898,-0.099318,0.994985]]
2025-10-27T17:11:46.842Z,1761585106.842 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171146.00,A,3646.73452,N,12151.80108,W,0.136,291.97,271025,,,A*7C
2025-10-27T17:11:46.850Z,1761585106.850 [NAL9602](INFO): GPS fix at 20251027T171146: (36.778909, -121.863351)
2025-10-27T17:11:46.944Z,1761585106.944 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:11:47.213Z,1761585107.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043174,-0.995726,-0.081644],[0.997372,-0.038197,-0.061565],[0.058183,-0.084087,0.994758]]
2025-10-27T17:11:47.619Z,1761585107.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003952,-0.999314,-0.036816],[0.998882,-0.002211,-0.047215],[0.047101,-0.036962,0.998206]]
2025-10-27T17:11:48.021Z,1761585108.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038215,-0.999027,-0.021992],[0.999223,0.037992,0.010467],[-0.009621,-0.022375,0.999703]]
2025-10-27T17:11:48.426Z,1761585108.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016044,-0.997092,-0.074497],[0.999826,0.015287,0.010708],[-0.009538,-0.074656,0.997164]]
2025-10-27T17:11:48.882Z,1761585108.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030954,-0.992025,-0.122182],[0.998789,-0.026022,-0.041757],[0.038244,-0.123326,0.991629]]
2025-10-27T17:11:49.235Z,1761585109.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050287,-0.990439,-0.128457],[0.998710,-0.048970,-0.013393],[0.006974,-0.128965,0.991625]]
2025-10-27T17:11:49.637Z,1761585109.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092179,-0.991198,-0.095023],[0.995154,-0.094985,0.025430],[-0.034232,-0.092218,0.995150]]
2025-10-27T17:11:50.042Z,1761585110.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104092,-0.993417,-0.047825],[0.994496,-0.103386,-0.017010],[0.011954,-0.049333,0.998711]]
2025-10-27T17:11:50.446Z,1761585110.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072239,-0.996758,-0.035415],[0.997355,-0.071904,-0.010654],[0.008073,-0.036091,0.999316]]
2025-10-27T17:11:51.399Z,1761585111.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034356,-0.999391,0.006074],[0.998469,-0.034586,-0.043160],[0.043344,0.004582,0.999050]]
2025-10-27T17:11:51.804Z,1761585111.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013413,-0.999670,-0.021920],[0.999845,-0.013158,-0.011715],[0.011423,-0.022074,0.999691]]
2025-10-27T17:11:53.994Z,1761585113.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026512,-0.998269,-0.052492],[0.999441,-0.027540,0.018956],[-0.020369,-0.051960,0.998441]]
2025-10-27T17:11:54.383Z,1761585114.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022949,-0.999718,0.006067],[0.999594,-0.022842,0.017010],[-0.016867,0.006455,0.999837]]
2025-10-27T17:11:54.785Z,1761585114.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017199,-0.999729,0.015679],[0.999852,-0.017195,0.000387],[-0.000117,0.015683,0.999877]]
2025-10-27T17:11:55.192Z,1761585115.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039024,-0.998236,-0.044753],[0.999238,-0.038935,-0.002859],[0.001111,-0.044830,0.998994]]
2025-10-27T17:11:55.595Z,1761585115.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079642,-0.988466,-0.128814],[0.995840,-0.073158,-0.054315],[0.044265,-0.132604,0.990180]]
2025-10-27T17:11:55.996Z,1761585115.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059805,-0.984159,-0.166895],[0.990793,-0.038181,-0.129891],[0.121461,-0.173126,0.977381]]
2025-10-27T17:11:56.400Z,1761585116.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041206,-0.987195,-0.154105],[0.989643,-0.019098,-0.142278],[0.137513,-0.158371,0.977757]]
2025-10-27T17:11:56.805Z,1761585116.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026434,-0.998626,-0.045250],[0.986516,-0.018746,-0.162590],[0.161519,-0.048937,0.985656]]
2025-10-27T17:11:57.207Z,1761585117.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024497,-0.996312,0.082228],[0.987282,0.011186,-0.158586],[0.157081,0.085067,0.983915]]
2025-10-27T17:11:57.992Z,1761585117.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071782,-0.996106,0.051193],[0.995923,0.068768,-0.058386],[0.054638,0.055176,0.996981]]
2025-10-27T17:11:58.112Z,1761585118.112 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:11:58.112Z,1761585118.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateRudder:A] Stopped
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:11:58.113Z,1761585118.113 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateCommandMode] Stopped
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:11:58.114Z,1761585118.114 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:11:58.115Z,1761585118.115 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:11:58.115Z,1761585118.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:11:58.115Z,1761585118.115 [marl:UpdateSpeed] Stopped
2025-10-27T17:11:58.115Z,1761585118.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:11:58.305Z,1761585118.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080346,-0.995130,-0.057099],[0.994055,0.084219,-0.069001],[0.073474,-0.051215,0.995981]]
2025-10-27T17:11:58.363Z,1761585118.363 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:11:58.363Z,1761585118.363 [marl:UpdateRudder:B] Stopped
2025-10-27T17:11:58.363Z,1761585118.363 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:11:58.364Z,1761585118.364 [marl:UpdateRudder] Stopped
2025-10-27T17:11:58.364Z,1761585118.364 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:11:58.711Z,1761585118.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045504,-0.983437,-0.175445],[0.997129,0.055355,-0.051665],[0.060521,-0.172590,0.983133]]
2025-10-27T17:11:59.113Z,1761585119.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001752,-0.972856,-0.231404],[0.999802,0.006296,-0.018899],[0.019843,-0.231325,0.972674]]
2025-10-27T17:11:59.191Z,1761585119.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:11:59.528Z,1761585119.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047934,-0.971218,-0.233320],[0.998057,-0.037260,-0.049943],[0.039812,-0.235260,0.971117]]
2025-10-27T17:12:00.195Z,1761585120.195 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:12:00.327Z,1761585120.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013778,-0.998843,-0.046083],[0.995071,-0.018223,0.097481],[-0.098208,-0.044513,0.994170]]
2025-10-27T17:12:00.739Z,1761585120.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003170,-0.996899,0.078628],[0.994910,0.004775,0.100655],[-0.100718,0.078547,0.991810]]
2025-10-27T17:12:01.140Z,1761585121.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009596,-0.991545,0.129410],[0.999911,-0.008309,0.010478],[-0.009315,0.129499,0.991536]]
2025-10-27T17:12:01.538Z,1761585121.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015757,-0.996628,0.080529],[0.996939,-0.021828,-0.075076],[0.076581,0.079100,0.993921]]
2025-10-27T17:12:01.941Z,1761585121.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016362,-0.999805,-0.011075],[0.997006,-0.015477,-0.075754],[0.075568,-0.012282,0.997065]]
2025-10-27T17:12:02.755Z,1761585122.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022048,-0.990161,-0.138184],[0.999112,-0.016861,-0.038600],[0.035891,-0.138913,0.989654]]
2025-10-27T17:12:03.162Z,1761585123.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010425,-0.986207,-0.165187],[0.999679,0.006464,0.024494],[-0.023089,-0.165389,0.985958]]
2025-10-27T17:12:03.557Z,1761585123.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029883,-0.990351,-0.135323],[0.998058,0.022160,0.058223],[-0.054663,-0.136800,0.989089]]
2025-10-27T17:12:04.366Z,1761585124.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072660,-0.993665,0.085739],[0.996032,0.067866,-0.057570],[0.051387,0.089582,0.994653]]
2025-10-27T17:12:04.771Z,1761585124.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037467,-0.991803,0.122157],[0.999259,0.038259,0.004143],[-0.008783,0.121912,0.992502]]
2025-10-27T17:12:05.173Z,1761585125.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001445,-0.997036,0.076925],[0.999570,0.000812,0.029300],[-0.029275,0.076934,0.996606]]
2025-10-27T17:12:05.578Z,1761585125.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024152,-0.999682,-0.007262],[0.999708,0.024160,-0.000995],[0.001170,-0.007236,0.999973]]
2025-10-27T17:12:05.982Z,1761585125.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040279,-0.994071,-0.100997],[0.999143,0.041038,-0.005447],[0.009560,-0.100691,0.994872]]
2025-10-27T17:12:06.386Z,1761585126.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003172,-0.987071,-0.160253],[0.999609,0.001323,-0.027934],[0.027785,-0.160278,0.986681]]
2025-10-27T17:12:06.790Z,1761585126.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015255,-0.983319,-0.181247],[0.996171,0.000660,-0.087425],[0.086087,-0.181886,0.979544]]
2025-10-27T17:12:07.195Z,1761585127.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002927,-0.988054,-0.154081],[0.991672,0.016972,-0.127669],[0.128759,-0.153172,0.979775]]
2025-10-27T17:12:07.205Z,1761585127.205 [NAL9602](INFO): SBD MO Status=1, MOMSN=3059, MT Status=0, MTMSN=0
2025-10-27T17:12:07.267Z,1761585127.267 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0010.lzma
2025-10-27T17:12:07.267Z,1761585127.267 [NAL9602](INFO): Packets left to send: 4
2025-10-27T17:12:07.597Z,1761585127.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002627,-0.997534,-0.070143],[0.989779,0.012595,-0.142051],[0.142584,-0.069053,0.987371]]
2025-10-27T17:12:08.454Z,1761585128.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007668,-0.998267,0.058346],[0.973163,-0.005970,-0.230041],[0.229991,0.058544,0.971430]]
2025-10-27T17:12:08.882Z,1761585128.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047821,-0.997512,0.051793],[0.972490,0.034661,-0.230349],[0.227981,0.061384,0.971729]]
2025-10-27T17:12:11.091Z,1761585131.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123591,-0.979363,-0.159918],[0.985533,0.139973,-0.095558],[0.115970,-0.145795,0.982494]]
2025-10-27T17:12:11.492Z,1761585131.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059758,-0.989290,-0.133169],[0.998210,0.058890,0.010452],[-0.002497,-0.133555,0.991038]]
2025-10-27T17:12:12.298Z,1761585132.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101469,-0.982296,-0.157473],[0.992723,0.110295,-0.048342],[0.064855,-0.151422,0.986339]]
2025-10-27T17:12:12.702Z,1761585132.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069283,-0.987402,-0.142259],[0.997423,0.071226,-0.008608],[0.018632,-0.141296,0.989792]]
2025-10-27T17:12:13.108Z,1761585133.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050764,-0.993299,-0.103823],[0.998708,0.050230,0.007762],[-0.002495,-0.104083,0.994565]]
2025-10-27T17:12:13.218Z,1761585133.218 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:12:13.218Z,1761585133.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:12:13.218Z,1761585133.218 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:12:13.218Z,1761585133.218 [marl:UpdateRudder:A] Stopped
2025-10-27T17:12:13.218Z,1761585133.218 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:12:13.219Z,1761585133.219 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:12:13.227Z,1761585133.227 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:12:13.227Z,1761585133.227 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:12:13.227Z,1761585133.227 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:12:13.227Z,1761585133.227 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateCommandMode] Stopped
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:12:13.228Z,1761585133.228 [marl:UpdateSpeed] Stopped
2025-10-27T17:12:13.229Z,1761585133.229 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:12:13.510Z,1761585133.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061640,-0.994448,-0.085287],[0.998098,0.061362,0.005889],[-0.000623,-0.085488,0.996339]]
2025-10-27T17:12:13.573Z,1761585133.573 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:12:13.573Z,1761585133.573 [marl:UpdateRudder:B] Stopped
2025-10-27T17:12:13.573Z,1761585133.573 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:12:13.574Z,1761585133.574 [marl:UpdateRudder] Stopped
2025-10-27T17:12:13.574Z,1761585133.574 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:12:13.914Z,1761585133.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104696,-0.990645,-0.087524],[0.994453,0.103387,0.019375],[-0.010145,-0.089067,0.995974]]
2025-10-27T17:12:14.318Z,1761585134.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123140,-0.989980,-0.069116],[0.991447,0.125759,-0.034897],[0.043239,-0.064228,0.996998]]
2025-10-27T17:12:14.724Z,1761585134.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124922,-0.991380,-0.039492],[0.990528,0.126903,-0.052439],[0.056999,-0.032567,0.997843]]
2025-10-27T17:12:15.135Z,1761585135.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158765,-0.987264,-0.010214],[0.987307,0.158799,-0.002600],[0.004189,-0.009672,0.999944]]
2025-10-27T17:12:15.535Z,1761585135.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151392,-0.988164,-0.024754],[0.988420,0.151597,-0.006614],[0.010288,-0.023466,0.999672]]
2025-10-27T17:12:15.934Z,1761585135.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120967,-0.992150,-0.031709],[0.989670,0.123017,-0.073616],[0.076939,-0.022476,0.996782]]
2025-10-27T17:12:16.338Z,1761585136.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134631,-0.989952,-0.043250],[0.985588,0.138294,-0.097428],[0.102430,-0.029509,0.994302]]
2025-10-27T17:12:16.748Z,1761585136.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145465,-0.987950,-0.052867],[0.984960,0.149647,-0.086366],[0.093236,-0.039509,0.994860]]
2025-10-27T17:12:17.158Z,1761585137.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159049,-0.986710,-0.033277],[0.982158,0.161561,-0.096250],[0.100347,-0.017374,0.994801]]
2025-10-27T17:12:17.550Z,1761585137.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196160,-0.979677,-0.041892],[0.977310,0.198811,-0.073076],[0.079919,-0.026606,0.996446]]
2025-10-27T17:12:17.791Z,1761585137.791 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002941
2025-10-27T17:12:17.954Z,1761585137.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217970,-0.973283,-0.072172],[0.975952,0.217558,0.013613],[0.002452,-0.073404,0.997299]]
2025-10-27T17:12:18.357Z,1761585138.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235129,-0.964254,-0.122186],[0.971963,0.233053,0.031219],[-0.001627,-0.126101,0.992016]]
2025-10-27T17:12:18.765Z,1761585138.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214937,-0.961605,-0.170638],[0.973699,0.224517,-0.038754],[0.075578,-0.157820,0.984571]]
2025-10-27T17:12:19.166Z,1761585139.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179351,-0.974065,-0.137950],[0.982798,0.183682,-0.019223],[0.044063,-0.132129,0.990253]]
2025-10-27T17:12:19.174Z,1761585139.174 [NAL9602](INFO): SBD MO Status=1, MOMSN=3060, MT Status=0, MTMSN=0
2025-10-27T17:12:19.223Z,1761585139.223 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0010.lzma
2025-10-27T17:12:19.224Z,1761585139.224 [NAL9602](INFO): Packets left to send: 3
2025-10-27T17:12:19.596Z,1761585139.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196221,-0.979568,-0.044081],[0.977450,0.191824,0.088285],[-0.078025,-0.060410,0.995119]]
2025-10-27T17:12:20.397Z,1761585140.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190620,-0.980714,-0.043164],[0.981656,0.190605,0.004508],[0.003806,-0.043231,0.999058]]
2025-10-27T17:12:20.406Z,1761585140.406 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171219.00,A,3646.73693,N,12151.80383,W,0.214,313.10,271025,,,D*79
2025-10-27T17:12:20.408Z,1761585140.408 [NAL9602](INFO): GPS fix at 20251027T171219: (36.778949, -121.863397)
2025-10-27T17:12:20.432Z,1761585140.432 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:20.798Z,1761585140.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180995,-0.982426,-0.045602],[0.983111,0.182009,-0.019134],[0.027098,-0.041368,0.998776]]
2025-10-27T17:12:21.202Z,1761585141.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195954,-0.975574,-0.099288],[0.979098,0.200272,-0.035471],[0.054489,-0.090262,0.994426]]
2025-10-27T17:12:21.619Z,1761585141.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180190,-0.973866,-0.138265],[0.981943,0.186329,-0.032715],[0.057623,-0.129874,0.989855]]
2025-10-27T17:12:22.015Z,1761585142.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156743,-0.981659,-0.108523],[0.987267,0.158752,-0.010070],[0.027114,-0.105563,0.994043]]
2025-10-27T17:12:22.822Z,1761585142.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129735,-0.985748,-0.107092],[0.987947,0.137706,-0.070701],[0.084441,-0.096629,0.991732]]
2025-10-27T17:12:23.257Z,1761585143.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120842,-0.985639,-0.117957],[0.986849,0.132133,-0.093108],[0.107357,-0.105154,0.988644]]
2025-10-27T17:12:23.266Z,1761585143.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171222.00,A,3646.73729,N,12151.80458,W,1.283,299.37,271025,,,D*79
2025-10-27T17:12:23.273Z,1761585143.273 [NAL9602](INFO): GPS fix at 20251027T171222: (36.778955, -121.863410)
2025-10-27T17:12:23.342Z,1761585143.342 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:23.650Z,1761585143.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126513,-0.987685,-0.092046],[0.989121,0.132627,-0.063630],[0.075055,-0.082995,0.993720]]
2025-10-27T17:12:24.054Z,1761585144.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162861,-0.985127,-0.054784],[0.983994,0.166243,-0.064180],[0.072333,-0.043454,0.996433]]
2025-10-27T17:12:24.461Z,1761585144.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178897,-0.983810,-0.010627],[0.979525,0.179110,-0.091924],[0.092339,0.006036,0.995709]]
2025-10-27T17:12:24.901Z,1761585144.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171421,-0.985173,0.007034],[0.980302,0.169854,-0.100785],[0.098095,0.024172,0.994883]]
2025-10-27T17:12:25.289Z,1761585145.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171567,-0.985020,-0.017354],[0.983701,0.172247,-0.051607],[0.053823,-0.008217,0.998517]]
2025-10-27T17:12:25.675Z,1761585145.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173289,-0.983396,-0.053887],[0.984407,0.171269,0.040128],[-0.030232,-0.060000,0.997740]]
2025-10-27T17:12:26.078Z,1761585146.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167128,-0.981021,-0.098315],[0.984604,0.160889,0.068339],[-0.051224,-0.108223,0.992806]]
2025-10-27T17:12:26.103Z,1761585146.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171225.00,A,3646.73752,N,12151.80524,W,0.719,41.08,271025,,,D*44
2025-10-27T17:12:26.112Z,1761585146.112 [NAL9602](INFO): GPS fix at 20251027T171225: (36.778959, -121.863421)
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateRudder:A] Stopped
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:12:26.192Z,1761585146.192 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode] Stopped
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:12:26.193Z,1761585146.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:12:26.194Z,1761585146.194 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:12:26.194Z,1761585146.194 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:12:26.194Z,1761585146.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:12:26.194Z,1761585146.194 [marl:UpdateSpeed] Stopped
2025-10-27T17:12:26.194Z,1761585146.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:12:26.201Z,1761585146.201 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:26.482Z,1761585146.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161361,-0.979656,-0.119315],[0.986892,0.159842,0.022256],[-0.002732,-0.121342,0.992607]]
2025-10-27T17:12:26.558Z,1761585146.558 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:12:26.558Z,1761585146.558 [marl:UpdateRudder:B] Stopped
2025-10-27T17:12:26.558Z,1761585146.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:12:26.558Z,1761585146.558 [marl:UpdateRudder] Stopped
2025-10-27T17:12:26.558Z,1761585146.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:12:26.912Z,1761585146.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146251,-0.981669,-0.122217],[0.989191,0.146444,0.007450],[0.010585,-0.121986,0.992475]]
2025-10-27T17:12:27.290Z,1761585147.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128031,-0.987001,-0.097145],[0.991655,0.128892,-0.002616],[0.015103,-0.095999,0.995267]]
2025-10-27T17:12:27.694Z,1761585147.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124747,-0.991673,-0.031976],[0.990501,0.126349,-0.054255],[0.057843,-0.024904,0.998015]]
2025-10-27T17:12:28.030Z,1761585148.030 [DataOverHttps](INFO): Sending 1421 bytes from file Logs/20251027T165046/Express0010.lzma
2025-10-27T17:12:28.116Z,1761585148.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132417,-0.990323,0.041544],[0.986868,0.127812,-0.098772],[0.092506,0.054077,0.994243]]
2025-10-27T17:12:28.503Z,1761585148.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144156,-0.987353,0.065975],[0.987022,0.138700,-0.080932],[0.070758,0.076786,0.994534]]
2025-10-27T17:12:28.905Z,1761585148.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157408,-0.987527,0.003549],[0.983468,0.156433,-0.091207],[0.089515,0.017847,0.995826]]
2025-10-27T17:12:28.922Z,1761585148.922 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171228.00,A,3646.73756,N,12151.80551,W,0.408,358.19,271025,,,D*77
2025-10-27T17:12:28.924Z,1761585148.924 [NAL9602](INFO): GPS fix at 20251027T171228: (36.778959, -121.863425)
2025-10-27T17:12:29.006Z,1761585149.006 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:29.029Z,1761585149.029 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0010.lzma.bak
2025-10-27T17:12:29.029Z,1761585149.029 [DataOverHttps](INFO): SBD MOMSN=26248134
2025-10-27T17:12:29.309Z,1761585149.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172142,-0.982797,-0.066911],[0.977491,0.178833,-0.111940],[0.121980,-0.046135,0.991460]]
2025-10-27T17:12:29.714Z,1761585149.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186558,-0.976637,-0.106659],[0.977708,0.195208,-0.077337],[0.096351,-0.089854,0.991283]]
2025-10-27T17:12:30.122Z,1761585150.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153980,-0.976387,-0.151518],[0.981159,0.169204,-0.093256],[0.116691,-0.134304,0.984046]]
2025-10-27T17:12:30.522Z,1761585150.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123939,-0.978987,-0.161934],[0.977573,0.148466,-0.149363],[0.170266,-0.139791,0.975432]]
2025-10-27T17:12:30.925Z,1761585150.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125747,-0.985802,-0.111276],[0.976126,0.142970,-0.163515],[0.177102,-0.088058,0.980245]]
2025-10-27T17:12:30.996Z,1761585150.996 [marl:NeedComms:D] Stopped
2025-10-27T17:12:30.996Z,1761585150.996 [marl:NeedComms:E] Running Loop=1
2025-10-27T17:12:31.330Z,1761585151.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177159,-0.983466,-0.037531],[0.975657,0.180505,-0.124542],[0.129258,-0.014554,0.991504]]
2025-10-27T17:12:32.170Z,1761585152.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195022,-0.979276,-0.054634],[0.979774,0.197062,-0.034776],[0.044822,-0.046747,0.997901]]
2025-10-27T17:12:32.184Z,1761585152.184 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171231.00,A,3646.73785,N,12151.80566,W,0.467,345.71,271025,,,D*7E
2025-10-27T17:12:32.191Z,1761585152.191 [NAL9602](INFO): GPS fix at 20251027T171231: (36.778964, -121.863428)
2025-10-27T17:12:32.261Z,1761585152.261 [marl:NeedComms:E] Stopped
2025-10-27T17:12:32.262Z,1761585152.262 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T17:12:32.262Z,1761585152.262 [marl:NeedComms] Stopped
2025-10-27T17:12:32.262Z,1761585152.262 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T17:12:32.262Z,1761585152.262 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T17:12:32.262Z,1761585152.262 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T17:12:32.271Z,1761585152.271 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:32.547Z,1761585152.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184355,-0.975300,-0.121668],[0.979450,0.192605,-0.059844],[0.081800,-0.108135,0.990765]]
2025-10-27T17:12:32.952Z,1761585152.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204575,-0.963776,-0.171127],[0.973399,0.218728,-0.068204],[0.103164,-0.152622,0.982885]]
2025-10-27T17:12:33.354Z,1761585153.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192280,-0.963303,-0.187287],[0.974772,0.209526,-0.076929],[0.113347,-0.167771,0.979288]]
2025-10-27T17:12:33.760Z,1761585153.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190283,-0.972145,-0.136846],[0.971250,0.206727,-0.118060],[0.143062,-0.110447,0.983532]]
2025-10-27T17:12:34.158Z,1761585154.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231918,-0.971373,-0.051467],[0.965241,0.236364,-0.111547],[0.120518,-0.023808,0.992426]]
2025-10-27T17:12:34.638Z,1761585154.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256302,-0.966579,0.005945],[0.966021,0.255932,-0.036076],[0.033349,0.014989,0.999331]]
2025-10-27T17:12:35.018Z,1761585155.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236592,-0.971321,0.023653],[0.971170,0.237147,0.024274],[-0.029187,0.017228,0.999425]]
2025-10-27T17:12:35.026Z,1761585155.026 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171234.00,A,3646.73789,N,12151.80603,W,0.603,304.28,271025,,,D*7E
2025-10-27T17:12:35.028Z,1761585155.028 [NAL9602](INFO): GPS fix at 20251027T171234: (36.778965, -121.863434)
2025-10-27T17:12:35.165Z,1761585155.165 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:35.462Z,1761585155.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224842,-0.974176,-0.020692],[0.973987,0.224083,0.033717],[-0.028210,-0.027735,0.999217]]
2025-10-27T17:12:35.850Z,1761585155.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206124,-0.974033,-0.093666],[0.978418,0.203735,0.034488],[-0.014510,-0.098753,0.995006]]
2025-10-27T17:12:36.254Z,1761585156.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223618,-0.967832,-0.115307],[0.974622,0.220777,0.037016],[-0.010369,-0.120659,0.992640]]
2025-10-27T17:12:36.659Z,1761585156.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248054,-0.962452,-0.110247],[0.968225,0.250042,-0.004368],[0.031770,-0.105660,0.993895]]
2025-10-27T17:12:37.062Z,1761585157.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244058,-0.965925,-0.086166],[0.967527,0.248560,-0.045935],[0.065787,-0.072157,0.995221]]
2025-10-27T17:12:37.548Z,1761585157.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251868,-0.965199,-0.070387],[0.966722,0.254301,-0.027915],[0.044843,-0.061014,0.997129]]
2025-10-27T17:12:37.946Z,1761585157.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288510,-0.954472,-0.075796],[0.957186,0.289467,-0.001719],[0.023581,-0.072055,0.997122]]
2025-10-27T17:12:37.961Z,1761585157.961 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171237.00,A,3646.73824,N,12151.80680,W,0.836,297.09,271025,,,D*7E
2025-10-27T17:12:37.968Z,1761585157.968 [NAL9602](INFO): GPS fix at 20251027T171237: (36.778971, -121.863447)
2025-10-27T17:12:38.045Z,1761585158.045 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:38.350Z,1761585158.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294911,-0.951780,-0.084517],[0.954874,0.296819,-0.010694],[0.035264,-0.077549,0.996365]]
2025-10-27T17:12:38.769Z,1761585158.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282025,-0.954061,-0.101140],[0.955595,0.288728,-0.058946],[0.085440,-0.080025,0.993124]]
2025-10-27T17:12:39.166Z,1761585159.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285722,-0.950806,-0.119711],[0.954407,0.293595,-0.053943],[0.086436,-0.098841,0.991342]]
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateRudder:A] Stopped
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:12:39.224Z,1761585159.224 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode] Stopped
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:12:39.225Z,1761585159.225 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:12:39.226Z,1761585159.226 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:12:39.226Z,1761585159.226 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:12:39.226Z,1761585159.226 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:12:39.226Z,1761585159.226 [marl:UpdateSpeed] Stopped
2025-10-27T17:12:39.226Z,1761585159.226 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:12:39.582Z,1761585159.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286685,-0.944343,-0.161331],[0.957182,0.289405,0.006894],[0.040179,-0.156400,0.986876]]
2025-10-27T17:12:39.624Z,1761585159.624 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:12:39.624Z,1761585159.624 [marl:UpdateRudder:B] Stopped
2025-10-27T17:12:39.624Z,1761585159.624 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:12:39.624Z,1761585159.624 [marl:UpdateRudder] Stopped
2025-10-27T17:12:39.624Z,1761585159.624 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:12:39.974Z,1761585159.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263847,-0.943122,-0.202253],[0.964339,0.253388,0.076449],[-0.020852,-0.215211,0.976345]]
2025-10-27T17:12:40.377Z,1761585160.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246848,-0.951501,-0.183609],[0.967575,0.231541,0.100932],[-0.053524,-0.202570,0.977804]]
2025-10-27T17:12:40.782Z,1761585160.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280289,-0.950977,-0.130695],[0.958487,0.269838,0.092147],[-0.052363,-0.151097,0.987131]]
2025-10-27T17:12:41.188Z,1761585161.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:12:41.295Z,1761585161.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315714,-0.941936,-0.114372],[0.948757,0.311652,0.052283],[-0.013603,-0.125017,0.992061]]
2025-10-27T17:12:41.300Z,1761585161.300 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171240.00,A,3646.73844,N,12151.80647,W,1.361,31.33,271025,,,D*4C
2025-10-27T17:12:41.302Z,1761585161.302 [NAL9602](INFO): GPS fix at 20251027T171240: (36.778974, -121.863441)
2025-10-27T17:12:41.382Z,1761585161.382 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:41.719Z,1761585161.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306828,-0.944484,-0.117502],[0.950978,0.309249,-0.002497],[0.038696,-0.110975,0.993070]]
2025-10-27T17:12:42.121Z,1761585162.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271228,-0.954110,-0.126923],[0.960875,0.276096,-0.022144],[0.056171,-0.115951,0.991665]]
2025-10-27T17:12:42.185Z,1761585162.185 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:12:42.531Z,1761585162.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275607,-0.950014,-0.146678],[0.960516,0.278210,0.002879],[0.038072,-0.141680,0.989180]]
2025-10-27T17:12:42.812Z,1761585162.812 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:12:42.812Z,1761585162.812 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:12:42.930Z,1761585162.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281479,-0.943595,-0.174349],[0.959477,0.274277,0.064620],[-0.013155,-0.185473,0.982561]]
2025-10-27T17:12:43.342Z,1761585163.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308848,-0.937888,-0.158047],[0.950862,0.300669,0.073889],[-0.021780,-0.173102,0.984663]]
2025-10-27T17:12:43.783Z,1761585163.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344566,-0.928493,-0.138475],[0.938531,0.343983,0.028889],[0.020810,-0.139917,0.989945]]
2025-10-27T17:12:44.200Z,1761585164.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364202,-0.921453,-0.135207],[0.925165,0.374626,-0.061041],[0.106899,-0.102857,0.988935]]
2025-10-27T17:12:44.220Z,1761585164.220 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171243.00,A,3646.73898,N,12151.80657,W,0.603,5.72,271025,,,D*7D
2025-10-27T17:12:44.227Z,1761585164.227 [NAL9602](INFO): GPS fix at 20251027T171243: (36.778983, -121.863443)
2025-10-27T17:12:44.301Z,1761585164.301 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:44.593Z,1761585164.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369522,-0.917380,-0.147878],[0.915391,0.386738,-0.111770],[0.159726,-0.094065,0.982669]]
2025-10-27T17:12:44.986Z,1761585164.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361517,-0.913005,-0.189017],[0.912184,0.388299,-0.130935],[0.192939,-0.125084,0.973205]]
2025-10-27T17:12:45.390Z,1761585165.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378463,-0.904571,-0.196257],[0.913882,0.398824,-0.075892],[0.146921,-0.150634,0.977611]]
2025-10-27T17:12:45.798Z,1761585165.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406801,-0.892395,-0.195305],[0.909879,0.414873,-0.000466],[0.081443,-0.177514,0.980742]]
2025-10-27T17:12:46.201Z,1761585166.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418493,-0.889001,-0.185852],[0.908134,0.406780,0.099110],[-0.012508,-0.210255,0.977567]]
2025-10-27T17:12:46.602Z,1761585166.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423434,-0.891018,-0.163677],[0.899085,0.391155,0.196581],[-0.111135,-0.230398,0.966729]]
2025-10-27T17:12:47.019Z,1761585167.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426431,-0.879823,-0.209923],[0.904165,0.408120,0.126192],[-0.025353,-0.243617,0.969540]]
2025-10-27T17:12:47.039Z,1761585167.039 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171246.00,A,3646.73936,N,12151.80635,W,1.711,24.40,271025,,,D*48
2025-10-27T17:12:47.042Z,1761585167.042 [NAL9602](INFO): GPS fix at 20251027T171246: (36.778989, -121.863439)
2025-10-27T17:12:47.198Z,1761585167.198 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:47.423Z,1761585167.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394207,-0.877619,-0.272735],[0.908557,0.416819,-0.028046],[0.138295,-0.236739,0.961680]]
2025-10-27T17:12:47.810Z,1761585167.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400925,-0.888602,-0.222812],[0.887009,0.437348,-0.148126],[0.229071,-0.138249,0.963542]]
2025-10-27T17:12:48.214Z,1761585168.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437831,-0.891497,-0.116348],[0.869622,0.452778,-0.196848],[0.228170,-0.014992,0.973506]]
2025-10-27T17:12:48.619Z,1761585168.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480530,-0.874803,-0.061737],[0.864083,0.484317,-0.137104],[0.149839,0.012537,0.988631]]
2025-10-27T17:12:49.023Z,1761585169.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498095,-0.862908,-0.085393],[0.862247,0.503315,-0.056611],[0.091830,-0.045433,0.994738]]
2025-10-27T17:12:49.429Z,1761585169.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511711,-0.846136,-0.149015],[0.855326,0.518071,-0.004554],[0.081053,-0.125126,0.988824]]
2025-10-27T17:12:49.830Z,1761585169.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512940,-0.831662,-0.212673],[0.854647,0.517977,0.035739],[0.080437,-0.200093,0.976470]]
2025-10-27T17:12:49.835Z,1761585169.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171249.00,A,3646.73987,N,12151.80557,W,1.944,60.47,271025,,,D*43
2025-10-27T17:12:49.837Z,1761585169.837 [NAL9602](INFO): GPS fix at 20251027T171249: (36.778998, -121.863426)
2025-10-27T17:12:49.892Z,1761585169.892 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:50.234Z,1761585170.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516312,-0.824203,-0.232618],[0.853185,0.518551,0.056394],[0.074144,-0.227583,0.970932]]
2025-10-27T17:12:50.640Z,1761585170.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539596,-0.808140,-0.236106],[0.838719,0.540417,0.067079],[0.073386,-0.234223,0.969409]]
2025-10-27T17:12:51.052Z,1761585171.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521225,-0.818000,-0.243313],[0.849961,0.523209,0.061795],[0.076755,-0.239015,0.967977]]
2025-10-27T17:12:51.446Z,1761585171.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493450,-0.824321,-0.277493],[0.866261,0.494421,0.071694],[0.078100,-0.275759,0.958049]]
2025-10-27T17:12:51.539Z,1761585171.539 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:12:51.850Z,1761585171.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491359,-0.825843,-0.276677],[0.858025,0.513528,-0.009018],[0.149529,-0.232964,0.960921]]
2025-10-27T17:12:52.309Z,1761585172.309 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:12:52.309Z,1761585172.309 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:12:52.309Z,1761585172.309 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateRudder:A] Stopped
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode] Stopped
2025-10-27T17:12:52.310Z,1761585172.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:12:52.311Z,1761585172.311 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:12:52.315Z,1761585172.315 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:12:52.315Z,1761585172.315 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:12:52.315Z,1761585172.315 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:12:52.316Z,1761585172.316 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:12:52.316Z,1761585172.316 [marl:UpdateSpeed] Stopped
2025-10-27T17:12:52.316Z,1761585172.316 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:12:52.662Z,1761585172.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514609,-0.819907,-0.250859],[0.813378,0.559379,-0.159720],[0.271281,-0.121850,0.954756]]
2025-10-27T17:12:52.735Z,1761585172.735 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:12:52.735Z,1761585172.735 [marl:UpdateRudder:B] Stopped
2025-10-27T17:12:52.736Z,1761585172.736 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:12:52.736Z,1761585172.736 [marl:UpdateRudder] Stopped
2025-10-27T17:12:52.736Z,1761585172.736 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:12:53.074Z,1761585173.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526545,-0.801251,-0.284160],[0.801885,0.579105,-0.147031],[0.282367,-0.150445,0.947436]]
2025-10-27T17:12:53.084Z,1761585173.084 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171252.00,A,3646.74057,N,12151.80431,W,0.758,51.18,271025,,,D*41
2025-10-27T17:12:53.086Z,1761585173.086 [NAL9602](INFO): GPS fix at 20251027T171252: (36.779010, -121.863405)
2025-10-27T17:12:53.152Z,1761585173.152 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:53.476Z,1761585173.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525768,-0.791492,-0.311624],[0.803119,0.582611,-0.124759],[0.280302,-0.184677,0.941980]]
2025-10-27T17:12:53.880Z,1761585173.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539449,-0.778348,-0.321200],[0.784025,0.603433,-0.145514],[0.307083,-0.173331,0.935765]]
2025-10-27T17:12:54.311Z,1761585174.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552039,-0.760140,-0.342696],[0.767659,0.623771,-0.147000],[0.325504,-0.181924,0.927874]]
2025-10-27T17:12:54.730Z,1761585174.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552718,-0.736913,-0.389182],[0.754259,0.640945,-0.142422],[0.354397,-0.214824,0.910084]]
2025-10-27T17:12:55.118Z,1761585175.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569676,-0.699244,-0.431888],[0.725860,0.674533,-0.134659],[0.385482,-0.236778,0.891818]]
2025-10-27T17:12:55.514Z,1761585175.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603250,-0.654468,-0.455808],[0.687836,0.716206,-0.118026],[0.403696,-0.242322,0.882218]]
2025-10-27T17:12:55.922Z,1761585175.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632178,-0.607450,-0.480994],[0.663182,0.745223,-0.069517],[0.400676,-0.275040,0.873963]]
2025-10-27T17:12:55.930Z,1761585175.930 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171255.00,A,3646.74169,N,12151.80446,W,1.516,355.72,271025,,,D*78
2025-10-27T17:12:55.932Z,1761585175.932 [NAL9602](INFO): GPS fix at 20251027T171255: (36.779028, -121.863408)
2025-10-27T17:12:56.008Z,1761585176.008 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:56.328Z,1761585176.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641322,-0.579171,-0.503256],[0.656812,0.753453,-0.030104],[0.396615,-0.311238,0.863613]]
2025-10-27T17:12:56.737Z,1761585176.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644690,-0.579115,-0.498999],[0.651008,0.758083,-0.038716],[0.400704,-0.299893,0.865737]]
2025-10-27T17:12:57.134Z,1761585177.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654320,-0.570458,-0.496430],[0.650330,0.759492,-0.015581],[0.385923,-0.312649,0.867937]]
2025-10-27T17:12:57.613Z,1761585177.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662736,-0.563570,-0.493123],[0.654376,0.756011,0.015441],[0.364104,-0.332921,0.869823]]
2025-10-27T17:12:57.998Z,1761585177.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668647,-0.554622,-0.495283],[0.649010,0.760379,0.024705],[0.362901,-0.337962,0.868381]]
2025-10-27T17:12:58.020Z,1761585178.020 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm (3 active estimators).
2025-10-27T17:12:58.409Z,1761585178.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677335,-0.541651,-0.497827],[0.633568,0.773415,0.020524],[0.373910,-0.329309,0.867033]]
2025-10-27T17:12:58.816Z,1761585178.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684453,-0.526759,-0.504032],[0.614043,0.789221,0.009037],[0.393032,-0.315683,0.863638]]
2025-10-27T17:12:58.825Z,1761585178.825 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171258.00,A,3646.74424,N,12151.80075,W,6.609,5.74,271025,,,D*77
2025-10-27T17:12:58.841Z,1761585178.841 [NAL9602](INFO): GPS fix at 20251027T171258: (36.779071, -121.863346)
2025-10-27T17:12:58.932Z,1761585178.932 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585152.00. Resetting abort timer.
2025-10-27T17:12:59.261Z,1761585179.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688967,-0.510305,-0.514697],[0.595297,0.803506,0.000207],[0.413457,-0.306540,0.857372]]
2025-10-27T17:12:59.662Z,1761585179.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697276,-0.494693,-0.518734],[0.579831,0.814733,0.002428],[0.421428,-0.302471,0.854932]]
2025-10-27T17:13:00.466Z,1761585180.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728922,-0.472128,-0.495749],[0.570280,0.819389,0.058160],[0.378752,-0.325110,0.866516]]
2025-10-27T17:13:01.678Z,1761585181.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744434,-0.446084,-0.496816],[0.557159,0.825063,0.094041],[0.367955,-0.346813,0.862746]]
2025-10-27T17:13:02.082Z,1761585182.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752649,-0.434180,-0.494982],[0.537103,0.839701,0.080141],[0.380841,-0.326174,0.865200]]
2025-10-27T17:13:02.906Z,1761585182.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778900,-0.408248,-0.476076],[0.501494,0.861274,0.081920],[0.376588,-0.302557,0.875580]]
2025-10-27T17:13:03.310Z,1761585183.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788829,-0.402102,-0.464826],[0.496241,0.862896,0.095685],[0.362621,-0.306145,0.880217]]
2025-10-27T17:13:03.713Z,1761585183.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798184,-0.394594,-0.455191],[0.492160,0.862874,0.115006],[0.347392,-0.315823,0.882935]]
2025-10-27T17:13:04.117Z,1761585184.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804369,-0.386389,-0.451325],[0.488222,0.862755,0.131505],[0.338570,-0.326125,0.882617]]
2025-10-27T17:13:04.525Z,1761585184.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807907,-0.376676,-0.453212],[0.481680,0.865157,0.139601],[0.339515,-0.331088,0.880403]]
2025-10-27T17:13:04.932Z,1761585184.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812021,-0.362769,-0.457187],[0.469057,0.871781,0.141364],[0.347284,-0.329238,0.878064]]
2025-10-27T17:13:05.406Z,1761585185.406 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:13:05.406Z,1761585185.406 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:13:05.406Z,1761585185.406 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateRudder:A] Stopped
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:13:05.407Z,1761585185.407 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateCommandMode] Stopped
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:13:05.408Z,1761585185.408 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:13:05.409Z,1761585185.409 [marl:UpdateSpeed] Stopped
2025-10-27T17:13:05.409Z,1761585185.409 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:13:05.742Z,1761585185.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826266,-0.326664,-0.458884],[0.429148,0.892753,0.137201],[0.364851,-0.310294,0.877839]]
2025-10-27T17:13:05.783Z,1761585185.783 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:13:05.783Z,1761585185.783 [marl:UpdateRudder:B] Stopped
2025-10-27T17:13:05.783Z,1761585185.783 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:13:05.783Z,1761585185.783 [marl:UpdateRudder] Stopped
2025-10-27T17:13:05.784Z,1761585185.784 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:13:06.138Z,1761585186.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835585,-0.308520,-0.454547],[0.409806,0.901095,0.141726],[0.365865,-0.304700,0.879375]]
2025-10-27T17:13:06.556Z,1761585186.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845266,-0.289332,-0.449236],[0.393120,0.906144,0.156075],[0.361915,-0.308529,0.879675]]
2025-10-27T17:13:06.950Z,1761585186.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855381,-0.268434,-0.443019],[0.378247,0.908009,0.180137],[0.353910,-0.321657,0.878228]]
2025-10-27T17:13:07.365Z,1761585187.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865161,-0.247086,-0.436400],[0.365361,0.906638,0.210995],[0.343523,-0.341988,0.874663]]
2025-10-27T17:13:07.766Z,1761585187.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874273,-0.228656,-0.428209],[0.353780,0.904141,0.239517],[0.332394,-0.360895,0.871360]]
2025-10-27T17:13:08.170Z,1761585188.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882634,-0.213381,-0.418838],[0.341488,0.903382,0.259397],[0.323020,-0.371981,0.870223]]
2025-10-27T17:13:08.991Z,1761585188.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907475,-0.172049,-0.383261],[0.288598,0.918263,0.271117],[0.305289,-0.356640,0.882953]]
2025-10-27T17:13:09.386Z,1761585189.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914968,-0.158128,-0.371255],[0.268392,0.925491,0.267268],[0.301330,-0.344184,0.889234]]
2025-10-27T17:13:09.790Z,1761585189.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922592,-0.140746,-0.359187],[0.245766,0.932112,0.266020],[0.297361,-0.333704,0.894549]]
2025-10-27T17:13:10.594Z,1761585190.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936257,-0.104948,-0.335275],[0.204874,0.938365,0.278385],[0.285395,-0.329329,0.900051]]
2025-10-27T17:13:10.000Z,1761585191.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941661,-0.088024,-0.324849],[0.188911,0.937045,0.293698],[0.278546,-0.337932,0.899007]]
2025-10-27T17:13:11.813Z,1761585191.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951377,-0.056040,-0.302887],[0.158405,0.932334,0.325055],[0.264176,-0.357229,0.895879]]
2025-10-27T17:13:12.613Z,1761585192.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960394,-0.030286,-0.276996],[0.128159,0.930703,0.342590],[0.247425,-0.364520,0.897722]]
2025-10-27T17:13:13.028Z,1761585193.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965041,-0.017967,-0.261481],[0.112990,0.928701,0.353197],[0.236492,-0.370395,0.898265]]
2025-10-27T17:13:13.423Z,1761585193.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969871,-0.001093,-0.243615],[0.092144,0.927348,0.362678],[0.225520,-0.374199,0.899509]]
2025-10-27T17:13:13.825Z,1761585193.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974172,0.016484,-0.225203],[0.069616,0.926826,0.368980],[0.214806,-0.375128,0.901741]]
2025-10-27T17:13:14.233Z,1761585194.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977460,0.034103,-0.208350],[0.046647,0.927593,0.370669],[0.205905,-0.372033,0.905094]]
2025-10-27T17:13:14.635Z,1761585194.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979819,0.050908,-0.193296],[0.024539,0.929074,0.369079],[0.198376,-0.366374,0.909075]]
2025-10-27T17:13:15.050Z,1761585195.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981715,0.065710,-0.178654],[0.004684,0.929908,0.367763],[0.190298,-0.361875,0.912597]]
2025-10-27T17:13:15.060Z,1761585195.060 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA,  0.00,1069.14
2025-10-27T17:13:15.442Z,1761585195.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983486,0.082572,-0.161049],[-0.016609,0.927279,0.374004],[0.180219,-0.365153,0.913337]]
2025-10-27T17:13:16.251Z,1761585196.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985879,0.120904,-0.115863],[-0.065963,0.916341,0.394928],[0.153918,-0.381709,0.911377]]
2025-10-27T17:13:16.655Z,1761585196.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985894,0.139377,-0.092666],[-0.091655,0.912854,0.397866],[0.140043,-0.383760,0.912752]]
2025-10-27T17:13:17.060Z,1761585197.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984838,0.157535,-0.072636],[-0.116764,0.911641,0.394051],[0.128295,-0.379595,0.916214]]
2025-10-27T17:13:17.461Z,1761585197.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982857,0.175632,-0.056087],[-0.140963,0.911920,0.385397],[0.118835,-0.370883,0.921045]]
2025-10-27T17:13:17.867Z,1761585197.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980070,0.194222,-0.041730],[-0.164684,0.911826,0.376102],[0.111098,-0.361734,0.925638]]
2025-10-27T17:13:18.269Z,1761585198.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976583,0.213128,-0.029352],[-0.187743,0.910877,0.367498],[0.105060,-0.353382,0.929561]]
2025-10-27T17:13:18.314Z,1761585198.314 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:13:18.314Z,1761585198.314 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:13:18.314Z,1761585198.314 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:13:18.315Z,1761585198.315 [marl:UpdateRudder:A] Stopped
2025-10-27T17:13:18.315Z,1761585198.315 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:13:18.315Z,1761585198.315 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:13:18.315Z,1761585198.315 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:13:18.315Z,1761585198.315 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateCommandMode] Stopped
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:13:18.316Z,1761585198.316 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:13:18.317Z,1761585198.317 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:13:18.317Z,1761585198.317 [marl:UpdateSpeed] Stopped
2025-10-27T17:13:18.317Z,1761585198.317 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:13:18.673Z,1761585198.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972746,0.231239,-0.017121],[-0.209355,0.907626,0.363849],[0.099675,-0.350348,0.931301]]
2025-10-27T17:13:18.726Z,1761585198.726 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:13:18.726Z,1761585198.726 [marl:UpdateRudder:B] Stopped
2025-10-27T17:13:18.727Z,1761585198.727 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:13:18.727Z,1761585198.727 [marl:UpdateRudder] Stopped
2025-10-27T17:13:18.727Z,1761585198.727 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:13:19.080Z,1761585199.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968883,0.247489,-0.003794],[-0.229124,0.902576,0.364499],[0.093634,-0.352288,0.931196]]
2025-10-27T17:13:19.485Z,1761585199.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965012,0.261911,0.012444],[-0.247659,0.894859,0.371338],[0.086122,-0.361428,0.928414]]
2025-10-27T17:13:20.289Z,1761585200.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957757,0.283235,0.049799],[-0.280088,0.879444,0.384875],[0.065215,-0.382564,0.921624]]
2025-10-27T17:13:20.694Z,1761585200.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952940,0.295088,0.069490],[-0.298360,0.872256,0.387493],[0.053731,-0.389990,0.919250]]
2025-10-27T17:13:21.103Z,1761585201.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946562,0.310507,0.087216],[-0.319627,0.866954,0.382400],[0.043126,-0.389842,0.919872]]
2025-10-27T17:13:21.513Z,1761585201.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940086,0.325613,0.101063],[-0.339364,0.865246,0.369027],[0.032716,-0.381215,0.923907]]
2025-10-27T17:13:21.905Z,1761585201.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934555,0.338267,0.110376],[-0.355178,0.868234,0.346436],[0.021355,-0.362967,0.931557]]
2025-10-27T17:13:22.310Z,1761585202.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930538,0.347062,0.116816],[-0.366098,0.874377,0.318492],[0.008395,-0.339135,0.940700]]
2025-10-27T17:13:22.716Z,1761585202.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926951,0.354099,0.123997],[-0.375137,0.879877,0.291699],[-0.005812,-0.316907,0.948439]]
2025-10-27T17:13:22.989Z,1761585202.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:13:23.118Z,1761585203.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923689,0.359670,0.132044],[-0.382532,0.885161,0.264874],[-0.021613,-0.295172,0.955200]]
2025-10-27T17:13:23.531Z,1761585203.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920438,0.364099,0.142220],[-0.388918,0.889523,0.239774],[-0.039206,-0.276009,0.960355]]
2025-10-27T17:13:23.925Z,1761585203.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917928,0.366207,0.152644],[-0.392490,0.894386,0.214535],[-0.057958,-0.256839,0.964715]]
2025-10-27T17:13:24.332Z,1761585204.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916383,0.366876,0.160136],[-0.393078,0.900363,0.186644],[-0.075705,-0.233983,0.969289]]
2025-10-27T17:13:24.743Z,1761585204.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915859,0.366448,0.164065],[-0.391310,0.906166,0.160437],[-0.089879,-0.211138,0.973315]]
2025-10-27T17:13:25.138Z,1761585205.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916063,0.366073,0.163768],[-0.388633,0.911111,0.137260],[-0.098964,-0.189385,0.976903]]
2025-10-27T17:13:25.542Z,1761585205.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916736,0.365410,0.161462],[-0.385955,0.914434,0.121861],[-0.103117,-0.174032,0.979326]]
2025-10-27T17:13:25.948Z,1761585205.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916972,0.365617,0.159647],[-0.385152,0.915622,0.115299],[-0.104021,-0.167214,0.980418]]
2025-10-27T17:13:26.349Z,1761585206.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916070,0.366646,0.162438],[-0.387176,0.914148,0.120116],[-0.104453,-0.172927,0.979380]]
2025-10-27T17:13:26.758Z,1761585206.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914075,0.367386,0.171741],[-0.391051,0.910675,0.133230],[-0.107454,-0.188942,0.976091]]
2025-10-27T17:13:27.157Z,1761585207.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911629,0.365777,0.187458],[-0.394663,0.906381,0.150716],[-0.114780,-0.211379,0.970641]]
2025-10-27T17:13:27.565Z,1761585207.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908791,0.362601,0.206446],[-0.397672,0.902486,0.165456],[-0.126320,-0.232463,0.964367]]
2025-10-27T17:13:27.966Z,1761585207.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904365,0.362036,0.225951],[-0.403094,0.898525,0.173688],[-0.140142,-0.248157,0.958529]]
2025-10-27T17:13:28.369Z,1761585208.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899307,0.364045,0.242320],[-0.409041,0.896234,0.171610],[-0.154701,-0.253449,0.954898]]
2025-10-27T17:13:28.773Z,1761585208.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895291,0.366892,0.252675],[-0.412203,0.897371,0.157525],[-0.168949,-0.245184,0.954642]]
2025-10-27T17:13:29.185Z,1761585209.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892196,0.370869,0.257763],[-0.413454,0.900364,0.135646],[-0.181773,-0.227596,0.956639]]
2025-10-27T17:13:29.593Z,1761585209.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890134,0.375171,0.258667],[-0.413254,0.903796,0.111235],[-0.192050,-0.205909,0.959541]]
2025-10-27T17:13:29.988Z,1761585209.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889262,0.379245,0.255708],[-0.412074,0.906888,0.088025],[-0.198516,-0.183648,0.962738]]
2025-10-27T17:13:30.390Z,1761585210.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889841,0.382325,0.249018],[-0.410058,0.909446,0.069003],[-0.200087,-0.163513,0.966038]]
2025-10-27T17:13:30.794Z,1761585210.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891823,0.383131,0.240545],[-0.407127,0.911558,0.057532],[-0.197228,-0.149240,0.968931]]
2025-10-27T17:13:31.198Z,1761585211.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894687,0.382375,0.230920],[-0.404118,0.913129,0.053706],[-0.190324,-0.141369,0.971489]]
2025-10-27T17:13:31.248Z,1761585211.248 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:13:31.248Z,1761585211.248 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateRudder:A] Stopped
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:13:31.249Z,1761585211.249 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateCommandMode] Stopped
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:13:31.250Z,1761585211.250 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:13:31.251Z,1761585211.251 [marl:UpdateSpeed] Stopped
2025-10-27T17:13:31.251Z,1761585211.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:13:31.665Z,1761585211.665 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:13:31.665Z,1761585211.665 [marl:UpdateRudder:B] Stopped
2025-10-27T17:13:31.665Z,1761585211.665 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:13:31.665Z,1761585211.665 [marl:UpdateRudder] Stopped
2025-10-27T17:13:31.665Z,1761585211.665 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:13:32.017Z,1761585212.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898991,0.378120,0.220996],[-0.402935,0.911812,0.079009],[-0.171632,-0.160075,0.972069]]
2025-10-27T17:13:32.410Z,1761585212.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899921,0.374598,0.223202],[-0.404173,0.908691,0.104524],[-0.163667,-0.184275,0.969152]]
2025-10-27T17:13:32.818Z,1761585212.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901417,0.366662,0.230231],[-0.402744,0.905286,0.135111],[-0.158885,-0.214516,0.963711]]
2025-10-27T17:13:33.218Z,1761585213.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902267,0.359024,0.238781],[-0.401485,0.901496,0.161601],[-0.157241,-0.241674,0.957533]]
2025-10-27T17:13:33.623Z,1761585213.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899566,0.360416,0.246740],[-0.408237,0.894644,0.181533],[-0.155317,-0.264030,0.951927]]
2025-10-27T17:13:34.030Z,1761585214.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896974,0.365096,0.249283],[-0.414815,0.890052,0.189040],[-0.152857,-0.272970,0.949801]]
2025-10-27T17:13:34.430Z,1761585214.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895999,0.368997,0.247037],[-0.417967,0.888682,0.188544],[-0.149965,-0.272189,0.950486]]
2025-10-27T17:13:34.876Z,1761585214.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897185,0.370423,0.240512],[-0.416676,0.890469,0.182881],[-0.146425,-0.264293,0.953262]]
2025-10-27T17:13:35.240Z,1761585215.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898727,0.371035,0.233715],[-0.414715,0.892354,0.178089],[-0.142479,-0.256979,0.955857]]
2025-10-27T17:13:35.642Z,1761585215.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898920,0.372931,0.229925],[-0.415331,0.892420,0.176313],[-0.139437,-0.253986,0.957104]]
2025-10-27T17:13:36.047Z,1761585216.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898306,0.375160,0.228697],[-0.416961,0.892015,0.174511],[-0.138531,-0.252121,0.957729]]
2025-10-27T17:13:36.451Z,1761585216.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897572,0.376966,0.228606],[-0.418303,0.891958,0.171559],[-0.139235,-0.249613,0.958283]]
2025-10-27T17:13:36.891Z,1761585216.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897009,0.379564,0.226510],[-0.419324,0.892812,0.164485],[-0.139798,-0.242525,0.960020]]
2025-10-27T17:13:37.272Z,1761585217.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897049,0.382617,0.221151],[-0.419740,0.894233,0.155454],[-0.138281,-0.232276,0.962770]]
2025-10-27T17:13:38.074Z,1761585218.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899858,0.388397,0.198502],[-0.418040,0.897834,0.138337],[-0.124492,-0.207465,0.970289]]
2025-10-27T17:13:38.485Z,1761585218.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903044,0.388344,0.183578],[-0.414441,0.900052,0.134704],[-0.112919,-0.197726,0.973732]]
2025-10-27T17:13:38.899Z,1761585218.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906290,0.386561,0.170905],[-0.410546,0.901244,0.138604],[-0.100448,-0.195780,0.975490]]
2025-10-27T17:13:39.285Z,1761585219.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908667,0.384113,0.163653],[-0.407776,0.900637,0.150235],[-0.089685,-0.203247,0.975011]]
2025-10-27T17:13:39.689Z,1761585219.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910253,0.380425,0.163448],[-0.405677,0.898407,0.168201],[-0.082855,-0.219413,0.972108]]
2025-10-27T17:13:40.094Z,1761585220.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911103,0.376158,0.168512],[-0.404386,0.894883,0.188829],[-0.079769,-0.240187,0.967444]]
2025-10-27T17:13:40.508Z,1761585220.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910407,0.375482,0.173702],[-0.406337,0.890475,0.204805],[-0.077777,-0.257037,0.963267]]
2025-10-27T17:13:40.902Z,1761585220.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908029,0.379635,0.177088],[-0.412039,0.885645,0.214143],[-0.075541,-0.267415,0.960616]]
2025-10-27T17:13:41.306Z,1761585221.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904803,0.386517,0.178708],[-0.419512,0.881112,0.218292],[-0.073088,-0.272481,0.959381]]
2025-10-27T17:13:41.710Z,1761585221.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901402,0.393838,0.179905],[-0.426900,0.877793,0.217337],[-0.072323,-0.272709,0.959374]]
2025-10-27T17:13:42.116Z,1761585222.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898773,0.399206,0.181222],[-0.432056,0.876666,0.211624],[-0.074390,-0.268500,0.960403]]
2025-10-27T17:13:42.518Z,1761585222.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897685,0.401608,0.181309],[-0.433667,0.878128,0.202051],[-0.078067,-0.260006,0.962446]]
2025-10-27T17:13:42.556Z,1761585222.556 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:13:43.184Z,1761585223.184 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:13:43.184Z,1761585223.184 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:13:43.325Z,1761585223.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900690,0.400767,0.167757],[-0.426909,0.888079,0.170481],[-0.080658,-0.225168,0.970976]]
2025-10-27T17:13:43.750Z,1761585223.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903850,0.399690,0.152655],[-0.421284,0.893669,0.154514],[-0.074666,-0.203968,0.976126]]
2025-10-27T17:13:44.133Z,1761585224.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907058,0.398832,0.134829],[-0.416139,0.897907,0.143500],[-0.063832,-0.186270,0.980423]]
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateRudder:A] Stopped
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:13:44.178Z,1761585224.178 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:13:44.179Z,1761585224.179 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:13:44.179Z,1761585224.179 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:13:44.179Z,1761585224.179 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:13:44.179Z,1761585224.179 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:13:44.179Z,1761585224.179 [marl:UpdateCommandMode] Stopped
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed] Stopped
2025-10-27T17:13:44.180Z,1761585224.180 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:13:44.538Z,1761585224.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909629,0.398162,0.118498],[-0.412305,0.900171,0.140343],[-0.050789,-0.176517,0.982986]]
2025-10-27T17:13:44.562Z,1761585224.562 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:13:44.562Z,1761585224.562 [marl:UpdateRudder:B] Stopped
2025-10-27T17:13:44.562Z,1761585224.562 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:13:44.562Z,1761585224.562 [marl:UpdateRudder] Stopped
2025-10-27T17:13:44.563Z,1761585224.563 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:13:44.944Z,1761585224.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911125,0.397895,0.107376],[-0.410361,0.899991,0.147037],[-0.038132,-0.178032,0.983286]]
2025-10-27T17:13:45.346Z,1761585225.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912115,0.396726,0.103223],[-0.409004,0.897685,0.163946],[-0.027621,-0.191756,0.981054]]
2025-10-27T17:13:45.760Z,1761585225.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913412,0.393422,0.104390],[-0.406549,0.894337,0.186760],[-0.019884,-0.213029,0.976844]]
2025-10-27T17:13:46.154Z,1761585226.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915380,0.388071,0.107145],[-0.402324,0.891475,0.208347],[-0.014663,-0.233824,0.972168]]
2025-10-27T17:13:46.560Z,1761585226.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917841,0.381468,0.109771],[-0.396797,0.889331,0.227250],[-0.010934,-0.252136,0.967630]]
2025-10-27T17:13:46.961Z,1761585226.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919370,0.377498,0.110700],[-0.393332,0.887077,0.241629],[-0.006985,-0.265688,0.964034]]
2025-10-27T17:13:47.366Z,1761585227.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919117,0.378505,0.109349],[-0.393976,0.884756,0.248976],[-0.002509,-0.271920,0.962317]]
2025-10-27T17:13:47.774Z,1761585227.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920440,0.377587,0.101083],[-0.390883,0.888862,0.239028],[0.000405,-0.259523,0.965737]]
2025-10-27T17:13:48.176Z,1761585228.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924203,0.372135,0.085822],[-0.381900,0.899631,0.211701],[0.001573,-0.228430,0.973559]]
2025-10-27T17:13:48.994Z,1761585228.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935262,0.350967,0.045905],[-0.353947,0.926443,0.128157],[0.002450,-0.136108,0.990691]]
2025-10-27T17:13:49.389Z,1761585229.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941210,0.336812,0.026113],[-0.337798,0.937380,0.084917],[0.004123,-0.088746,0.996046]]
2025-10-27T17:13:49.800Z,1761585229.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947354,0.320057,0.009176],[-0.320101,0.946034,0.050556],[0.007500,-0.050832,0.998679]]
2025-10-27T17:13:50.597Z,1761585230.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959718,0.280562,-0.015041],[-0.280368,0.959794,0.013793],[0.018306,-0.009021,0.999792]]
2025-10-27T17:13:51.005Z,1761585231.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966047,0.257307,-0.023367],[-0.257257,0.966329,0.005144],[0.023904,0.001042,0.999714]]
2025-10-27T17:13:51.100Z,1761585231.100 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.563660
2025-10-27T17:13:51.411Z,1761585231.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970654,0.238702,-0.029175],[-0.238719,0.971084,0.002965],[0.029039,0.004087,0.999570]]
2025-10-27T17:13:51.813Z,1761585231.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974432,0.222313,-0.032531],[-0.222308,0.974969,0.003833],[0.032568,0.003497,0.999463]]
2025-10-27T17:13:52.103Z,1761585232.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:13:52.214Z,1761585232.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977913,0.206065,-0.034990],[-0.205910,0.978538,0.008005],[0.035889,-0.000624,0.999356]]
2025-10-27T17:13:52.618Z,1761585232.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981044,0.189889,-0.038672],[-0.189479,0.981784,0.014034],[0.040633,-0.006441,0.999153]]
2025-10-27T17:13:53.028Z,1761585233.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985562,0.161106,-0.052076],[-0.160143,0.986845,0.022177],[0.054963,-0.013518,0.998397]]
2025-10-27T17:13:53.430Z,1761585233.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986819,0.150246,-0.060127],[-0.149108,0.988553,0.023007],[0.062895,-0.013739,0.997926]]
2025-10-27T17:13:53.838Z,1761585233.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988060,0.138563,-0.067367],[-0.137377,0.990276,0.021947],[0.069753,-0.012430,0.997487]]
2025-10-27T17:13:54.239Z,1761585234.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989588,0.123455,-0.073988],[-0.122357,0.992300,0.019206],[0.075789,-0.009953,0.997074]]
2025-10-27T17:13:54.642Z,1761585234.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991203,0.105728,-0.079616],[-0.104741,0.994363,0.016489],[0.080911,-0.008005,0.996689]]
2025-10-27T17:13:55.041Z,1761585235.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992711,0.085752,-0.084686],[-0.084958,0.996301,0.012936],[0.085482,-0.005647,0.996324]]
2025-10-27T17:13:55.446Z,1761585235.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993893,0.065130,-0.089081],[-0.064548,0.997870,0.009393],[0.089503,-0.003586,0.995980]]
2025-10-27T17:13:55.853Z,1761585235.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994593,0.045666,-0.093269],[-0.045058,0.998947,0.008609],[0.093564,-0.004360,0.995604]]
2025-10-27T17:13:56.255Z,1761585236.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994911,0.027533,-0.096927],[-0.026762,0.999599,0.009240],[0.097142,-0.006599,0.995249]]
2025-10-27T17:13:56.658Z,1761585236.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994894,0.010048,-0.100424],[-0.009206,0.999919,0.008844],[0.100505,-0.007874,0.994905]]
2025-10-27T17:13:57.121Z,1761585237.121 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:13:57.121Z,1761585237.121 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:13:57.121Z,1761585237.121 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:13:57.121Z,1761585237.121 [marl:UpdateRudder:A] Stopped
2025-10-27T17:13:57.121Z,1761585237.121 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode] Stopped
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:13:57.122Z,1761585237.122 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:13:57.123Z,1761585237.123 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:13:57.124Z,1761585237.124 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:13:57.124Z,1761585237.124 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:13:57.124Z,1761585237.124 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:13:57.124Z,1761585237.124 [marl:UpdateSpeed] Stopped
2025-10-27T17:13:57.124Z,1761585237.124 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:13:57.481Z,1761585237.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993795,-0.029035,-0.107371],[0.029424,0.999565,0.002034],[0.107265,-0.005180,0.994217]]
2025-10-27T17:13:57.522Z,1761585237.522 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:13:57.522Z,1761585237.522 [marl:UpdateRudder:B] Stopped
2025-10-27T17:13:57.523Z,1761585237.523 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:13:57.523Z,1761585237.523 [marl:UpdateRudder] Stopped
2025-10-27T17:13:57.523Z,1761585237.523 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:13:57.884Z,1761585237.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992588,-0.047461,-0.111879],[0.047631,0.998864,-0.001157],[0.111807,-0.004180,0.993721]]
2025-10-27T17:13:58.274Z,1761585238.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991077,-0.064181,-0.116818],[0.064706,0.997904,0.000706],[0.116528,-0.008258,0.993153]]
2025-10-27T17:13:58.507Z,1761585238.507 [Radio_Surface](INFO): Powering down
2025-10-27T17:13:58.678Z,1761585238.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989367,-0.080267,-0.121286],[0.081766,0.996624,0.007421],[0.120281,-0.017259,0.992590]]
2025-10-27T17:13:59.081Z,1761585239.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987461,-0.097045,-0.124513],[0.099768,0.994885,0.015808],[0.122342,-0.028033,0.992092]]
2025-10-27T17:13:59.491Z,1761585239.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985346,-0.114418,-0.126498],[0.118475,0.992642,0.025008],[0.122706,-0.039629,0.991652]]
2025-10-27T17:13:59.889Z,1761585239.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982888,-0.132569,-0.127896],[0.137392,0.990074,0.029612],[0.122701,-0.046677,0.991345]]
2025-10-27T17:14:00.294Z,1761585240.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979965,-0.151191,-0.129652],[0.155831,0.987432,0.026369],[0.124036,-0.046044,0.991209]]
2025-10-27T17:14:01.101Z,1761585241.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973215,-0.185875,-0.135288],[0.188099,0.982143,0.003735],[0.132178,-0.029082,0.990799]]
2025-10-27T17:14:01.505Z,1761585241.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970138,-0.200269,-0.136836],[0.200641,0.979601,-0.011215],[0.136291,-0.016574,0.990530]]
2025-10-27T17:14:01.913Z,1761585241.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967692,-0.212405,-0.135853],[0.211020,0.977170,-0.024684],[0.137994,-0.004781,0.990421]]
2025-10-27T17:14:02.316Z,1761585242.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965468,-0.223966,-0.133083],[0.221316,0.974589,-0.034580],[0.137446,0.003933,0.990501]]
2025-10-27T17:14:02.718Z,1761585242.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961441,-0.242467,-0.129771],[0.238936,0.970111,-0.042358],[0.136162,0.009718,0.990639]]
2025-10-27T17:14:03.122Z,1761585243.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956050,-0.263748,-0.128083],[0.260082,0.964544,-0.044860],[0.135373,0.009576,0.990748]]
2025-10-27T17:14:03.525Z,1761585243.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949795,-0.284983,-0.129131],[0.281194,0.958496,-0.047069],[0.137185,0.008395,0.990510]]
2025-10-27T17:14:03.938Z,1761585243.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942008,-0.307409,-0.134615],[0.303350,0.951556,-0.050204],[0.143527,0.006457,0.989625]]
2025-10-27T17:14:04.334Z,1761585244.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933444,-0.329455,-0.141920],[0.324702,0.944150,-0.056114],[0.152481,0.006298,0.988286]]
2025-10-27T17:14:04.745Z,1761585244.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925609,-0.348478,-0.147685],[0.342934,0.937291,-0.062306],[0.160136,0.007025,0.987070]]
2025-10-27T17:14:05.141Z,1761585245.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918519,-0.365132,-0.151663],[0.358810,0.930920,-0.068145],[0.166068,0.008174,0.986080]]
2025-10-27T17:14:05.547Z,1761585245.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912101,-0.380337,-0.153018],[0.373598,0.924811,-0.071759],[0.168805,0.008285,0.985615]]
2025-10-27T17:14:05.975Z,1761585245.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906239,-0.393930,-0.153462],[0.387651,0.919131,-0.070174],[0.168695,0.004105,0.985660]]
2025-10-27T17:14:06.354Z,1761585246.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900484,-0.406422,-0.154758],[0.401099,0.913681,-0.065633],[0.168074,-0.002972,0.985770]]
2025-10-27T17:14:06.761Z,1761585246.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894388,-0.418824,-0.157025],[0.414355,0.908015,-0.061797],[0.168463,-0.009794,0.985659]]
2025-10-27T17:14:07.164Z,1761585247.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887728,-0.432229,-0.158485],[0.428087,0.901663,-0.061205],[0.169355,-0.013512,0.985463]]
2025-10-27T17:14:07.566Z,1761585247.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880863,-0.445924,-0.158847],[0.441715,0.894949,-0.062884],[0.170202,-0.014773,0.985299]]
2025-10-27T17:14:07.977Z,1761585247.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873268,-0.460797,-0.158332],[0.456181,0.887394,-0.066569],[0.171178,-0.014095,0.985139]]
2025-10-27T17:14:08.374Z,1761585248.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865104,-0.476576,-0.156428],[0.471262,0.879058,-0.071900],[0.171775,-0.011517,0.985069]]
2025-10-27T17:14:08.779Z,1761585248.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856296,-0.492723,-0.154860],[0.486884,0.870128,-0.076295],[0.172341,-0.010068,0.984986]]
2025-10-27T17:14:09.182Z,1761585249.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847037,-0.508984,-0.153178],[0.502659,0.860731,-0.080475],[0.172805,-0.008831,0.984916]]
2025-10-27T17:14:09.992Z,1761585249.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826833,-0.542614,-0.148045],[0.535223,0.839965,-0.089413],[0.172870,-0.005308,0.984930]]
2025-10-27T17:14:10.016Z,1761585250.016 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:14:10.016Z,1761585250.016 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateRudder:A] Stopped
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:14:10.017Z,1761585250.017 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateCommandMode] Stopped
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:14:10.018Z,1761585250.018 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:14:10.019Z,1761585250.019 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:14:10.019Z,1761585250.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:14:10.019Z,1761585250.019 [marl:UpdateSpeed] Stopped
2025-10-27T17:14:10.019Z,1761585250.019 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:14:10.396Z,1761585250.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815616,-0.560522,-0.143479],[0.552299,0.828139,-0.095668],[0.172444,-0.001215,0.985019]]
2025-10-27T17:14:10.481Z,1761585250.481 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:14:10.481Z,1761585250.481 [marl:UpdateRudder:B] Stopped
2025-10-27T17:14:10.482Z,1761585250.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:14:10.482Z,1761585250.482 [marl:UpdateRudder] Stopped
2025-10-27T17:14:10.482Z,1761585250.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:14:10.487Z,1761585250.487 [marl:SendObservationData] Running Loop=1
2025-10-27T17:14:10.487Z,1761585250.487 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:14:10.487Z,1761585250.487 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:14:10.488Z,1761585250.488 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:14:10.489Z,1761585250.489 [marl:SendObservationData:A](INFO): Got test_good :  41da3fe9800000004051400000000000404263cfd18eac9fc05e772ce34475e6402f9aa7600000004082ef3340000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:14:10.489Z,1761585250.489 [marl:SendObservationData:A] Stopped
2025-10-27T17:14:10.490Z,1761585250.490 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:14:10.914Z,1761585250.914 [marl:SendObservationData:B] Stopped
2025-10-27T17:14:10.914Z,1761585250.914 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:14:11.202Z,1761585251.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790776,-0.596535,-0.137185],[0.587096,0.802581,-0.105745],[0.173182,0.003080,0.984885]]
2025-10-27T17:14:11.265Z,1761585251.265 [marl:SendObservationData:C] Stopped
2025-10-27T17:14:11.265Z,1761585251.265 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:14:11.605Z,1761585251.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778201,-0.613332,-0.135003],[0.603291,0.789811,-0.110628],[0.174479,0.004644,0.984650]]
2025-10-27T17:14:11.635Z,1761585251.635 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008858 min 
2025-10-27T17:14:11.635Z,1761585251.635 [marl:SendObservationData:E] Stopped
2025-10-27T17:14:11.636Z,1761585251.636 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:14:11.636Z,1761585251.636 [marl:SendObservationData] Stopped
2025-10-27T17:14:11.636Z,1761585251.636 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:14:11.636Z,1761585251.636 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:14:12.017Z,1761585252.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766119,-0.628527,-0.134220],[0.618054,0.777774,-0.114356],[0.176269,0.004655,0.984331]]
2025-10-27T17:14:12.826Z,1761585252.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746653,-0.650784,-0.137806],[0.640022,0.759263,-0.117860],[0.181332,-0.000198,0.983422]]
2025-10-27T17:14:13.115Z,1761585253.115 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:14:13.115Z,1761585253.115 [DAT] No Fault, FailCount= 8
2025-10-27T17:14:13.195Z,1761585253.195 [DAT](INFO): Powering up
2025-10-27T17:14:13.195Z,1761585253.195 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:14:13.222Z,1761585253.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740676,-0.656513,-0.142795],[0.646503,0.754277,-0.114456],[0.182849,-0.007543,0.983112]]
2025-10-27T17:14:13.627Z,1761585253.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738392,-0.657287,-0.150834],[0.649164,0.753365,-0.105008],[0.182653,-0.020379,0.982966]]
2025-10-27T17:14:14.030Z,1761585254.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738446,-0.654165,-0.163603],[0.649643,0.755199,-0.087400],[0.180727,-0.041744,0.982647]]
2025-10-27T17:14:14.442Z,1761585254.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738514,-0.650304,-0.178048],[0.650308,0.756748,-0.066580],[0.178034,-0.066616,0.981767]]
2025-10-27T17:14:14.882Z,1761585254.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737146,-0.647384,-0.193676],[0.652682,0.756351,-0.044029],[0.174991,-0.093953,0.980077]]
2025-10-27T17:14:15.243Z,1761585255.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734454,-0.645842,-0.208486],[0.656711,0.753829,-0.021732],[0.171198,-0.120954,0.977784]]
2025-10-27T17:14:15.645Z,1761585255.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731050,-0.645715,-0.220495],[0.661730,0.749741,-0.001640],[0.166374,-0.144709,0.975387]]
2025-10-27T17:14:16.050Z,1761585256.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727895,-0.645364,-0.231676],[0.666267,0.745529,0.016554],[0.162038,-0.166408,0.972652]]
2025-10-27T17:14:16.461Z,1761585256.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725610,-0.645202,-0.239174],[0.669557,0.742187,0.029168],[0.158692,-0.181305,0.970539]]
2025-10-27T17:14:16.890Z,1761585256.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724880,-0.644239,-0.243935],[0.670900,0.740587,0.037743],[0.156340,-0.191015,0.969057]]
2025-10-27T17:14:17.285Z,1761585257.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726375,-0.642757,-0.243398],[0.669740,0.741483,0.040630],[0.154360,-0.192527,0.969075]]
2025-10-27T17:14:17.665Z,1761585257.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729885,-0.640503,-0.238798],[0.666448,0.744467,0.040190],[0.152035,-0.188480,0.970237]]
2025-10-27T17:14:18.070Z,1761585258.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735384,-0.636522,-0.232486],[0.661262,0.749042,0.040859],[0.148134,-0.183782,0.971741]]
2025-10-27T17:14:18.475Z,1761585258.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741970,-0.631900,-0.224013],[0.655229,0.754222,0.042708],[0.141969,-0.178468,0.973650]]
2025-10-27T17:14:18.897Z,1761585258.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748118,-0.627228,-0.216576],[0.650029,0.758313,0.049234],[0.133351,-0.177613,0.975024]]
2025-10-27T17:14:19.282Z,1761585259.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752307,-0.624285,-0.210482],[0.647284,0.759912,0.059646],[0.122712,-0.181114,0.975776]]
2025-10-27T17:14:19.686Z,1761585259.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753915,-0.624299,-0.204605],[0.647502,0.758783,0.070642],[0.111149,-0.185740,0.976292]]
2025-10-27T17:14:20.093Z,1761585260.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752740,-0.626880,-0.201006],[0.650767,0.754685,0.083388],[0.099422,-0.193578,0.976034]]
2025-10-27T17:14:20.494Z,1761585260.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749217,-0.631748,-0.198918],[0.656374,0.748377,0.095424],[0.088582,-0.202058,0.975359]]
2025-10-27T17:14:20.901Z,1761585260.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743684,-0.638604,-0.197787],[0.663784,0.740544,0.104815],[0.079534,-0.209237,0.974625]]
2025-10-27T17:14:21.302Z,1761585261.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736600,-0.647379,-0.195755],[0.672426,0.732050,0.109298],[0.072546,-0.212140,0.974543]]
2025-10-27T17:14:21.708Z,1761585261.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730040,-0.655720,-0.192545],[0.680068,0.724853,0.109982],[0.067449,-0.211235,0.975105]]
2025-10-27T17:14:22.110Z,1761585262.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725549,-0.661787,-0.188725],[0.685235,0.720060,0.109394],[0.063497,-0.208691,0.975918]]
2025-10-27T17:14:22.223Z,1761585262.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:14:22.518Z,1761585262.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723630,-0.665516,-0.182890],[0.687611,0.718037,0.107774],[0.059596,-0.203745,0.977208]]
2025-10-27T17:14:22.925Z,1761585262.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724149,-0.666849,-0.175844],[0.687423,0.718405,0.106506],[0.055304,-0.198005,0.978640]]
2025-10-27T17:14:22.993Z,1761585262.993 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:14:22.993Z,1761585262.993 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateRudder:A] Stopped
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:14:22.994Z,1761585262.994 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateCommandMode] Stopped
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:14:22.995Z,1761585262.995 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:14:22.996Z,1761585262.996 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:14:22.996Z,1761585262.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:14:22.996Z,1761585262.996 [marl:UpdateSpeed] Stopped
2025-10-27T17:14:22.996Z,1761585262.996 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:14:23.228Z,1761585263.228 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T17:14:23.228Z,1761585263.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:14:23.322Z,1761585263.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726438,-0.665932,-0.169769],[0.685401,0.720069,0.108289],[0.050133,-0.195025,0.979516]]
2025-10-27T17:14:23.370Z,1761585263.370 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:14:23.370Z,1761585263.370 [marl:UpdateRudder:B] Stopped
2025-10-27T17:14:23.370Z,1761585263.370 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:14:23.370Z,1761585263.370 [marl:UpdateRudder] Stopped
2025-10-27T17:14:23.370Z,1761585263.370 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:14:23.732Z,1761585263.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730351,-0.663201,-0.163558],[0.681664,0.723009,0.112213],[0.043834,-0.193446,0.980131]]
2025-10-27T17:14:24.130Z,1761585264.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734260,-0.660377,-0.157368],[0.677847,0.725896,0.116611],[0.037225,-0.192294,0.980631]]
2025-10-27T17:14:24.541Z,1761585264.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737781,-0.657948,-0.150945],[0.674353,0.728454,0.120838],[0.030451,-0.190943,0.981129]]
2025-10-27T17:14:24.788Z,1761585264.788 [DAT](INFO): DAT read: 

2025-10-27T17:14:24.789Z,1761585264.789 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:14:24.949Z,1761585264.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740636,-0.656281,-0.144061],[0.671492,0.730496,0.124395],[0.023598,-0.188867,0.981719]]
2025-10-27T17:14:25.342Z,1761585265.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742415,-0.655449,-0.138584],[0.669721,0.731403,0.128539],[0.017110,-0.188242,0.981974]]
2025-10-27T17:14:25.753Z,1761585265.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743334,-0.655435,-0.133636],[0.668830,0.731535,0.132378],[0.010994,-0.187780,0.982149]]
2025-10-27T17:14:26.151Z,1761585266.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742753,-0.656794,-0.130151],[0.669541,0.730218,0.136005],[0.005711,-0.188160,0.982122]]
2025-10-27T17:14:26.300Z,1761585266.300 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:14:26.301Z,1761585266.301 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:14:26.302Z,1761585266.302 [DAT](INFO): DAT read: Oct 27 2025 17:14:21 

2025-10-27T17:14:26.555Z,1761585266.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740571,-0.659902,-0.126824],[0.671976,0.727702,0.137467],[0.001575,-0.187027,0.982353]]
2025-10-27T17:14:26.958Z,1761585266.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736857,-0.664153,-0.126264],[0.676048,0.723645,0.138915],[-0.000890,-0.187721,0.982222]]
2025-10-27T17:14:27.308Z,1761585267.308 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:14:27.309Z,1761585267.309 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:14:27.310Z,1761585267.310 [DAT](INFO): commRate: 600
2025-10-27T17:14:27.378Z,1761585267.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731864,-0.669204,-0.128612],[0.681450,0.718409,0.139697],[-0.001090,-0.189882,0.981806]]
2025-10-27T17:14:28.170Z,1761585268.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721308,-0.678984,-0.136729],[0.692612,0.707562,0.140158],[0.001580,-0.195797,0.980643]]
2025-10-27T17:14:28.575Z,1761585268.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716505,-0.683022,-0.141776],[0.697571,0.702640,0.140326],[0.003772,-0.199444,0.979902]]
2025-10-27T17:14:28.978Z,1761585268.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712284,-0.686367,-0.146807],[0.701864,0.698347,0.140347],[0.006193,-0.203005,0.979158]]
2025-10-27T17:14:29.375Z,1761585269.375 [DAT](INFO): entering command mode
2025-10-27T17:14:29.389Z,1761585269.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709105,-0.688753,-0.150962],[0.705050,0.695238,0.139820],[0.008653,-0.205582,0.978602]]
2025-10-27T17:14:29.579Z,1761585269.579 [DAT](INFO): DAT read: 

2025-10-27T17:14:29.579Z,1761585269.579 [DAT](INFO): DAT read: user:1>

2025-10-27T17:14:29.580Z,1761585269.580 [DAT](INFO): setting verbose to 3
2025-10-27T17:14:29.786Z,1761585269.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707724,-0.689569,-0.153695],[0.706397,0.694191,0.138210],[0.011388,-0.206385,0.978405]]
2025-10-27T17:14:29.828Z,1761585269.828 [DAT](INFO): DAT read: user:1>

2025-10-27T17:14:29.829Z,1761585269.829 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:14:29.829Z,1761585269.829 [DAT](INFO): set verbose to 3
2025-10-27T17:14:29.829Z,1761585269.829 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:14:30.080Z,1761585270.080 [DAT](INFO): DAT read: user:2>

2025-10-27T17:14:30.081Z,1761585270.081 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:14:30.082Z,1761585270.082 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:14:30.082Z,1761585270.082 [DAT](INFO): setting transmit power to 8
2025-10-27T17:14:30.189Z,1761585270.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707207,-0.689687,-0.155531],[0.706850,0.694350,0.135056],[0.014847,-0.205450,0.978555]]
2025-10-27T17:14:30.332Z,1761585270.332 [DAT](INFO): DAT read: user:3>

2025-10-27T17:14:30.333Z,1761585270.333 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:14:30.333Z,1761585270.333 [DAT](INFO): set transmit power to 8
2025-10-27T17:14:30.333Z,1761585270.333 [DAT](INFO): setting local address to 11
2025-10-27T17:14:30.584Z,1761585270.584 [DAT](INFO): DAT read: user:4>

2025-10-27T17:14:30.585Z,1761585270.585 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:14:30.585Z,1761585270.585 [DAT](INFO): set local address to 11
2025-10-27T17:14:30.586Z,1761585270.586 [DAT](INFO): Setting time to: 17:14:30 And date to:10/27/2025
2025-10-27T17:14:30.638Z,1761585270.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707266,-0.689156,-0.157604],[0.706698,0.695153,0.131682],[0.018809,-0.204513,0.978683]]
2025-10-27T17:14:30.838Z,1761585270.838 [DAT](INFO): DAT read: user:5>

2025-10-27T17:14:30.841Z,1761585270.841 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:14:30  

2025-10-27T17:14:30.842Z,1761585270.842 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:14:30  

2025-10-27T17:14:30.844Z,1761585270.844 [DAT](INFO): setting remote address to 6
2025-10-27T17:14:30.846Z,1761585270.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:14:30.847Z,1761585270.847 [DAT](INFO): setting remote address to 0
2025-10-27T17:14:30.997Z,1761585270.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707887,-0.688044,-0.159659],[0.705944,0.696621,0.127913],[0.023212,-0.203259,0.978850]]
2025-10-27T17:14:31.088Z,1761585271.088 [DAT](INFO): DAT read: user:6>

2025-10-27T17:14:31.089Z,1761585271.089 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:14:31.089Z,1761585271.089 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:14:31.089Z,1761585271.089 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:14:31.089Z,1761585271.089 [DAT](ERROR): Communications Fault
2025-10-27T17:14:31.090Z,1761585271.090 [DAT](INFO): DAT read: user:7>

2025-10-27T17:14:31.091Z,1761585271.091 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:14:31.092Z,1761585271.092 [DAT](INFO): set remote address to 0
2025-10-27T17:14:31.092Z,1761585271.092 [DAT](INFO): setting remote address to 6
2025-10-27T17:14:31.092Z,1761585271.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:14:31.092Z,1761585271.092 [DAT](INFO): setting remote address to 0
2025-10-27T17:14:31.211Z,1761585271.211 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:14:31.410Z,1761585271.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709251,-0.686165,-0.161680],[0.704418,0.698780,0.124507],[0.027547,-0.202197,0.978957]]
2025-10-27T17:14:31.496Z,1761585271.496 [DAT](INFO): Powering down
2025-10-27T17:14:31.806Z,1761585271.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711149,-0.683649,-0.163988],[0.702328,0.701338,0.121905],[0.031671,-0.201866,0.978901]]
2025-10-27T17:14:32.209Z,1761585272.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713586,-0.680591,-0.166104],[0.699679,0.704300,0.120046],[0.035285,-0.201883,0.978774]]
2025-10-27T17:14:32.435Z,1761585272.435 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:14:32.435Z,1761585272.435 [DAT] No Fault, FailCount= 1
2025-10-27T17:14:32.613Z,1761585272.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716294,-0.677387,-0.167541],[0.696749,0.707462,0.118483],[0.038270,-0.201603,0.978719]]
2025-10-27T17:14:33.014Z,1761585273.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718745,-0.674617,-0.168222],[0.694075,0.710391,0.116639],[0.040817,-0.200592,0.978824]]
2025-10-27T17:14:33.430Z,1761585273.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720478,-0.672577,-0.168973],[0.692156,0.712469,0.115361],[0.042799,-0.200071,0.978846]]
2025-10-27T17:14:33.822Z,1761585273.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720685,-0.671858,-0.170938],[0.691851,0.712737,0.115535],[0.044211,-0.201528,0.978485]]
2025-10-27T17:14:34.227Z,1761585274.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719226,-0.672875,-0.173073],[0.693322,0.711204,0.116159],[0.044930,-0.203540,0.978035]]
2025-10-27T17:14:34.632Z,1761585274.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715953,-0.675510,-0.176345],[0.696691,0.707603,0.117977],[0.045087,-0.207324,0.977233]]
2025-10-27T17:14:34.728Z,1761585274.728 [DAT](INFO): Powering up
2025-10-27T17:14:34.728Z,1761585274.728 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:14:35.033Z,1761585275.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710863,-0.679644,-0.180992],[0.701906,0.701904,0.121077],[0.044750,-0.213109,0.976003]]
2025-10-27T17:14:35.439Z,1761585275.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704774,-0.684357,-0.186945],[0.708040,0.695025,0.124975],[0.044404,-0.220444,0.974388]]
2025-10-27T17:14:35.842Z,1761585275.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696820,-0.690701,-0.193325],[0.715854,0.686513,0.127484],[0.044666,-0.227226,0.972817]]
2025-10-27T17:14:35.870Z,1761585275.870 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:14:35.871Z,1761585275.871 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:14:35.871Z,1761585275.871 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:14:35.871Z,1761585275.871 [marl:UpdateRudder:A] Stopped
2025-10-27T17:14:35.871Z,1761585275.871 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode] Stopped
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:14:35.872Z,1761585275.872 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed] Stopped
2025-10-27T17:14:35.873Z,1761585275.873 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:14:36.248Z,1761585276.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687417,-0.698399,-0.199238],[0.724771,0.677261,0.126591],[0.046525,-0.231423,0.971740]]
2025-10-27T17:14:36.277Z,1761585276.277 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:14:36.277Z,1761585276.277 [marl:UpdateRudder:B] Stopped
2025-10-27T17:14:36.277Z,1761585276.277 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:14:36.277Z,1761585276.277 [marl:UpdateRudder] Stopped
2025-10-27T17:14:36.277Z,1761585276.277 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:14:36.649Z,1761585276.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677435,-0.706576,-0.204531],[0.733825,0.668377,0.121543],[0.050825,-0.232428,0.971285]]
2025-10-27T17:14:37.053Z,1761585277.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666690,-0.715330,-0.209351],[0.743073,0.659775,0.111975],[0.058025,-0.230216,0.971408]]
2025-10-27T17:14:37.458Z,1761585277.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656204,-0.724164,-0.212090],[0.751491,0.652591,0.096883],[0.068249,-0.222958,0.972436]]
2025-10-27T17:14:37.864Z,1761585277.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647357,-0.731725,-0.213326],[0.757895,0.647646,0.078425],[0.080774,-0.212447,0.973828]]
2025-10-27T17:14:38.267Z,1761585278.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640500,-0.737335,-0.214703],[0.762080,0.644778,0.059128],[0.094839,-0.201492,0.974888]]
2025-10-27T17:14:38.676Z,1761585278.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637104,-0.739457,-0.217489],[0.760964,0.648316,0.024882],[0.122602,-0.181354,0.975746]]
2025-10-27T17:14:39.080Z,1761585279.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641003,-0.734768,-0.221880],[0.755938,0.654430,0.016694],[0.132939,-0.178428,0.974931]]
2025-10-27T17:14:39.486Z,1761585279.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644769,-0.730036,-0.226541],[0.751288,0.659868,0.011828],[0.140852,-0.177823,0.973930]]
2025-10-27T17:14:39.888Z,1761585279.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645997,-0.727147,-0.232262],[0.748980,0.662532,0.008962],[0.147364,-0.179749,0.972612]]
2025-10-27T17:14:40.289Z,1761585280.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645378,-0.725441,-0.239211],[0.748609,0.662947,0.009225],[0.151892,-0.185029,0.970924]]
2025-10-27T17:14:40.690Z,1761585280.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644268,-0.723995,-0.246475],[0.749116,0.662318,0.012640],[0.154094,-0.192782,0.969067]]
2025-10-27T17:14:41.913Z,1761585281.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629476,-0.732087,-0.260400],[0.761324,0.648114,0.018276],[0.155389,-0.209753,0.965328]]
2025-10-27T17:14:42.710Z,1761585282.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615483,-0.742318,-0.264848],[0.771952,0.635556,0.012606],[0.158968,-0.212209,0.964208]]
2025-10-27T17:14:42.785Z,1761585282.785 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:14:43.113Z,1761585283.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607619,-0.748238,-0.266344],[0.777424,0.628942,0.006677],[0.162519,-0.211119,0.963855]]
2025-10-27T17:14:43.316Z,1761585283.316 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:14:43.316Z,1761585283.316 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:14:43.518Z,1761585283.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599388,-0.754414,-0.267571],[0.782753,0.622331,-0.001207],[0.167428,-0.208719,0.963537]]
2025-10-27T17:14:43.926Z,1761585283.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591345,-0.760251,-0.268942],[0.787636,0.616065,-0.009666],[0.173034,-0.206112,0.963108]]
2025-10-27T17:14:44.327Z,1761585284.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585190,-0.764309,-0.270896],[0.791045,0.611533,-0.016569],[0.178326,-0.204594,0.962466]]
2025-10-27T17:14:44.745Z,1761585284.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580137,-0.767592,-0.272477],[0.793722,0.607865,-0.022479],[0.182884,-0.203230,0.961900]]
2025-10-27T17:14:45.133Z,1761585285.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576049,-0.770247,-0.273654],[0.795847,0.604883,-0.027272],[0.186535,-0.202077,0.961441]]
2025-10-27T17:14:45.537Z,1761585285.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572608,-0.772431,-0.274720],[0.797659,0.602314,-0.030943],[0.189369,-0.201415,0.961026]]
2025-10-27T17:14:45.941Z,1761585285.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569282,-0.775269,-0.273636],[0.799602,0.599508,-0.035012],[0.191191,-0.198868,0.961196]]
2025-10-27T17:14:46.324Z,1761585286.324 [DAT](INFO): DAT read: 

2025-10-27T17:14:46.324Z,1761585286.324 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:14:46.360Z,1761585286.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565184,-0.778687,-0.272421],[0.802072,0.595929,-0.039364],[0.192996,-0.196253,0.961372]]
2025-10-27T17:14:47.153Z,1761585287.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555749,-0.786666,-0.268884],[0.808112,0.587116,-0.047443],[0.195188,-0.190922,0.962003]]
2025-10-27T17:14:47.560Z,1761585287.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549683,-0.791929,-0.265891],[0.811917,0.581359,-0.053022],[0.196568,-0.186736,0.962544]]
2025-10-27T17:14:47.837Z,1761585287.837 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:14:47.838Z,1761585287.838 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:14:47.839Z,1761585287.839 [DAT](INFO): DAT read: Oct 27 2025 17:14:42 

2025-10-27T17:14:47.962Z,1761585287.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542700,-0.796902,-0.265374],[0.816138,0.574979,-0.057596],[0.198483,-0.185325,0.962424]]
2025-10-27T17:14:48.365Z,1761585288.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534790,-0.802415,-0.264822],[0.820810,0.567747,-0.062714],[0.200674,-0.183829,0.962256]]
2025-10-27T17:14:48.847Z,1761585288.847 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:14:48.856Z,1761585288.856 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:14:48.857Z,1761585288.857 [DAT](INFO): commRate: 600
2025-10-27T17:14:48.909Z,1761585288.909 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:14:48.909Z,1761585288.909 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:14:48.909Z,1761585288.909 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateRudder:A] Stopped
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:14:48.910Z,1761585288.910 [marl:UpdateCommandMode] Stopped
2025-10-27T17:14:48.911Z,1761585288.911 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:14:48.915Z,1761585288.915 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:14:48.915Z,1761585288.915 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:14:48.915Z,1761585288.915 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:14:48.916Z,1761585288.916 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:14:48.916Z,1761585288.916 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:14:48.916Z,1761585288.916 [marl:UpdateSpeed] Stopped
2025-10-27T17:14:48.916Z,1761585288.916 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:14:49.176Z,1761585289.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520653,-0.811772,-0.264473],[0.829044,0.554715,-0.070549],[0.203977,-0.182528,0.961809]]
2025-10-27T17:14:49.239Z,1761585289.239 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:14:49.239Z,1761585289.239 [marl:UpdateRudder:B] Stopped
2025-10-27T17:14:49.239Z,1761585289.239 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:14:49.239Z,1761585289.239 [marl:UpdateRudder] Stopped
2025-10-27T17:14:49.239Z,1761585289.239 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:14:49.578Z,1761585289.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516394,-0.814478,-0.264506],[0.831417,0.550835,-0.072985],[0.205144,-0.182226,0.961618]]
2025-10-27T17:14:49.982Z,1761585289.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514130,-0.815706,-0.265131],[0.832606,0.548881,-0.074143],[0.206004,-0.182631,0.961358]]
2025-10-27T17:14:50.398Z,1761585290.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513204,-0.815972,-0.266104],[0.832945,0.548276,-0.074810],[0.206941,-0.183257,0.961037]]
2025-10-27T17:14:50.796Z,1761585290.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513453,-0.815792,-0.266176],[0.832567,0.548723,-0.075737],[0.207842,-0.182722,0.960944]]
2025-10-27T17:14:50.919Z,1761585290.919 [DAT](INFO): entering command mode
2025-10-27T17:14:51.116Z,1761585291.116 [DAT](INFO): DAT read: 

2025-10-27T17:14:51.116Z,1761585291.116 [DAT](INFO): DAT read: user:1>

2025-10-27T17:14:51.116Z,1761585291.116 [DAT](INFO): setting verbose to 3
2025-10-27T17:14:51.194Z,1761585291.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514534,-0.814980,-0.266575],[0.831763,0.549929,-0.075817],[0.208387,-0.182717,0.960828]]
2025-10-27T17:14:51.369Z,1761585291.369 [DAT](INFO): DAT read: user:1>

2025-10-27T17:14:51.371Z,1761585291.371 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:14:51.372Z,1761585291.372 [DAT](INFO): set verbose to 3
2025-10-27T17:14:51.372Z,1761585291.372 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:14:51.597Z,1761585291.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515693,-0.814083,-0.267075],[0.831080,0.551070,-0.075014],[0.208245,-0.183276,0.960752]]
2025-10-27T17:14:51.620Z,1761585291.620 [DAT](INFO): DAT read: user:2>

2025-10-27T17:14:51.621Z,1761585291.621 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:14:51.621Z,1761585291.621 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:14:51.621Z,1761585291.621 [DAT](INFO): setting transmit power to 8
2025-10-27T17:14:51.873Z,1761585291.873 [DAT](INFO): DAT read: user:3>

2025-10-27T17:14:51.874Z,1761585291.874 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:14:51.875Z,1761585291.875 [DAT](INFO): set transmit power to 8
2025-10-27T17:14:51.875Z,1761585291.875 [DAT](INFO): setting local address to 11
2025-10-27T17:14:52.002Z,1761585292.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514840,-0.815278,-0.265070],[0.831933,0.549772,-0.075091],[0.206948,-0.181860,0.961301]]
2025-10-27T17:14:52.124Z,1761585292.124 [DAT](INFO): DAT read: user:4>

2025-10-27T17:14:52.125Z,1761585292.125 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:14:52.125Z,1761585292.125 [DAT](INFO): set local address to 11
2025-10-27T17:14:52.126Z,1761585292.126 [DAT](INFO): Setting time to: 17:14:52 And date to:10/27/2025
2025-10-27T17:14:52.377Z,1761585292.377 [DAT](INFO): DAT read: user:5>

2025-10-27T17:14:52.378Z,1761585292.378 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:14:52  

2025-10-27T17:14:52.379Z,1761585292.379 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:14:52  

2025-10-27T17:14:52.380Z,1761585292.380 [DAT](INFO): setting remote address to 6
2025-10-27T17:14:52.381Z,1761585292.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:14:52.382Z,1761585292.382 [DAT](INFO): setting remote address to 0
2025-10-27T17:14:52.628Z,1761585292.628 [DAT](INFO): DAT read: user:6>

2025-10-27T17:14:52.629Z,1761585292.629 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:14:52.629Z,1761585292.629 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:14:52.629Z,1761585292.629 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:14:52.630Z,1761585292.630 [DAT](ERROR): Communications Fault
2025-10-27T17:14:52.630Z,1761585292.630 [DAT](INFO): DAT read: user:7>

2025-10-27T17:14:52.631Z,1761585292.631 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:14:52.632Z,1761585292.632 [DAT](INFO): set remote address to 0
2025-10-27T17:14:52.632Z,1761585292.632 [DAT](INFO): setting remote address to 6
2025-10-27T17:14:52.632Z,1761585292.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:14:52.632Z,1761585292.632 [DAT](INFO): setting remote address to 0
2025-10-27T17:14:52.771Z,1761585292.771 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:14:52.818Z,1761585292.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499591,-0.834742,-0.231548],[0.842998,0.530014,-0.091868],[0.199410,-0.149299,0.968476]]
2025-10-27T17:14:53.036Z,1761585293.036 [DAT](INFO): Powering down
2025-10-27T17:14:53.214Z,1761585293.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484570,-0.850482,-0.204628],[0.853023,0.511238,-0.104820],[0.193761,-0.123759,0.973211]]
2025-10-27T17:14:53.352Z,1761585293.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:14:53.617Z,1761585293.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465973,-0.867403,-0.174589],[0.864697,0.488255,-0.117922],[0.187530,-0.096018,0.977555]]
2025-10-27T17:14:54.021Z,1761585294.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444391,-0.883919,-0.145617],[0.877184,0.462347,-0.129551],[0.181838,-0.070161,0.980822]]
2025-10-27T17:14:54.199Z,1761585294.199 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:14:54.199Z,1761585294.199 [DAT] No Fault, FailCount= 2
2025-10-27T17:14:54.355Z,1761585294.355 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:14:54.426Z,1761585294.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420758,-0.899279,-0.119418],[0.889684,0.434779,-0.139388],[0.177269,-0.047595,0.983011]]
2025-10-27T17:14:54.891Z,1761585294.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397271,-0.912470,-0.097848],[0.901074,0.408054,-0.146822],[0.173898,-0.029841,0.984311]]
2025-10-27T17:14:55.234Z,1761585295.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375277,-0.923384,-0.080799],[0.910818,0.383531,-0.152694],[0.171985,-0.016291,0.984965]]
2025-10-27T17:14:55.638Z,1761585295.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354467,-0.932709,-0.066391],[0.919179,0.360597,-0.158362],[0.171646,-0.004891,0.985146]]
2025-10-27T17:14:56.042Z,1761585296.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335900,-0.940312,-0.054630],[0.925953,0.340284,-0.163759],[0.172575,0.004422,0.984987]]
2025-10-27T17:14:56.267Z,1761585296.267 [DAT](INFO): Powering up
2025-10-27T17:14:56.267Z,1761585296.267 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:14:56.446Z,1761585296.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319953,-0.946238,-0.047576],[0.931213,0.323331,-0.168225],[0.174564,0.009521,0.984600]]
2025-10-27T17:14:56.921Z,1761585296.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306748,-0.950733,-0.044862],[0.935225,0.309829,-0.171349],[0.176807,0.010605,0.984188]]
2025-10-27T17:14:57.254Z,1761585297.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295977,-0.954154,-0.044581],[0.938303,0.299164,-0.173457],[0.178842,0.009509,0.983832]]
2025-10-27T17:14:57.658Z,1761585297.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287256,-0.956765,-0.045660],[0.940718,0.290772,-0.174645],[0.180371,0.007214,0.983572]]
2025-10-27T17:14:58.064Z,1761585298.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279550,-0.958930,-0.048004],[0.942814,0.283618,-0.175110],[0.181533,0.003693,0.983378]]
2025-10-27T17:14:58.466Z,1761585298.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271057,-0.961265,-0.049973],[0.945051,0.275625,-0.175812],[0.182776,0.000428,0.983154]]
2025-10-27T17:14:58.906Z,1761585298.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261612,-0.963795,-0.051551],[0.947470,0.266630,-0.176660],[0.184010,-0.002627,0.982921]]
2025-10-27T17:14:59.274Z,1761585299.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251115,-0.966516,-0.052800],[0.950170,0.256542,-0.177099],[0.184714,-0.005697,0.982776]]
2025-10-27T17:14:59.684Z,1761585299.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240531,-0.969130,-0.054145],[0.952992,0.246379,-0.176365],[0.184261,-0.009179,0.982835]]
2025-10-27T17:15:00.486Z,1761585300.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216224,-0.974871,-0.053606],[0.959891,0.222297,-0.170862],[0.178485,-0.014511,0.983836]]
2025-10-27T17:15:00.902Z,1761585300.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200916,-0.978247,-0.051633],[0.964189,0.206793,-0.166059],[0.173124,-0.016420,0.984763]]
2025-10-27T17:15:01.296Z,1761585301.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182838,-0.981853,-0.050360],[0.968846,0.188646,-0.160468],[0.167056,-0.019451,0.985756]]
2025-10-27T17:15:01.710Z,1761585301.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163365,-0.985414,-0.047654],[0.973461,0.168853,-0.154475],[0.160268,-0.021153,0.986847]]
2025-10-27T17:15:01.776Z,1761585301.776 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateRudder:A] Stopped
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:15:01.777Z,1761585301.777 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateCommandMode] Stopped
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:15:01.778Z,1761585301.778 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:15:01.779Z,1761585301.779 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:15:01.779Z,1761585301.779 [marl:UpdateSpeed] Stopped
2025-10-27T17:15:01.779Z,1761585301.779 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:15:02.162Z,1761585302.162 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:15:02.162Z,1761585302.162 [marl:UpdateRudder:B] Stopped
2025-10-27T17:15:02.162Z,1761585302.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:15:02.162Z,1761585302.162 [marl:UpdateRudder] Stopped
2025-10-27T17:15:02.162Z,1761585302.162 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:15:02.506Z,1761585302.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121075,-0.991867,-0.039251],[0.981801,0.125487,-0.142550],[0.146316,-0.021277,0.989009]]
2025-10-27T17:15:02.918Z,1761585302.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099200,-0.994491,-0.033881],[0.984906,0.102984,-0.139118],[0.141841,-0.019570,0.989696]]
2025-10-27T17:15:03.313Z,1761585303.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076502,-0.996683,-0.027755],[0.987136,0.079630,-0.138646],[0.140396,-0.016791,0.989953]]
2025-10-27T17:15:03.718Z,1761585303.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053206,-0.998347,-0.021715],[0.988406,0.055748,-0.141230],[0.142207,-0.013949,0.989739]]
2025-10-27T17:15:04.121Z,1761585304.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029405,-0.999422,-0.017065],[0.988685,0.031593,-0.146640],[0.147094,-0.012559,0.989043]]
2025-10-27T17:15:04.528Z,1761585304.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006790,-0.999904,-0.012083],[0.988029,0.008570,-0.154028],[0.154117,-0.010892,0.987993]]
2025-10-27T17:15:04.930Z,1761585304.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013445,-0.999880,-0.007694],[0.986736,-0.012023,-0.161885],[0.161773,-0.009768,0.986780]]
2025-10-27T17:15:05.334Z,1761585305.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029818,-0.999541,-0.005377],[0.985382,-0.028492,-0.167962],[0.167732,-0.010307,0.985779]]
2025-10-27T17:15:05.744Z,1761585305.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042211,-0.999100,-0.004116],[0.984313,-0.040880,-0.171631],[0.171308,-0.011296,0.985153]]
2025-10-27T17:15:06.143Z,1761585306.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052989,-0.998582,-0.005020],[0.983475,-0.051315,-0.173618],[0.173115,-0.014137,0.984800]]
2025-10-27T17:15:06.545Z,1761585306.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063384,-0.997974,-0.005465],[0.982857,-0.061472,-0.173820],[0.173132,-0.016388,0.984762]]
2025-10-27T17:15:06.949Z,1761585306.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073321,-0.997288,-0.006387],[0.982554,-0.071137,-0.171832],[0.170911,-0.018875,0.985106]]
2025-10-27T17:15:07.367Z,1761585307.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083623,-0.996471,-0.007282],[0.982415,-0.081215,-0.168124],[0.166940,-0.021213,0.985739]]
2025-10-27T17:15:07.766Z,1761585307.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095096,-0.995452,-0.005611],[0.982287,-0.092921,-0.162723],[0.161461,-0.020985,0.986656]]
2025-10-27T17:15:07.868Z,1761585307.868 [DAT](INFO): DAT read: 

2025-10-27T17:15:07.869Z,1761585307.869 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:15:08.162Z,1761585308.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109709,-0.993957,-0.003518],[0.981653,-0.107795,-0.157280],[0.155950,-0.020709,0.987548]]
2025-10-27T17:15:08.566Z,1761585308.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126934,-0.991910,-0.001541],[0.980377,-0.125222,-0.152248],[0.150824,-0.020836,0.988341]]
2025-10-27T17:15:08.978Z,1761585308.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145811,-0.989312,0.000763],[0.978429,-0.144321,-0.147808],[0.146339,-0.020805,0.989016]]
2025-10-27T17:15:09.376Z,1761585309.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166114,-0.986099,0.003946],[0.975720,-0.164942,-0.144100],[0.142747,-0.020087,0.989555]]
2025-10-27T17:15:09.380Z,1761585309.380 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:15:09.381Z,1761585309.381 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:15:09.382Z,1761585309.382 [DAT](INFO): DAT read: Oct 27 2025 17:15:04 

2025-10-27T17:15:09.778Z,1761585309.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187117,-0.982308,0.007621],[0.972267,-0.186301,-0.141381],[0.140299,-0.019045,0.989926]]
2025-10-27T17:15:10.182Z,1761585310.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208741,-0.977885,0.012994],[0.967959,-0.208482,-0.139969],[0.139582,-0.016640,0.990071]]
2025-10-27T17:15:10.393Z,1761585310.393 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:15:10.394Z,1761585310.394 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:15:10.394Z,1761585310.394 [DAT](INFO): commRate: 600
2025-10-27T17:15:10.586Z,1761585310.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230498,-0.972902,0.018209],[0.962871,-0.230745,-0.140131],[0.140536,-0.014767,0.989965]]
2025-10-27T17:15:10.997Z,1761585310.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251509,-0.967567,0.023594],[0.957236,-0.252277,-0.141616],[0.142975,-0.013032,0.989640]]
2025-10-27T17:15:11.394Z,1761585311.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270605,-0.962249,0.029145],[0.951522,-0.271941,-0.143715],[0.146216,-0.011158,0.989190]]
2025-10-27T17:15:11.797Z,1761585311.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286514,-0.957454,0.034530],[0.946427,-0.288449,-0.145163],[0.148947,-0.008911,0.988805]]
2025-10-27T17:15:12.202Z,1761585312.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299720,-0.953288,0.037549],[0.942022,-0.301944,-0.146371],[0.150872,-0.008498,0.988517]]
2025-10-27T17:15:12.459Z,1761585312.459 [DAT](INFO): entering command mode
2025-10-27T17:15:12.605Z,1761585312.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311192,-0.949471,0.040800],[0.938078,-0.313767,-0.146829],[0.152212,-0.007418,0.988320]]
2025-10-27T17:15:12.673Z,1761585312.673 [DAT](INFO): DAT read: 

2025-10-27T17:15:12.674Z,1761585312.674 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:12.674Z,1761585312.674 [DAT](INFO): setting verbose to 3
2025-10-27T17:15:12.924Z,1761585312.924 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:12.925Z,1761585312.925 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:15:12.925Z,1761585312.925 [DAT](INFO): set verbose to 3
2025-10-27T17:15:12.925Z,1761585312.925 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:15:13.014Z,1761585313.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321910,-0.945811,0.042612],[0.934354,-0.324632,-0.146956],[0.152826,-0.007492,0.988225]]
2025-10-27T17:15:13.176Z,1761585313.176 [DAT](INFO): DAT read: user:2>

2025-10-27T17:15:13.177Z,1761585313.177 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:15:13.177Z,1761585313.177 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:15:13.177Z,1761585313.177 [DAT](INFO): setting transmit power to 8
2025-10-27T17:15:13.414Z,1761585313.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332453,-0.942084,0.044197],[0.930660,-0.335292,-0.146459],[0.152795,-0.007559,0.988229]]
2025-10-27T17:15:13.428Z,1761585313.428 [DAT](INFO): DAT read: user:3>

2025-10-27T17:15:13.429Z,1761585313.429 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:15:13.429Z,1761585313.429 [DAT](INFO): set transmit power to 8
2025-10-27T17:15:13.429Z,1761585313.429 [DAT](INFO): setting local address to 11
2025-10-27T17:15:13.680Z,1761585313.680 [DAT](INFO): DAT read: user:4>

2025-10-27T17:15:13.681Z,1761585313.681 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:15:13.681Z,1761585313.681 [DAT](INFO): set local address to 11
2025-10-27T17:15:13.682Z,1761585313.682 [DAT](INFO): Setting time to: 17:15:13 And date to:10/27/2025
2025-10-27T17:15:13.829Z,1761585313.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342864,-0.938284,0.045477],[0.927027,-0.345783,-0.145104],[0.151874,-0.007593,0.988371]]
2025-10-27T17:15:13.932Z,1761585313.932 [DAT](INFO): DAT read: user:5>

2025-10-27T17:15:13.934Z,1761585313.934 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:15:13  

2025-10-27T17:15:13.934Z,1761585313.934 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:15:13  

2025-10-27T17:15:13.935Z,1761585313.935 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:13.937Z,1761585313.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:13.938Z,1761585313.938 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:14.184Z,1761585314.184 [DAT](INFO): DAT read: user:6>

2025-10-27T17:15:14.185Z,1761585314.185 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:15:14.185Z,1761585314.185 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:15:14.185Z,1761585314.185 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:15:14.186Z,1761585314.186 [DAT](ERROR): Communications Fault
2025-10-27T17:15:14.186Z,1761585314.186 [DAT](INFO): DAT read: user:7>

2025-10-27T17:15:14.187Z,1761585314.187 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:15:14.188Z,1761585314.188 [DAT](INFO): set remote address to 0
2025-10-27T17:15:14.188Z,1761585314.188 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:14.188Z,1761585314.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:14.188Z,1761585314.188 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:14.222Z,1761585314.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353547,-0.934252,0.046670],[0.923263,-0.356536,-0.143068],[0.150301,-0.007493,0.988612]]
2025-10-27T17:15:14.466Z,1761585314.466 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:15:14.592Z,1761585314.592 [DAT](INFO): Powering down
2025-10-27T17:15:14.629Z,1761585314.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364855,-0.929891,0.046735],[0.919161,-0.367737,-0.141110],[0.148403,-0.008528,0.988890]]
2025-10-27T17:15:14.653Z,1761585314.653 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:15:14.653Z,1761585314.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateRudder:A] Stopped
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:15:14.654Z,1761585314.654 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateCommandMode] Stopped
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:15:14.655Z,1761585314.655 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:15:14.656Z,1761585314.656 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:15:14.656Z,1761585314.656 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:15:14.656Z,1761585314.656 [marl:UpdateSpeed] Stopped
2025-10-27T17:15:14.656Z,1761585314.656 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:15:15.030Z,1761585315.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377844,-0.924608,0.048313],[0.914186,-0.380831,-0.138675],[0.146619,-0.008230,0.989159]]
2025-10-27T17:15:15.097Z,1761585315.097 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:15:15.098Z,1761585315.098 [marl:UpdateRudder:B] Stopped
2025-10-27T17:15:15.098Z,1761585315.098 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:15:15.098Z,1761585315.098 [marl:UpdateRudder] Stopped
2025-10-27T17:15:15.098Z,1761585315.098 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:15:15.434Z,1761585315.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390941,-0.919041,0.050281],[0.908896,-0.394088,-0.136393],[0.145166,-0.007621,0.989378]]
2025-10-27T17:15:15.610Z,1761585315.610 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:15:15.611Z,1761585315.611 [DAT] No Fault, FailCount= 3
2025-10-27T17:15:15.847Z,1761585315.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405164,-0.912724,0.052692],[0.902831,-0.408519,-0.134195],[0.144008,-0.006799,0.989553]]
2025-10-27T17:15:16.242Z,1761585316.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419852,-0.905928,0.054942],[0.896199,-0.423383,-0.132567],[0.143358,-0.006420,0.989650]]
2025-10-27T17:15:16.647Z,1761585316.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435276,-0.898518,0.056571],[0.888839,-0.438880,-0.131716],[0.143178,-0.007050,0.989672]]
2025-10-27T17:15:17.054Z,1761585317.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451227,-0.890493,0.058449],[0.880868,-0.454935,-0.130793],[0.143061,-0.007532,0.989685]]
2025-10-27T17:15:17.454Z,1761585317.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467793,-0.881733,0.060965],[0.872169,-0.471689,-0.129731],[0.143145,-0.007515,0.989673]]
2025-10-27T17:15:17.819Z,1761585317.819 [DAT](INFO): Powering up
2025-10-27T17:15:17.820Z,1761585317.820 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:15:17.863Z,1761585317.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484208,-0.872572,0.064500],[0.863176,-0.488445,-0.127860],[0.143071,-0.006236,0.989693]]
2025-10-27T17:15:18.263Z,1761585318.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500898,-0.862767,0.068810],[0.853587,-0.505585,-0.125591],[0.143145,-0.004173,0.989693]]
2025-10-27T17:15:19.070Z,1761585319.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532148,-0.843005,0.078489],[0.834455,-0.537902,-0.119775],[0.143190,0.001758,0.989694]]
2025-10-27T17:15:19.474Z,1761585319.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547162,-0.833060,0.081395],[0.824694,-0.553176,-0.117799],[0.143159,0.002671,0.989696]]
2025-10-27T17:15:19.879Z,1761585319.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561347,-0.823362,0.083457],[0.815147,-0.567510,-0.116048],[0.142912,0.002887,0.989731]]
2025-10-27T17:15:20.281Z,1761585320.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575331,-0.813350,0.086353],[0.805377,-0.581760,-0.113679],[0.142697,0.004143,0.989758]]
2025-10-27T17:15:20.685Z,1761585320.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588830,-0.803496,0.087597],[0.795653,-0.595298,-0.112052],[0.142180,0.003717,0.989834]]
2025-10-27T17:15:20.764Z,1761585320.764 [CTD_Seabird](ERROR): Failed to parse device response: ,13.2332,3.95483,3752.94
2025-10-27T17:15:21.495Z,1761585321.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613918,-0.784467,0.087840],[0.776798,-0.620169,-0.109432],[0.140321,0.001052,0.990105]]
2025-10-27T17:15:21.898Z,1761585321.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625241,-0.775523,0.087389],[0.767885,-0.631318,-0.108579],[0.139376,-0.000784,0.990239]]
2025-10-27T17:15:23.110Z,1761585323.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657035,-0.748810,0.087110],[0.741389,-0.662768,-0.105261],[0.136554,-0.004577,0.990622]]
2025-10-27T17:15:23.514Z,1761585323.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666873,-0.739853,0.088875],[0.732754,-0.672762,-0.102291],[0.135471,-0.003091,0.990776]]
2025-10-27T17:15:23.924Z,1761585323.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686984,-0.720698,0.092992],[0.714406,-0.693248,-0.095032],[0.132955,0.001149,0.991121]]
2025-10-27T17:15:24.478Z,1761585324.478 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:15:24.740Z,1761585324.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707818,-0.700188,0.093434],[0.694298,-0.713958,-0.090633],[0.130168,0.000720,0.991492]]
2025-10-27T17:15:25.135Z,1761585325.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718831,-0.688847,0.093655],[0.683274,-0.724905,-0.087454],[0.128134,0.001128,0.991756]]
2025-10-27T17:15:25.479Z,1761585325.479 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:15:25.540Z,1761585325.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730119,-0.676929,0.093235],[0.671521,-0.736048,-0.085399],[0.126435,0.000258,0.991975]]
2025-10-27T17:15:25.938Z,1761585325.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741908,-0.664155,0.092037],[0.658768,-0.747593,-0.084436],[0.124885,-0.002013,0.992169]]
2025-10-27T17:15:26.341Z,1761585326.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753380,-0.651094,0.092166],[0.645862,-0.758993,-0.082412],[0.123612,-0.002561,0.992327]]
2025-10-27T17:15:26.753Z,1761585326.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764595,-0.637899,0.092083],[0.632772,-0.770112,-0.080793],[0.122452,-0.003506,0.992468]]
2025-10-27T17:15:27.150Z,1761585327.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775183,-0.624890,0.092755],[0.619954,-0.780706,-0.078456],[0.121441,-0.003313,0.992593]]
2025-10-27T17:15:27.553Z,1761585327.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785255,-0.612204,0.092629],[0.607353,-0.790688,-0.077036],[0.120402,-0.004235,0.992716]]
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateRudder:A] Stopped
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:15:27.601Z,1761585327.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode] Stopped
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:15:27.602Z,1761585327.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:15:27.603Z,1761585327.603 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:15:27.603Z,1761585327.603 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:15:27.603Z,1761585327.603 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:15:27.603Z,1761585327.603 [marl:UpdateSpeed] Stopped
2025-10-27T17:15:27.603Z,1761585327.603 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:15:27.958Z,1761585327.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795205,-0.599239,0.092534],[0.594472,-0.800554,-0.075610],[0.119387,-0.005116,0.992835]]
2025-10-27T17:15:27.982Z,1761585327.982 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:15:27.982Z,1761585327.982 [marl:UpdateRudder:B] Stopped
2025-10-27T17:15:27.982Z,1761585327.982 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:15:27.982Z,1761585327.982 [marl:UpdateRudder] Stopped
2025-10-27T17:15:27.983Z,1761585327.983 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:15:28.364Z,1761585328.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804385,-0.586697,0.093553],[0.582261,-0.809799,-0.072100],[0.118060,-0.003524,0.993000]]
2025-10-27T17:15:28.768Z,1761585328.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813825,-0.573520,0.093610],[0.569286,-0.819184,-0.069643],[0.116625,-0.003386,0.993170]]
2025-10-27T17:15:29.171Z,1761585329.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823791,-0.559166,0.093282],[0.555071,-0.829046,-0.067668],[0.115172,-0.003966,0.993338]]
2025-10-27T17:15:29.416Z,1761585329.416 [DAT](INFO): DAT read: 

2025-10-27T17:15:29.417Z,1761585329.417 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:15:29.574Z,1761585329.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833859,-0.544075,0.093063],[0.540157,-0.839026,-0.065311],[0.113616,-0.004191,0.993516]]
2025-10-27T17:15:29.979Z,1761585329.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844118,-0.528091,0.092652],[0.524332,-0.849175,-0.063067],[0.111983,-0.004656,0.993699]]
2025-10-27T17:15:30.382Z,1761585330.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854195,-0.511529,0.093211],[0.508018,-0.859257,-0.059957],[0.110762,-0.003862,0.993839]]
2025-10-27T17:15:30.793Z,1761585330.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863788,-0.494997,0.094071],[0.491775,-0.868891,-0.056441],[0.109676,-0.002491,0.993964]]
2025-10-27T17:15:30.928Z,1761585330.928 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:15:30.929Z,1761585330.929 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:15:30.930Z,1761585330.930 [DAT](INFO): DAT read: Oct 27 2025 17:15:25 

2025-10-27T17:15:31.193Z,1761585331.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872705,-0.479036,0.094391],[0.475930,-0.877791,-0.054533],[0.108979,-0.002668,0.994040]]
2025-10-27T17:15:31.594Z,1761585331.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880913,-0.463607,0.095189],[0.460643,-0.886038,-0.052392],[0.108630,-0.002304,0.994080]]
2025-10-27T17:15:31.936Z,1761585331.936 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:15:31.937Z,1761585331.937 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:15:31.938Z,1761585331.938 [DAT](INFO): commRate: 600
2025-10-27T17:15:31.997Z,1761585331.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888069,-0.449508,0.096309],[0.446711,-0.893275,-0.050094],[0.108548,-0.001465,0.994090]]
2025-10-27T17:15:32.402Z,1761585332.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894316,-0.436628,0.097754],[0.434038,-0.899642,-0.047486],[0.108677,-0.000038,0.994077]]
2025-10-27T17:15:32.834Z,1761585332.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899701,-0.425182,0.098785],[0.422685,-0.905108,-0.046012],[0.108975,0.000358,0.994044]]
2025-10-27T17:15:33.214Z,1761585333.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904586,-0.414327,0.100291],[0.411978,-0.910127,-0.044073],[0.109538,0.001450,0.993981]]
2025-10-27T17:15:33.614Z,1761585333.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909107,-0.404124,0.101034],[0.401936,-0.914701,-0.042060],[0.109414,0.002372,0.993993]]
2025-10-27T17:15:34.003Z,1761585334.003 [DAT](INFO): entering command mode
2025-10-27T17:15:34.020Z,1761585334.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913548,-0.393974,0.101070],[0.391970,-0.919116,-0.039823],[0.108584,0.003236,0.994082]]
2025-10-27T17:15:34.204Z,1761585334.204 [DAT](INFO): DAT read: 

2025-10-27T17:15:34.204Z,1761585334.204 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:34.204Z,1761585334.204 [DAT](INFO): setting verbose to 3
2025-10-27T17:15:34.423Z,1761585334.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918017,-0.383494,0.100884],[0.381759,-0.923531,-0.036758],[0.107266,0.004769,0.994219]]
2025-10-27T17:15:34.456Z,1761585334.456 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:34.457Z,1761585334.457 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:15:34.457Z,1761585334.457 [DAT](INFO): set verbose to 3
2025-10-27T17:15:34.457Z,1761585334.457 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:15:34.708Z,1761585334.708 [DAT](INFO): DAT read: user:2>

2025-10-27T17:15:34.709Z,1761585334.709 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:15:34.709Z,1761585334.709 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:15:34.709Z,1761585334.709 [DAT](INFO): setting transmit power to 8
2025-10-27T17:15:34.883Z,1761585334.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922535,-0.372923,0.099287],[0.371355,-0.927849,-0.034522],[0.104997,0.005023,0.994460]]
2025-10-27T17:15:34.960Z,1761585334.960 [DAT](INFO): DAT read: user:3>

2025-10-27T17:15:34.961Z,1761585334.961 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:15:34.961Z,1761585334.961 [DAT](INFO): set transmit power to 8
2025-10-27T17:15:34.961Z,1761585334.961 [DAT](INFO): setting local address to 11
2025-10-27T17:15:35.212Z,1761585335.212 [DAT](INFO): DAT read: user:4>

2025-10-27T17:15:35.213Z,1761585335.213 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:15:35.213Z,1761585335.213 [DAT](INFO): set local address to 11
2025-10-27T17:15:35.214Z,1761585335.214 [DAT](INFO): Setting time to: 17:15:35 And date to:10/27/2025
2025-10-27T17:15:35.260Z,1761585335.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927208,-0.361767,0.097004],[0.360441,-0.932251,-0.031481],[0.101821,0.005774,0.994786]]
2025-10-27T17:15:35.464Z,1761585335.464 [DAT](INFO): DAT read: user:5>

2025-10-27T17:15:35.465Z,1761585335.465 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:15:35  

2025-10-27T17:15:35.465Z,1761585335.465 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:15:35  

2025-10-27T17:15:35.466Z,1761585335.466 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:35.466Z,1761585335.466 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:35.466Z,1761585335.466 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:35.633Z,1761585335.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932208,-0.349432,0.094267],[0.348426,-0.936934,-0.027464],[0.097919,0.007243,0.995168]]
2025-10-27T17:15:35.717Z,1761585335.717 [DAT](INFO): DAT read: user:6>

2025-10-27T17:15:35.718Z,1761585335.718 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:15:35.719Z,1761585335.719 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:15:35.719Z,1761585335.719 [DAT] Communications Fault, FailCount= 4
2025-10-27T17:15:35.720Z,1761585335.720 [DAT](ERROR): Communications Fault
2025-10-27T17:15:35.721Z,1761585335.721 [DAT](INFO): DAT read: user:7>

2025-10-27T17:15:35.722Z,1761585335.722 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:15:35.722Z,1761585335.722 [DAT](INFO): set remote address to 0
2025-10-27T17:15:35.723Z,1761585335.723 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:35.724Z,1761585335.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:35.725Z,1761585335.725 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:35.815Z,1761585335.815 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:15:36.038Z,1761585336.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937380,-0.336087,0.091455],[0.335511,-0.941778,-0.022062],[0.093545,0.010004,0.995565]]
2025-10-27T17:15:36.132Z,1761585336.132 [DAT](INFO): Powering down
2025-10-27T17:15:36.442Z,1761585336.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942967,-0.321067,0.087921],[0.320680,-0.946999,-0.018875],[0.089322,0.010396,0.995949]]
2025-10-27T17:15:36.893Z,1761585336.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948986,-0.304024,0.083641],[0.303615,-0.952627,-0.017879],[0.085114,0.008428,0.996336]]
2025-10-27T17:15:37.038Z,1761585337.038 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:15:37.038Z,1761585337.038 [DAT] No Fault, FailCount= 4
2025-10-27T17:15:37.249Z,1761585337.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955085,-0.285407,0.079721],[0.285078,-0.958375,-0.015728],[0.080892,0.007705,0.996693]]
2025-10-27T17:15:37.654Z,1761585337.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960996,-0.265963,0.075837],[0.265606,-0.963966,-0.014938],[0.077077,0.005788,0.997008]]
2025-10-27T17:15:38.059Z,1761585338.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966456,-0.246364,0.072575],[0.246068,-0.969164,-0.013138],[0.073574,0.005161,0.997276]]
2025-10-27T17:15:38.462Z,1761585338.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971443,-0.226729,0.069949],[0.226509,-0.973945,-0.011162],[0.070657,0.005001,0.997488]]
2025-10-27T17:15:38.896Z,1761585338.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975862,-0.207414,0.068355],[0.207328,-0.978235,-0.008440],[0.068618,0.005936,0.997625]]
2025-10-27T17:15:39.278Z,1761585339.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979870,-0.188007,0.067138],[0.187982,-0.982149,-0.006755],[0.067210,0.006002,0.997721]]
2025-10-27T17:15:39.363Z,1761585339.363 [DAT](INFO): Powering up
2025-10-27T17:15:39.364Z,1761585339.364 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:15:39.675Z,1761585339.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983425,-0.168573,0.066776],[0.168673,-0.985663,-0.004181],[0.066524,0.007152,0.997759]]
2025-10-27T17:15:40.078Z,1761585340.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986525,-0.149395,0.066706],[0.149639,-0.988740,-0.001346],[0.066156,0.008654,0.997772]]
2025-10-27T17:15:40.482Z,1761585340.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989154,-0.130875,0.066686],[0.131287,-0.991343,0.001813],[0.065872,0.010549,0.997772]]
2025-10-27T17:15:40.530Z,1761585340.530 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:15:40.530Z,1761585340.530 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:15:40.530Z,1761585340.530 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:15:40.530Z,1761585340.530 [marl:UpdateRudder:A] Stopped
2025-10-27T17:15:40.531Z,1761585340.531 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:15:40.531Z,1761585340.531 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:15:40.531Z,1761585340.531 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:15:40.531Z,1761585340.531 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:15:40.531Z,1761585340.531 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateCommandMode] Stopped
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:15:40.532Z,1761585340.532 [marl:UpdateSpeed] Stopped
2025-10-27T17:15:40.533Z,1761585340.533 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:15:40.903Z,1761585340.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991195,-0.114544,0.066420],[0.115135,-0.993337,0.005127],[0.065390,0.012729,0.997779]]
2025-10-27T17:15:40.964Z,1761585340.964 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:15:40.965Z,1761585340.965 [marl:UpdateRudder:B] Stopped
2025-10-27T17:15:40.965Z,1761585340.965 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:15:40.965Z,1761585340.965 [marl:UpdateRudder] Stopped
2025-10-27T17:15:40.965Z,1761585340.965 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:15:41.297Z,1761585341.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992661,-0.101239,0.066150],[0.101985,-0.994754,0.007996],[0.064993,0.014684,0.997778]]
2025-10-27T17:15:41.693Z,1761585341.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993796,-0.090194,0.065079],[0.091086,-0.995784,0.010855],[0.063826,0.016716,0.997821]]
2025-10-27T17:15:42.097Z,1761585342.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994730,-0.080423,0.063596],[0.081381,-0.996603,0.012603],[0.062367,0.017712,0.997896]]
2025-10-27T17:15:42.914Z,1761585342.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996299,-0.062154,0.059375],[0.063100,-0.997906,0.014194],[0.058368,0.017888,0.998135]]
2025-10-27T17:15:42.978Z,1761585342.978 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:15:43.309Z,1761585343.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996954,-0.053386,0.056858],[0.054232,-0.998438,0.013434],[0.056052,0.016477,0.998292]]
2025-10-27T17:15:43.519Z,1761585343.519 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:15:43.519Z,1761585343.519 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:15:43.714Z,1761585343.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997401,-0.047629,0.054064],[0.048037,-0.998826,0.006263],[0.053702,0.008844,0.998518]]
2025-10-27T17:15:44.118Z,1761585344.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997606,-0.046911,0.050809],[0.046479,-0.998873,-0.009650],[0.051205,-0.007266,0.998662]]
2025-10-27T17:15:44.523Z,1761585344.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997647,-0.050044,0.046869],[0.048497,-0.998259,-0.033583],[0.048469,-0.031231,0.998336]]
2025-10-27T17:15:44.927Z,1761585344.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997576,-0.054889,0.042765],[0.052141,-0.996654,-0.062938],[0.046077,-0.060556,0.997101]]
2025-10-27T17:15:45.330Z,1761585345.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997537,-0.058634,0.038508],[0.054753,-0.993961,-0.095095],[0.043851,-0.092752,0.994723]]
2025-10-27T17:15:45.745Z,1761585345.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997563,-0.060523,0.034706],[0.055809,-0.990757,-0.123633],[0.041868,-0.121395,0.991721]]
2025-10-27T17:15:46.138Z,1761585346.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997674,-0.060542,0.031315],[0.055238,-0.987304,-0.148926],[0.039933,-0.146850,0.988352]]
2025-10-27T17:15:46.946Z,1761585346.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998143,-0.055120,0.025914],[0.049509,-0.982062,-0.181940],[0.035477,-0.180319,0.982968]]
2025-10-27T17:15:47.365Z,1761585347.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998437,-0.050413,0.024132],[0.044894,-0.980558,-0.191024],[0.033293,-0.189642,0.981289]]
2025-10-27T17:15:47.770Z,1761585347.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998734,-0.044995,0.022478],[0.039708,-0.979655,-0.196724],[0.030872,-0.195582,0.980201]]
2025-10-27T17:15:48.159Z,1761585348.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.038991,0.020948],[0.034039,-0.979311,-0.199477],[0.028293,-0.198568,0.979679]]
2025-10-27T17:15:48.562Z,1761585348.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999263,-0.033097,0.019467],[0.028586,-0.979721,-0.198319],[0.025636,-0.197616,0.979944]]
2025-10-27T17:15:48.965Z,1761585348.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999451,-0.027851,0.017936],[0.023830,-0.980563,-0.194754],[0.023011,-0.194220,0.980688]]
2025-10-27T17:15:49.373Z,1761585349.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999596,-0.023491,0.016009],[0.020011,-0.981448,-0.190680],[0.020191,-0.190283,0.981522]]
2025-10-27T17:15:49.785Z,1761585349.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999691,-0.020404,0.014172],[0.017408,-0.982329,-0.186353],[0.017724,-0.186049,0.982381]]
2025-10-27T17:15:50.177Z,1761585350.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999757,-0.018214,0.012398],[0.015661,-0.983248,-0.181599],[0.015498,-0.181360,0.983295]]
2025-10-27T17:15:50.582Z,1761585350.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999788,-0.017512,0.010850],[0.015311,-0.984028,-0.177354],[0.013783,-0.177150,0.984087]]
2025-10-27T17:15:50.960Z,1761585350.960 [DAT](INFO): DAT read: 

2025-10-27T17:15:50.960Z,1761585350.960 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:15:51.001Z,1761585351.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999791,-0.017892,0.009906],[0.015876,-0.984342,-0.175555],[0.012892,-0.175361,0.984420]]
2025-10-27T17:15:51.394Z,1761585351.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999762,-0.019717,0.009341],[0.017797,-0.984662,-0.173564],[0.012620,-0.173356,0.984778]]
2025-10-27T17:15:51.796Z,1761585351.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999707,-0.022533,0.008863],[0.020672,-0.984857,-0.172134],[0.012608,-0.171900,0.985034]]
2025-10-27T17:15:52.472Z,1761585352.472 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:15:52.473Z,1761585352.473 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:15:52.474Z,1761585352.474 [DAT](INFO): DAT read: Oct 27 2025 17:15:47 

2025-10-27T17:15:53.007Z,1761585353.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999368,-0.035211,0.004948],[0.033799,-0.983933,-0.175308],[0.011041,-0.175030,0.984501]]
2025-10-27T17:15:53.410Z,1761585353.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999221,-0.039343,0.003036],[0.038192,-0.983602,-0.176260],[0.009921,-0.176006,0.984339]]
2025-10-27T17:15:53.454Z,1761585353.454 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:15:53.454Z,1761585353.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:15:53.454Z,1761585353.454 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateRudder:A] Stopped
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:15:53.455Z,1761585353.455 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateCommandMode] Stopped
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:15:53.456Z,1761585353.456 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:15:53.457Z,1761585353.457 [marl:UpdateSpeed] Stopped
2025-10-27T17:15:53.457Z,1761585353.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:15:53.481Z,1761585353.481 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:15:53.483Z,1761585353.483 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:15:53.484Z,1761585353.484 [DAT](INFO): commRate: 600
2025-10-27T17:15:53.864Z,1761585353.864 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:15:53.864Z,1761585353.864 [marl:UpdateRudder:B] Stopped
2025-10-27T17:15:53.864Z,1761585353.864 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:15:53.864Z,1761585353.864 [marl:UpdateRudder] Stopped
2025-10-27T17:15:53.865Z,1761585353.865 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:15:54.220Z,1761585354.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998960,-0.045558,-0.001682],[0.045138,-0.983248,-0.176595],[0.006392,-0.176487,0.984282]]
2025-10-27T17:15:54.624Z,1761585354.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998884,-0.047004,-0.004530],[0.047058,-0.982853,-0.178283],[0.003928,-0.178298,0.983969]]
2025-10-27T17:15:55.026Z,1761585355.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998881,-0.046681,-0.007590],[0.047285,-0.982538,-0.179955],[0.000944,-0.180113,0.983645]]
2025-10-27T17:15:55.430Z,1761585355.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998923,-0.045196,-0.010454],[0.046342,-0.982380,-0.181057],[-0.002086,-0.181346,0.983417]]
2025-10-27T17:15:55.548Z,1761585355.548 [DAT](INFO): entering command mode
2025-10-27T17:15:55.599Z,1761585355.599 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:15:55.748Z,1761585355.748 [DAT](INFO): DAT read: 

2025-10-27T17:15:55.749Z,1761585355.749 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:55.750Z,1761585355.750 [DAT](INFO): setting verbose to 3
2025-10-27T17:15:55.000Z,1761585356.000 [DAT](INFO): DAT read: user:1>

2025-10-27T17:15:56.001Z,1761585356.001 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:15:56.001Z,1761585356.001 [DAT](INFO): set verbose to 3
2025-10-27T17:15:56.001Z,1761585356.001 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:15:56.253Z,1761585356.253 [DAT](INFO): DAT read: user:2>

2025-10-27T17:15:56.254Z,1761585356.254 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:15:56.255Z,1761585356.255 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:15:56.256Z,1761585356.256 [DAT](INFO): setting transmit power to 8
2025-10-27T17:15:56.261Z,1761585356.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999230,-0.036293,-0.014894],[0.038398,-0.982593,-0.181758],[-0.008038,-0.182190,0.983230]]
2025-10-27T17:15:56.504Z,1761585356.504 [DAT](INFO): DAT read: user:3>

2025-10-27T17:15:56.505Z,1761585356.505 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:15:56.505Z,1761585356.505 [DAT](INFO): set transmit power to 8
2025-10-27T17:15:56.505Z,1761585356.505 [DAT](INFO): setting local address to 11
2025-10-27T17:15:56.603Z,1761585356.603 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:15:56.671Z,1761585356.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999411,-0.030354,-0.016014],[0.032747,-0.983058,-0.180344],[-0.010269,-0.180763,0.983473]]
2025-10-27T17:15:56.762Z,1761585356.762 [DAT](INFO): DAT read: user:4>

2025-10-27T17:15:56.763Z,1761585356.763 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:15:56.763Z,1761585356.763 [DAT](INFO): set local address to 11
2025-10-27T17:15:56.764Z,1761585356.764 [DAT](INFO): Setting time to: 17:15:56 And date to:10/27/2025
2025-10-27T17:15:57.012Z,1761585357.012 [DAT](INFO): DAT read: user:5>

2025-10-27T17:15:57.013Z,1761585357.013 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:15:56  

2025-10-27T17:15:57.013Z,1761585357.013 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:15:56  

2025-10-27T17:15:57.014Z,1761585357.014 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:57.014Z,1761585357.014 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:57.014Z,1761585357.014 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:57.113Z,1761585357.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,-0.024325,-0.016707],[0.026931,-0.983410,-0.179386],[-0.012066,-0.179758,0.983637]]
2025-10-27T17:15:57.265Z,1761585357.265 [DAT](INFO): DAT read: user:6>

2025-10-27T17:15:57.266Z,1761585357.266 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:15:57.267Z,1761585357.267 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:15:57.267Z,1761585357.267 [DAT] Communications Fault, FailCount= 5
2025-10-27T17:15:57.267Z,1761585357.267 [DAT](ERROR): Communications Fault
2025-10-27T17:15:57.268Z,1761585357.268 [DAT](INFO): DAT read: user:7>

2025-10-27T17:15:57.270Z,1761585357.270 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:15:57.270Z,1761585357.270 [DAT](INFO): set remote address to 0
2025-10-27T17:15:57.270Z,1761585357.270 [DAT](INFO): setting remote address to 6
2025-10-27T17:15:57.276Z,1761585357.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:15:57.277Z,1761585357.277 [DAT](INFO): setting remote address to 0
2025-10-27T17:15:57.458Z,1761585357.458 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:15:57.489Z,1761585357.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999683,-0.018722,-0.016846],[0.021422,-0.983828,-0.177833],[-0.013244,-0.178137,0.983917]]
2025-10-27T17:15:57.680Z,1761585357.680 [DAT](INFO): Powering down
2025-10-27T17:15:57.994Z,1761585357.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999825,-0.009731,-0.016002],[0.012381,-0.984511,-0.174886],[-0.014052,-0.175053,0.984459]]
2025-10-27T17:15:58.479Z,1761585358.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999857,-0.007529,-0.015119],[0.010017,-0.985067,-0.171879],[-0.013599,-0.172006,0.985002]]
2025-10-27T17:15:58.755Z,1761585358.755 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:15:58.756Z,1761585358.756 [DAT] No Fault, FailCount= 5
2025-10-27T17:15:58.900Z,1761585358.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999872,-0.007348,-0.014186],[0.009664,-0.985257,-0.170806],[-0.012721,-0.170921,0.985203]]
2025-10-27T17:15:59.281Z,1761585359.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999856,-0.009648,-0.013996],[0.011881,-0.985478,-0.169389],[-0.012159,-0.169531,0.985450]]
2025-10-27T17:15:59.686Z,1761585359.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999811,-0.013400,-0.014061],[0.015570,-0.985713,-0.167714],[-0.011613,-0.167901,0.985735]]
2025-10-27T17:16:00.091Z,1761585360.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999738,-0.017705,-0.014541],[0.019897,-0.985605,-0.167890],[-0.011359,-0.168136,0.985698]]
2025-10-27T17:16:00.494Z,1761585360.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999621,-0.022546,-0.015811],[0.024904,-0.985183,-0.169688],[-0.011751,-0.170017,0.985371]]
2025-10-27T17:16:00.901Z,1761585360.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999472,-0.027340,-0.017549],[0.029958,-0.984587,-0.172313],[-0.012567,-0.172748,0.984886]]
2025-10-27T17:16:00.919Z,1761585360.919 [DAT](INFO): Powering up
2025-10-27T17:16:00.919Z,1761585360.919 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:16:01.302Z,1761585361.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999311,-0.031717,-0.019283],[0.034602,-0.984028,-0.174620],[-0.013437,-0.175167,0.984447]]
2025-10-27T17:16:01.706Z,1761585361.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999175,-0.034965,-0.020665],[0.038067,-0.983594,-0.176333],[-0.014160,-0.176974,0.984114]]
2025-10-27T17:16:02.111Z,1761585362.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999119,-0.036003,-0.021571],[0.039286,-0.983109,-0.178753],[-0.014771,-0.179443,0.983657]]
2025-10-27T17:16:02.513Z,1761585362.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999151,-0.034630,-0.022304],[0.038117,-0.982574,-0.181920],[-0.015615,-0.182616,0.983060]]
2025-10-27T17:16:02.926Z,1761585362.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999255,-0.031873,-0.021766],[0.035336,-0.982344,-0.183717],[-0.015526,-0.184350,0.982738]]
2025-10-27T17:16:03.323Z,1761585363.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999379,-0.028182,-0.021168],[0.031630,-0.982065,-0.185872],[-0.015550,-0.186426,0.982346]]
2025-10-27T17:16:03.741Z,1761585363.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.023694,-0.020539],[0.027136,-0.981807,-0.187933],[-0.015712,-0.188398,0.981967]]
2025-10-27T17:16:04.129Z,1761585364.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999643,-0.018194,-0.019573],[0.021587,-0.981529,-0.190090],[-0.015753,-0.190445,0.981571]]
2025-10-27T17:16:04.948Z,1761585364.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999839,-0.005530,-0.017069],[0.008745,-0.980869,-0.194473],[-0.015667,-0.194591,0.980759]]
2025-10-27T17:16:05.341Z,1761585365.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999880,0.000589,-0.015467],[0.002429,-0.980920,-0.194395],[-0.015287,-0.194410,0.980801]]
2025-10-27T17:16:05.753Z,1761585365.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999883,0.006212,-0.013957],[-0.003371,-0.980792,-0.195026],[-0.014901,-0.194956,0.980699]]
2025-10-27T17:16:06.149Z,1761585366.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999861,0.010676,-0.012772],[-0.008013,-0.981199,-0.192830],[-0.014590,-0.192701,0.981149]]
2025-10-27T17:16:06.563Z,1761585366.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999845,0.013091,-0.011779],[-0.010596,-0.981461,-0.191371],[-0.014065,-0.191217,0.981447]]
2025-10-27T17:16:06.622Z,1761585366.622 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:16:06.622Z,1761585366.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:16:06.622Z,1761585366.622 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:16:06.623Z,1761585366.623 [marl:UpdateRudder:A] Stopped
2025-10-27T17:16:06.627Z,1761585366.627 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:16:06.627Z,1761585366.627 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:16:06.627Z,1761585366.627 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:16:06.627Z,1761585366.627 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:16:06.627Z,1761585366.627 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateCommandMode] Stopped
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:16:06.628Z,1761585366.628 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:16:06.629Z,1761585366.629 [marl:UpdateSpeed] Stopped
2025-10-27T17:16:06.629Z,1761585366.629 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:16:06.961Z,1761585366.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999839,0.014172,-0.010968],[-0.011821,-0.981573,-0.190721],[-0.013468,-0.190561,0.981583]]
2025-10-27T17:16:07.037Z,1761585367.037 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:16:07.037Z,1761585367.037 [marl:UpdateRudder:B] Stopped
2025-10-27T17:16:07.037Z,1761585367.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:16:07.037Z,1761585367.037 [marl:UpdateRudder] Stopped
2025-10-27T17:16:07.037Z,1761585367.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:16:07.372Z,1761585367.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999848,0.014043,-0.010350],[-0.011846,-0.982064,-0.188176],[-0.012807,-0.188025,0.982081]]
2025-10-27T17:16:07.768Z,1761585367.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999865,0.012664,-0.010431],[-0.010496,-0.982377,-0.186613],[-0.012611,-0.186479,0.982378]]
2025-10-27T17:16:08.170Z,1761585368.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999891,0.011349,-0.009412],[-0.009392,-0.982360,-0.186764],[-0.011366,-0.186656,0.982360]]
2025-10-27T17:16:08.979Z,1761585368.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999945,0.006705,-0.008064],[-0.005083,-0.982435,-0.186537],[-0.009173,-0.186486,0.982415]]
2025-10-27T17:16:09.383Z,1761585369.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999962,0.003670,-0.007915],[-0.002133,-0.982532,-0.186083],[-0.008459,-0.186059,0.982502]]
2025-10-27T17:16:09.787Z,1761585369.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999968,0.000642,-0.007987],[0.000844,-0.982802,-0.184659],[-0.007968,-0.184660,0.982770]]
2025-10-27T17:16:10.189Z,1761585370.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999966,-0.002428,-0.007888],[0.003835,-0.982995,-0.183592],[-0.007309,-0.183616,0.982971]]
2025-10-27T17:16:10.594Z,1761585370.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999951,-0.005174,-0.008439],[0.006637,-0.982951,-0.183750],[-0.007344,-0.183797,0.982937]]
2025-10-27T17:16:11.002Z,1761585371.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999928,-0.007592,-0.009338],[0.009172,-0.983099,-0.182843],[-0.007792,-0.182915,0.983098]]
2025-10-27T17:16:11.404Z,1761585371.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999905,-0.009019,-0.010393],[0.010768,-0.983091,-0.182800],[-0.008569,-0.182895,0.983095]]
2025-10-27T17:16:12.221Z,1761585372.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999881,-0.007542,-0.013466],[0.009907,-0.982632,-0.185299],[-0.011835,-0.185410,0.982590]]
2025-10-27T17:16:12.536Z,1761585372.536 [DAT](INFO): DAT read: 

2025-10-27T17:16:12.536Z,1761585372.536 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:16:13.026Z,1761585373.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999885,0.001492,-0.015117],[0.001424,-0.981579,-0.191052],[-0.015124,-0.191051,0.981464]]
2025-10-27T17:16:13.421Z,1761585373.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999860,0.007754,-0.014850],[-0.004741,-0.981172,-0.193079],[-0.016068,-0.192982,0.981071]]
2025-10-27T17:16:14.048Z,1761585374.048 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:16:14.049Z,1761585374.049 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:16:14.050Z,1761585374.050 [DAT](INFO): DAT read: Oct 27 2025 17:16:08 

2025-10-27T17:16:14.232Z,1761585374.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999712,0.020201,-0.012984],[-0.017277,-0.980576,-0.195375],[-0.016679,-0.195095,0.980643]]
2025-10-27T17:16:14.635Z,1761585374.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999593,0.026307,-0.011041],[-0.023632,-0.980276,-0.196215],[-0.015986,-0.195874,0.980499]]
2025-10-27T17:16:15.037Z,1761585375.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999443,0.032222,-0.008646],[-0.029920,-0.980355,-0.194957],[-0.014758,-0.194590,0.980774]]
2025-10-27T17:16:15.056Z,1761585375.056 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:16:15.057Z,1761585375.057 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:16:15.058Z,1761585375.058 [DAT](INFO): commRate: 600
2025-10-27T17:16:15.442Z,1761585375.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999275,0.037630,-0.005708],[-0.035834,-0.980714,-0.192135],[-0.012828,-0.191791,0.981352]]
2025-10-27T17:16:15.845Z,1761585375.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999104,0.042250,-0.002278],[-0.041037,-0.980709,-0.191117],[-0.010309,-0.190852,0.981565]]
2025-10-27T17:16:16.251Z,1761585376.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998999,0.044736,0.000708],[-0.044073,-0.981235,-0.187710],[-0.007702,-0.187553,0.982224]]
2025-10-27T17:16:16.654Z,1761585376.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998985,0.044948,0.003036],[-0.044733,-0.981720,-0.184998],[-0.005335,-0.184945,0.982734]]
2025-10-27T17:16:17.062Z,1761585377.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999088,0.042469,0.004350],[-0.042546,-0.982110,-0.183440],[-0.003518,-0.183457,0.983021]]
2025-10-27T17:16:17.123Z,1761585377.123 [DAT](INFO): entering command mode
2025-10-27T17:16:17.324Z,1761585377.324 [DAT](INFO): DAT read: 

2025-10-27T17:16:17.324Z,1761585377.324 [DAT](INFO): DAT read: user:1>

2025-10-27T17:16:17.324Z,1761585377.324 [DAT](INFO): setting verbose to 3
2025-10-27T17:16:17.462Z,1761585377.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999240,0.038706,0.004672],[-0.038908,-0.982391,-0.182741],[-0.002483,-0.182784,0.983150]]
2025-10-27T17:16:17.579Z,1761585377.579 [DAT](INFO): DAT read: user:1>

2025-10-27T17:16:17.580Z,1761585377.580 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:16:17.581Z,1761585377.581 [DAT](INFO): set verbose to 3
2025-10-27T17:16:17.581Z,1761585377.581 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:16:17.828Z,1761585377.828 [DAT](INFO): DAT read: user:2>

2025-10-27T17:16:17.829Z,1761585377.829 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:16:17.829Z,1761585377.829 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:16:17.829Z,1761585377.829 [DAT](INFO): setting transmit power to 8
2025-10-27T17:16:17.882Z,1761585377.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999372,0.035185,0.004235],[-0.035365,-0.982445,-0.183171],[-0.002284,-0.183205,0.983072]]
2025-10-27T17:16:18.080Z,1761585378.080 [DAT](INFO): DAT read: user:3>

2025-10-27T17:16:18.081Z,1761585378.081 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:16:18.081Z,1761585378.081 [DAT](INFO): set transmit power to 8
2025-10-27T17:16:18.081Z,1761585378.081 [DAT](INFO): setting local address to 11
2025-10-27T17:16:18.269Z,1761585378.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999487,0.031910,0.002704],[-0.031861,-0.982296,-0.184605],[-0.003235,-0.184597,0.982809]]
2025-10-27T17:16:18.332Z,1761585378.332 [DAT](INFO): DAT read: user:4>

2025-10-27T17:16:18.334Z,1761585378.334 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:16:18.334Z,1761585378.334 [DAT](INFO): set local address to 11
2025-10-27T17:16:18.336Z,1761585378.336 [DAT](INFO): Setting time to: 17:16:18 And date to:10/27/2025
2025-10-27T17:16:18.584Z,1761585378.584 [DAT](INFO): DAT read: user:5>

2025-10-27T17:16:18.585Z,1761585378.585 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:16:18  

2025-10-27T17:16:18.585Z,1761585378.585 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:16:18  

2025-10-27T17:16:18.586Z,1761585378.586 [DAT](INFO): setting remote address to 6
2025-10-27T17:16:18.586Z,1761585378.586 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:16:18.586Z,1761585378.586 [DAT](INFO): setting remote address to 0
2025-10-27T17:16:18.674Z,1761585378.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999573,0.029205,0.000509],[-0.028793,-0.982221,-0.185507],[-0.004918,-0.185443,0.982643]]
2025-10-27T17:16:18.838Z,1761585378.838 [DAT](INFO): DAT read: user:6>

2025-10-27T17:16:18.842Z,1761585378.842 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:16:18.844Z,1761585378.844 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:16:18.844Z,1761585378.844 [DAT] Communications Fault, FailCount= 6
2025-10-27T17:16:18.844Z,1761585378.844 [DAT](ERROR): Communications Fault
2025-10-27T17:16:18.848Z,1761585378.848 [DAT](INFO): DAT read: user:7>

2025-10-27T17:16:18.851Z,1761585378.851 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:16:18.852Z,1761585378.852 [DAT](INFO): set remote address to 0
2025-10-27T17:16:18.853Z,1761585378.853 [DAT](INFO): setting remote address to 6
2025-10-27T17:16:18.856Z,1761585378.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:16:18.857Z,1761585378.857 [DAT](INFO): setting remote address to 0
2025-10-27T17:16:18.891Z,1761585378.891 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:16:19.263Z,1761585379.263 [DAT](INFO): Powering down
2025-10-27T17:16:19.481Z,1761585379.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999656,0.025688,-0.005218],[-0.024271,-0.982269,-0.185899],[-0.009901,-0.185708,0.982555]]
2025-10-27T17:16:19.532Z,1761585379.532 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateRudder:A] Stopped
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:16:19.533Z,1761585379.533 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateCommandMode] Stopped
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:16:19.534Z,1761585379.534 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:16:19.535Z,1761585379.535 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:16:19.535Z,1761585379.535 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:16:19.535Z,1761585379.535 [marl:UpdateSpeed] Stopped
2025-10-27T17:16:19.535Z,1761585379.535 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:16:19.885Z,1761585379.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999627,0.026273,-0.007513],[-0.024406,-0.982060,-0.186985],[-0.012290,-0.186732,0.982334]]
2025-10-27T17:16:19.937Z,1761585379.937 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:16:19.937Z,1761585379.937 [marl:UpdateRudder:B] Stopped
2025-10-27T17:16:19.937Z,1761585379.937 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:16:19.937Z,1761585379.937 [marl:UpdateRudder] Stopped
2025-10-27T17:16:19.937Z,1761585379.937 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:16:20.291Z,1761585380.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999527,0.029570,-0.008498],[-0.027442,-0.981716,-0.188362],[-0.013912,-0.188040,0.982063]]
2025-10-27T17:16:20.426Z,1761585380.426 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:16:20.426Z,1761585380.426 [DAT] No Fault, FailCount= 6
2025-10-27T17:16:20.715Z,1761585380.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999374,0.034287,-0.008700],[-0.032011,-0.981249,-0.190066],[-0.015053,-0.189668,0.981733]]
2025-10-27T17:16:21.098Z,1761585381.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999170,0.039909,-0.008201],[-0.037601,-0.980745,-0.191638],[-0.015691,-0.191170,0.981432]]
2025-10-27T17:16:21.915Z,1761585381.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998604,0.052593,-0.004822],[-0.050607,-0.979002,-0.197471],[-0.015106,-0.196951,0.980297]]
2025-10-27T17:16:22.491Z,1761585382.491 [DAT](INFO): Powering up
2025-10-27T17:16:22.491Z,1761585382.491 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:16:22.725Z,1761585382.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997772,0.066710,-0.000638],[-0.065242,-0.977728,-0.199476],[-0.013931,-0.198990,0.979902]]
2025-10-27T17:16:23.126Z,1761585383.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996950,0.078034,0.000864],[-0.076782,-0.978865,-0.189546],[-0.013946,-0.189034,0.981872]]
2025-10-27T17:16:23.555Z,1761585383.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995547,0.094267,0.000734],[-0.093073,-0.981647,-0.166452],[-0.014970,-0.165779,0.986049]]
2025-10-27T17:16:23.958Z,1761585383.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993579,0.113143,-0.000138],[-0.112014,-0.983834,-0.139727],[-0.015945,-0.138814,0.990190]]
2025-10-27T17:16:24.363Z,1761585384.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991111,0.133007,-0.002857],[-0.131926,-0.985377,-0.107835],[-0.017158,-0.106499,0.994165]]
2025-10-27T17:16:24.770Z,1761585384.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988327,0.152215,-0.006415],[-0.151269,-0.985450,-0.077500],[-0.018119,-0.075624,0.996972]]
2025-10-27T17:16:25.178Z,1761585385.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985220,0.171011,-0.009873],[-0.170266,-0.983980,-0.052845],[-0.018752,-0.050382,0.998554]]
2025-10-27T17:16:25.574Z,1761585385.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982075,0.188026,-0.013245],[-0.187547,-0.981762,-0.031123],[-0.018855,-0.028081,0.999428]]
2025-10-27T17:16:25.979Z,1761585385.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978888,0.203735,-0.016420],[-0.203531,-0.978978,-0.013309],[-0.018786,-0.009686,0.999777]]
2025-10-27T17:16:26.381Z,1761585386.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975982,0.217035,-0.018856],[-0.217068,-0.976156,-0.000330],[-0.018478,0.003771,0.999822]]
2025-10-27T17:16:26.728Z,1761585386.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:16:26.792Z,1761585386.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970480,0.240139,-0.022385],[-0.240478,-0.970555,0.013898],[-0.018389,0.018871,0.999653]]
2025-10-27T17:16:27.607Z,1761585387.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966000,0.257495,-0.023238],[-0.257910,-0.966018,0.017051],[-0.018057,0.022464,0.999585]]
2025-10-27T17:16:27.732Z,1761585387.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:16:28.011Z,1761585388.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963603,0.266424,-0.022076],[-0.266776,-0.963643,0.014908],[-0.017301,0.020255,0.999645]]
2025-10-27T17:16:28.404Z,1761585388.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960919,0.276090,-0.020239],[-0.276346,-0.960994,0.011096],[-0.016386,0.016255,0.999734]]
2025-10-27T17:16:28.812Z,1761585388.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957532,0.287754,-0.018163],[-0.287925,-0.957623,0.007584],[-0.015211,0.012492,0.999806]]
2025-10-27T17:16:29.209Z,1761585389.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953426,0.301231,-0.015476],[-0.301304,-0.953525,0.002541],[-0.013991,0.007086,0.999877]]
2025-10-27T17:16:29.617Z,1761585389.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948463,0.316631,-0.012738],[-0.316611,-0.948549,-0.003607],[-0.013225,0.000612,0.999912]]
2025-10-27T17:16:30.018Z,1761585390.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942622,0.333692,-0.010644],[-0.333626,-0.942676,-0.007509],[-0.012539,-0.003527,0.999915]]
2025-10-27T17:16:30.424Z,1761585390.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935885,0.352187,-0.009141],[-0.352085,-0.935902,-0.011113],[-0.012469,-0.007182,0.999896]]
2025-10-27T17:16:30.857Z,1761585390.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928166,0.372074,-0.008307],[-0.371943,-0.928150,-0.013970],[-0.012908,-0.009877,0.999868]]
2025-10-27T17:16:31.230Z,1761585391.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920042,0.391705,-0.009455],[-0.391577,-0.920054,-0.012972],[-0.013781,-0.008233,0.999871]]
2025-10-27T17:16:31.637Z,1761585391.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911590,0.410951,-0.011065],[-0.410825,-0.911635,-0.012027],[-0.015029,-0.006418,0.999866]]
2025-10-27T17:16:32.039Z,1761585392.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903357,0.428684,-0.013273],[-0.428589,-0.903450,-0.009508],[-0.016068,-0.002901,0.999867]]
2025-10-27T17:16:32.441Z,1761585392.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895165,0.445463,-0.015598],[-0.445417,-0.895300,-0.006477],[-0.016850,0.001149,0.999857]]
2025-10-27T17:16:32.494Z,1761585392.494 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:16:32.494Z,1761585392.494 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:16:32.495Z,1761585392.495 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:16:32.495Z,1761585392.495 [marl:UpdateRudder:A] Stopped
2025-10-27T17:16:32.495Z,1761585392.495 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:16:32.495Z,1761585392.495 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:16:32.495Z,1761585392.495 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateCommandMode] Stopped
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:16:32.496Z,1761585392.496 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:16:32.497Z,1761585392.497 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:16:32.497Z,1761585392.497 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:16:32.497Z,1761585392.497 [marl:UpdateSpeed] Stopped
2025-10-27T17:16:32.497Z,1761585392.497 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:16:32.886Z,1761585392.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887117,0.461231,-0.016977],[-0.461233,-0.887270,-0.004056],[-0.016934,0.004232,0.999848]]
2025-10-27T17:16:32.957Z,1761585392.957 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:16:32.957Z,1761585392.957 [marl:UpdateRudder:B] Stopped
2025-10-27T17:16:32.957Z,1761585392.957 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:16:32.958Z,1761585392.958 [marl:UpdateRudder] Stopped
2025-10-27T17:16:32.958Z,1761585392.958 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:16:33.250Z,1761585393.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878666,0.477122,-0.017342],[-0.477144,-0.878820,-0.003139],[-0.016739,0.005517,0.999845]]
2025-10-27T17:16:33.669Z,1761585393.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870044,0.492665,-0.017473],[-0.492719,-0.870187,-0.001373],[-0.015881,0.007414,0.999846]]
2025-10-27T17:16:34.062Z,1761585394.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861024,0.508285,-0.016822],[-0.508346,-0.861152,-0.000769],[-0.014877,0.007889,0.999858]]
2025-10-27T17:16:34.107Z,1761585394.107 [DAT](INFO): DAT read: 

2025-10-27T17:16:34.108Z,1761585394.108 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:16:34.463Z,1761585394.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851883,0.523479,-0.016316],[-0.523554,-0.851992,0.000414],[-0.013684,0.008895,0.999867]]
2025-10-27T17:16:34.902Z,1761585394.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842974,0.537703,-0.016453],[-0.537808,-0.843064,0.002462],[-0.012547,0.010924,0.999862]]
2025-10-27T17:16:35.269Z,1761585395.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834537,0.550726,-0.015798],[-0.550830,-0.834613,0.002849],[-0.011616,0.011079,0.999871]]
2025-10-27T17:16:35.616Z,1761585395.616 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:16:35.617Z,1761585395.617 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:16:35.618Z,1761585395.618 [DAT](INFO): DAT read: Oct 27 2025 17:16:30 

2025-10-27T17:16:35.706Z,1761585395.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826607,0.562554,-0.015956],[-0.562668,-0.826676,0.003493],[-0.011225,0.011865,0.999867]]
2025-10-27T17:16:36.081Z,1761585396.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819201,0.573268,-0.016535],[-0.573408,-0.819255,0.005069],[-0.010641,0.013634,0.999850]]
2025-10-27T17:16:36.491Z,1761585396.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812298,0.582980,-0.017489],[-0.583149,-0.812339,0.006505],[-0.010415,0.015483,0.999826]]
2025-10-27T17:16:36.625Z,1761585396.625 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:16:36.627Z,1761585396.627 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:16:36.628Z,1761585396.628 [DAT](INFO): commRate: 600
2025-10-27T17:16:36.898Z,1761585396.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805456,0.592412,-0.017007],[-0.592570,-0.805496,0.006074],[-0.010101,0.014970,0.999837]]
2025-10-27T17:16:37.289Z,1761585397.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798474,0.601803,-0.016511],[-0.601947,-0.798517,0.005412],[-0.009928,0.014260,0.999849]]
2025-10-27T17:16:37.694Z,1761585397.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791056,0.611553,-0.015280],[-0.611666,-0.791107,0.003826],[-0.009748,0.012373,0.999876]]
2025-10-27T17:16:38.102Z,1761585398.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782911,0.621985,-0.013568],[-0.622059,-0.782968,0.001635],[-0.009607,0.009720,0.999907]]
2025-10-27T17:16:38.691Z,1761585398.691 [DAT](INFO): entering command mode
2025-10-27T17:16:38.891Z,1761585398.891 [DAT](INFO): DAT read: 

2025-10-27T17:16:38.892Z,1761585398.892 [DAT](INFO): DAT read: user:1>

2025-10-27T17:16:38.892Z,1761585398.892 [DAT](INFO): setting verbose to 3
2025-10-27T17:16:38.911Z,1761585398.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765108,0.643812,-0.010779],[-0.643834,-0.765163,-0.001740],[-0.009368,0.005609,0.999940]]
2025-10-27T17:16:39.144Z,1761585399.144 [DAT](INFO): DAT read: user:1>

2025-10-27T17:16:39.146Z,1761585399.146 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:16:39.147Z,1761585399.147 [DAT](INFO): set verbose to 3
2025-10-27T17:16:39.147Z,1761585399.147 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:16:39.309Z,1761585399.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755423,0.655168,-0.009502],[-0.655178,-0.755470,-0.002449],[-0.008783,0.004375,0.999952]]
2025-10-27T17:16:39.396Z,1761585399.396 [DAT](INFO): DAT read: user:2>

2025-10-27T17:16:39.398Z,1761585399.398 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:16:39.398Z,1761585399.398 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:16:39.398Z,1761585399.398 [DAT](INFO): setting transmit power to 8
2025-10-27T17:16:39.649Z,1761585399.649 [DAT](INFO): DAT read: user:3>

2025-10-27T17:16:39.650Z,1761585399.650 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:16:39.650Z,1761585399.650 [DAT](INFO): set transmit power to 8
2025-10-27T17:16:39.651Z,1761585399.651 [DAT](INFO): setting local address to 11
2025-10-27T17:16:39.726Z,1761585399.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745748,0.666169,-0.008833],[-0.666172,-0.745792,-0.003076],[-0.008637,0.003590,0.999956]]
2025-10-27T17:16:39.900Z,1761585399.900 [DAT](INFO): DAT read: user:4>

2025-10-27T17:16:39.902Z,1761585399.902 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:16:39.902Z,1761585399.902 [DAT](INFO): set local address to 11
2025-10-27T17:16:39.903Z,1761585399.903 [DAT](INFO): Setting time to: 17:16:39 And date to:10/27/2025
2025-10-27T17:16:40.117Z,1761585400.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735808,0.677139,-0.008370],[-0.677137,-0.735849,-0.003438],[-0.008487,0.003138,0.999959]]
2025-10-27T17:16:40.152Z,1761585400.152 [DAT](INFO): DAT read: user:5>

2025-10-27T17:16:40.154Z,1761585400.154 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:16:39  

2025-10-27T17:16:40.155Z,1761585400.155 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:16:39  

2025-10-27T17:16:40.156Z,1761585400.156 [DAT](INFO): setting remote address to 6
2025-10-27T17:16:40.158Z,1761585400.158 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:16:40.159Z,1761585400.159 [DAT](INFO): setting remote address to 0
2025-10-27T17:16:40.404Z,1761585400.404 [DAT](INFO): DAT read: user:6>

2025-10-27T17:16:40.405Z,1761585400.405 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:16:40.405Z,1761585400.405 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:16:40.406Z,1761585400.406 [DAT] Communications Fault, FailCount= 7
2025-10-27T17:16:40.406Z,1761585400.406 [DAT](ERROR): Communications Fault
2025-10-27T17:16:40.406Z,1761585400.406 [DAT](INFO): DAT read: user:7>

2025-10-27T17:16:40.407Z,1761585400.407 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:16:40.408Z,1761585400.408 [DAT](INFO): set remote address to 0
2025-10-27T17:16:40.408Z,1761585400.408 [DAT](INFO): setting remote address to 6
2025-10-27T17:16:40.408Z,1761585400.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:16:40.408Z,1761585400.408 [DAT](INFO): setting remote address to 0
2025-10-27T17:16:40.522Z,1761585400.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725861,0.687785,-0.008783],[-0.687792,-0.725903,-0.002661],[-0.008206,0.004109,0.999958]]
2025-10-27T17:16:40.711Z,1761585400.711 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:16:40.811Z,1761585400.811 [DAT](INFO): Powering down
2025-10-27T17:16:40.926Z,1761585400.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715500,0.698547,-0.009611],[-0.698567,-0.715543,-0.001525],[-0.007943,0.005623,0.999953]]
2025-10-27T17:16:41.331Z,1761585401.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704751,0.709391,-0.009494],[-0.709411,-0.704793,-0.001551],[-0.007792,0.005642,0.999954]]
2025-10-27T17:16:41.740Z,1761585401.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694119,0.719793,-0.009882],[-0.719814,-0.694164,-0.001823],[-0.008172,0.005848,0.999950]]
2025-10-27T17:16:41.906Z,1761585401.906 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:16:41.906Z,1761585401.906 [DAT] No Fault, FailCount= 7
2025-10-27T17:16:42.149Z,1761585402.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682968,0.730373,-0.010492],[-0.730400,-0.683017,-0.001653],[-0.008374,0.006534,0.999944]]
2025-10-27T17:16:42.542Z,1761585402.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671651,0.740768,-0.012148],[-0.740818,-0.671705,-0.000568],[-0.008581,0.008618,0.999926]]
2025-10-27T17:16:42.947Z,1761585402.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659558,0.751556,-0.012124],[-0.751599,-0.659619,-0.001422],[-0.009065,0.008174,0.999925]]
2025-10-27T17:16:42.992Z,1761585402.992 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:16:43.349Z,1761585403.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646603,0.762728,-0.012296],[-0.762766,-0.646671,-0.002225],[-0.009648,0.007940,0.999922]]
2025-10-27T17:16:43.759Z,1761585403.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633716,0.773478,-0.011638],[-0.773502,-0.633786,-0.003287],[-0.009919,0.006919,0.999927]]
2025-10-27T17:16:43.959Z,1761585403.959 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:16:43.959Z,1761585403.959 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:16:44.039Z,1761585404.039 [DAT](INFO): Powering up
2025-10-27T17:16:44.039Z,1761585404.039 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:16:44.165Z,1761585404.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620264,0.784316,-0.010990],[-0.784335,-0.620327,-0.003470],[-0.009539,0.006468,0.999934]]
2025-10-27T17:16:44.564Z,1761585404.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606061,0.795341,-0.011099],[-0.795363,-0.606124,-0.003368],[-0.009406,0.006787,0.999933]]
2025-10-27T17:16:44.965Z,1761585404.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591899,0.805954,-0.009701],[-0.805958,-0.591956,-0.004540],[-0.009402,0.005131,0.999943]]
2025-10-27T17:16:45.369Z,1761585405.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577390,0.816403,-0.010333],[-0.816415,-0.577451,-0.004091],[-0.009307,0.006074,0.999938]]
2025-10-27T17:16:45.406Z,1761585405.406 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:16:45.406Z,1761585405.406 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:16:45.407Z,1761585405.407 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:16:45.411Z,1761585405.411 [marl:UpdateRudder:A] Stopped
2025-10-27T17:16:45.411Z,1761585405.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:16:45.411Z,1761585405.411 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:16:45.411Z,1761585405.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:16:45.411Z,1761585405.411 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateCommandMode] Stopped
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:16:45.412Z,1761585405.412 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:16:45.413Z,1761585405.413 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:16:45.413Z,1761585405.413 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:16:45.413Z,1761585405.413 [marl:UpdateSpeed] Stopped
2025-10-27T17:16:45.413Z,1761585405.413 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:16:45.775Z,1761585405.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563146,0.826262,-0.012536],[-0.826305,-0.563216,-0.002737],[-0.009322,0.008818,0.999918]]
2025-10-27T17:16:45.806Z,1761585405.806 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:16:45.806Z,1761585405.806 [marl:UpdateRudder:B] Stopped
2025-10-27T17:16:45.807Z,1761585405.807 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:16:45.827Z,1761585405.827 [marl:UpdateRudder] Stopped
2025-10-27T17:16:45.827Z,1761585405.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:16:46.581Z,1761585406.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534994,0.844733,-0.014420],[-0.844811,-0.535064,-0.001218],[-0.008744,0.011530,0.999895]]
2025-10-27T17:16:46.986Z,1761585406.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520700,0.853609,-0.014945],[-0.853697,-0.520769,-0.000837],[-0.008497,0.012322,0.999888]]
2025-10-27T17:16:47.405Z,1761585407.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505779,0.862538,-0.014684],[-0.862626,-0.505842,-0.000663],[-0.007999,0.012331,0.999892]]
2025-10-27T17:16:47.801Z,1761585407.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490631,0.871259,-0.013739],[-0.871337,-0.490684,-0.000615],[-0.007277,0.011669,0.999905]]
2025-10-27T17:16:48.197Z,1761585408.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474446,0.880211,-0.011343],[-0.880257,-0.474494,-0.001752],[-0.006925,0.009153,0.999934]]
2025-10-27T17:16:48.601Z,1761585408.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457580,0.889099,-0.011112],[-0.889143,-0.457625,-0.001809],[-0.006694,0.009052,0.999937]]
2025-10-27T17:16:49.006Z,1761585409.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441532,0.897123,-0.014784],[-0.897222,-0.441580,0.000025],[-0.006506,0.013276,0.999891]]
2025-10-27T17:16:49.411Z,1761585409.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426672,0.904239,-0.017400],[-0.904384,-0.426718,0.001117],[-0.006415,0.016213,0.999848]]
2025-10-27T17:16:49.813Z,1761585409.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413538,0.910261,-0.020269],[-0.910462,-0.413588,0.001852],[-0.006697,0.019221,0.999793]]
2025-10-27T17:16:50.217Z,1761585410.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402306,0.915208,-0.023323],[-0.915473,-0.402374,0.001878],[-0.007665,0.022107,0.999726]]
2025-10-27T17:16:50.633Z,1761585410.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392431,0.919440,-0.025072],[-0.919739,-0.392529,0.001096],[-0.008834,0.023489,0.999685]]
2025-10-27T17:16:51.027Z,1761585411.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383925,0.922998,-0.026017],[-0.923311,-0.384052,0.000126],[-0.009876,0.024070,0.999662]]
2025-10-27T17:16:51.430Z,1761585411.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376713,0.926012,-0.024279],[-0.926271,-0.376856,-0.001442],[-0.010485,0.021946,0.999704]]
2025-10-27T17:16:51.834Z,1761585411.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370455,0.928628,-0.020305],[-0.928796,-0.370582,-0.002742],[-0.010071,0.017843,0.999790]]
2025-10-27T17:16:52.237Z,1761585412.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364456,0.931116,-0.013930],[-0.931183,-0.364535,-0.003590],[-0.008421,0.011663,0.999897]]
2025-10-27T17:16:52.647Z,1761585412.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357900,0.933725,-0.008041],[-0.933743,-0.357932,-0.002908],[-0.005594,0.006468,0.999963]]
2025-10-27T17:16:53.045Z,1761585413.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348832,0.937183,-0.002053],[-0.937180,-0.348837,-0.002541],[-0.003097,0.001038,0.999995]]
2025-10-27T17:16:53.449Z,1761585413.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334759,0.942297,0.003620],[-0.942302,-0.334748,-0.003438],[-0.002028,-0.004562,0.999988]]
2025-10-27T17:16:53.857Z,1761585413.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317164,0.948337,0.007993],[-0.948369,-0.317135,-0.004691],[-0.001914,-0.009068,0.999957]]
2025-10-27T17:16:54.259Z,1761585414.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297784,0.954555,0.012227],[-0.954631,-0.297731,-0.006015],[-0.002102,-0.013464,0.999907]]
2025-10-27T17:16:54.662Z,1761585414.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277242,0.960694,0.014276],[-0.960796,-0.277169,-0.006953],[-0.002723,-0.015644,0.999874]]
2025-10-27T17:16:55.066Z,1761585415.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255819,0.966626,0.013792],[-0.966718,-0.255740,-0.007286],[-0.003515,-0.015197,0.999878]]
2025-10-27T17:16:55.470Z,1761585415.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234060,0.972159,0.011049],[-0.972212,-0.233991,-0.007191],[-0.004405,-0.012425,0.999913]]
2025-10-27T17:16:55.632Z,1761585415.632 [DAT](INFO): DAT read: 

2025-10-27T17:16:55.633Z,1761585415.633 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:16:55.878Z,1761585415.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211656,0.977321,0.006806],[-0.977329,-0.211609,-0.007060],[-0.005460,-0.008146,0.999952]]
2025-10-27T17:16:56.278Z,1761585416.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189841,0.981815,0.000363],[-0.981795,-0.189835,-0.006483],[-0.006296,-0.001587,0.999979]]
2025-10-27T17:16:56.682Z,1761585416.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168802,0.985634,-0.005638],[-0.985626,-0.168835,-0.005943],[-0.006810,0.004554,0.999966]]
2025-10-27T17:16:57.086Z,1761585417.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150792,0.988491,-0.012129],[-0.988539,-0.150866,-0.005451],[-0.007218,0.011168,0.999912]]
2025-10-27T17:16:57.144Z,1761585417.144 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:16:57.145Z,1761585417.145 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:16:57.146Z,1761585417.146 [DAT](INFO): DAT read: Oct 27 2025 17:16:51 

2025-10-27T17:16:57.490Z,1761585417.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135155,0.990633,-0.019464],[-0.990794,-0.135278,-0.005135],[-0.007720,0.018591,0.999797]]
2025-10-27T17:16:57.872Z,1761585417.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:16:57.894Z,1761585417.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121806,0.992244,-0.024796],[-0.992522,-0.121965,-0.005008],[-0.007993,0.024001,0.999680]]
2025-10-27T17:16:58.152Z,1761585418.152 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:16:58.153Z,1761585418.153 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:16:58.154Z,1761585418.154 [DAT](INFO): commRate: 600
2025-10-27T17:16:58.297Z,1761585418.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110495,0.993496,-0.027515],[-0.993841,-0.110683,-0.005415],[-0.008426,0.026747,0.999607]]
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateRudder:A] Stopped
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:16:58.357Z,1761585418.357 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateCommandMode] Stopped
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:16:58.358Z,1761585418.358 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:16:58.359Z,1761585418.359 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:16:58.359Z,1761585418.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:16:58.359Z,1761585418.359 [marl:UpdateSpeed] Stopped
2025-10-27T17:16:58.359Z,1761585418.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:16:58.703Z,1761585418.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100615,0.994527,-0.028169],[-0.994885,-0.100826,-0.006161],[-0.008967,0.027405,0.999584]]
2025-10-27T17:16:58.774Z,1761585418.774 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:16:58.775Z,1761585418.775 [marl:UpdateRudder:B] Stopped
2025-10-27T17:16:58.775Z,1761585418.775 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:16:58.775Z,1761585418.775 [marl:UpdateRudder] Stopped
2025-10-27T17:16:58.775Z,1761585418.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:16:58.876Z,1761585418.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:16:59.122Z,1761585419.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091707,0.995436,-0.026404],[-0.995742,-0.091919,-0.006934],[-0.009329,0.025656,0.999627]]
2025-10-27T17:16:59.509Z,1761585419.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083560,0.996243,-0.022728],[-0.996468,-0.083727,-0.006467],[-0.008345,0.022107,0.999721]]
2025-10-27T17:17:00.219Z,1761585420.219 [DAT](INFO): entering command mode
2025-10-27T17:17:00.318Z,1761585420.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064047,0.997878,-0.011728],[-0.997942,-0.064080,-0.002486],[-0.003232,0.011544,0.999928]]
2025-10-27T17:17:00.424Z,1761585420.424 [DAT](INFO): DAT read: 

2025-10-27T17:17:00.425Z,1761585420.425 [DAT](INFO): DAT read: user:1>

2025-10-27T17:17:00.425Z,1761585420.425 [DAT](INFO): setting verbose to 3
2025-10-27T17:17:00.672Z,1761585420.672 [DAT](INFO): DAT read: user:1>

2025-10-27T17:17:00.673Z,1761585420.673 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:17:00.673Z,1761585420.673 [DAT](INFO): set verbose to 3
2025-10-27T17:17:00.673Z,1761585420.673 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:17:00.746Z,1761585420.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049212,0.998768,-0.006391],[-0.998788,-0.049214,-0.000084],[-0.000399,0.006379,0.999980]]
2025-10-27T17:17:00.924Z,1761585420.924 [DAT](INFO): DAT read: user:2>

2025-10-27T17:17:00.925Z,1761585420.925 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:17:00.925Z,1761585420.925 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:17:00.925Z,1761585420.925 [DAT](INFO): setting transmit power to 8
2025-10-27T17:17:01.176Z,1761585421.176 [DAT](INFO): DAT read: user:3>

2025-10-27T17:17:01.177Z,1761585421.177 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:17:01.177Z,1761585421.177 [DAT](INFO): set transmit power to 8
2025-10-27T17:17:01.177Z,1761585421.177 [DAT](INFO): setting local address to 11
2025-10-27T17:17:01.428Z,1761585421.428 [DAT](INFO): DAT read: user:4>

2025-10-27T17:17:01.429Z,1761585421.429 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:17:01.429Z,1761585421.429 [DAT](INFO): set local address to 11
2025-10-27T17:17:01.430Z,1761585421.430 [DAT](INFO): Setting time to: 17:17:1 And date to:10/27/2025
2025-10-27T17:17:01.529Z,1761585421.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012239,0.999924,0.001474],[-0.999912,-0.012246,0.005062],[0.005080,-0.001412,0.999986]]
2025-10-27T17:17:01.680Z,1761585421.680 [DAT](INFO): DAT read: user:5>

2025-10-27T17:17:01.682Z,1761585421.682 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:17:01  

2025-10-27T17:17:01.682Z,1761585421.682 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:17:01  

2025-10-27T17:17:01.683Z,1761585421.683 [DAT](INFO): setting remote address to 6
2025-10-27T17:17:01.684Z,1761585421.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:17:01.685Z,1761585421.685 [DAT](INFO): setting remote address to 0
2025-10-27T17:17:01.932Z,1761585421.932 [DAT](INFO): DAT read: user:6>

2025-10-27T17:17:01.933Z,1761585421.933 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:17:01.933Z,1761585421.933 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:17:01.933Z,1761585421.933 [DAT] Communications Fault, FailCount= 8
2025-10-27T17:17:01.933Z,1761585421.933 [DAT](ERROR): Communications Fault
2025-10-27T17:17:01.934Z,1761585421.934 [DAT](INFO): DAT read: user:7>

2025-10-27T17:17:01.935Z,1761585421.935 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:17:01.936Z,1761585421.936 [DAT](INFO): set remote address to 0
2025-10-27T17:17:01.936Z,1761585421.936 [DAT](INFO): setting remote address to 6
2025-10-27T17:17:01.936Z,1761585421.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:17:01.936Z,1761585421.936 [DAT](INFO): setting remote address to 0
2025-10-27T17:17:01.962Z,1761585421.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008083,0.999957,0.004575],[-0.999943,0.008051,0.006988],[0.006951,-0.004632,0.999965]]
2025-10-27T17:17:02.186Z,1761585422.186 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:17:02.187Z,1761585422.187 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-27T17:17:02.337Z,1761585422.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028698,0.999576,0.004927],[-0.999556,0.028658,0.008158],[0.008013,-0.005159,0.999955]]
2025-10-27T17:17:02.339Z,1761585422.339 [DAT](INFO): Powering down
2025-10-27T17:17:02.750Z,1761585422.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048218,0.998828,0.004182],[-0.998798,0.048179,0.008990],[0.008778,-0.004610,0.999951]]
2025-10-27T17:17:03.145Z,1761585423.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066542,0.997781,0.002067],[-0.997740,0.066520,0.009474],[0.009316,-0.002692,0.999953]]
2025-10-27T17:17:03.550Z,1761585423.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083256,0.996528,0.000371],[-0.996478,0.083248,0.010085],[0.010019,-0.001210,0.999949]]
2025-10-27T17:17:03.953Z,1761585423.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098755,0.995111,-0.001244],[-0.995054,0.098763,0.010615],[0.010686,0.000190,0.999943]]
2025-10-27T17:17:04.359Z,1761585424.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113289,0.993553,-0.004214],[-0.993497,0.113329,0.010945],[0.011352,0.002947,0.999931]]
2025-10-27T17:17:04.766Z,1761585424.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126505,0.991933,-0.008153],[-0.991888,0.126593,0.011468],[0.012408,0.006636,0.999901]]
2025-10-27T17:17:05.165Z,1761585425.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139002,0.990236,-0.010552],[-0.990198,0.139128,0.012275],[0.013623,0.008743,0.999869]]
2025-10-27T17:17:05.569Z,1761585425.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150690,0.988480,-0.014114],[-0.988466,0.150875,0.013129],[0.015108,0.011972,0.999814]]
2025-10-27T17:17:05.980Z,1761585425.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161886,0.986642,-0.018161],[-0.986672,0.162144,0.013736],[0.016497,0.015695,0.999741]]
2025-10-27T17:17:06.378Z,1761585426.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172955,0.984708,-0.020883],[-0.984771,0.173269,0.014306],[0.017706,0.018091,0.999680]]
2025-10-27T17:17:06.782Z,1761585426.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183889,0.982731,-0.020604],[-0.982759,0.184223,0.015697],[0.019222,0.017362,0.999664]]
2025-10-27T17:17:07.604Z,1761585427.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207748,0.978003,-0.018742],[-0.977913,0.208103,0.019489],[0.022960,0.014280,0.999634]]
2025-10-27T17:17:07.993Z,1761585427.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221912,0.974927,-0.016473],[-0.974745,0.222242,0.021945],[0.025056,0.011188,0.999623]]
2025-10-27T17:17:08.398Z,1761585428.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238367,0.971067,-0.014480],[-0.970800,0.238663,0.024236],[0.026990,0.008280,0.999601]]
2025-10-27T17:17:09.612Z,1761585429.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294650,0.955520,-0.012781],[-0.955058,0.294908,0.029885],[0.032325,0.003401,0.999472]]
2025-10-27T17:17:10.014Z,1761585430.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315039,0.948993,-0.012746],[-0.948496,0.315288,0.030789],[0.033237,0.002390,0.999445]]
2025-10-27T17:17:10.419Z,1761585430.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335377,0.941986,-0.013575],[-0.941481,0.335643,0.030941],[0.033702,0.002404,0.999429]]
2025-10-27T17:17:11.301Z,1761585431.301 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:17:11.301Z,1761585431.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateRudder:A] Stopped
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:17:11.302Z,1761585431.302 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateCommandMode] Stopped
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:17:11.303Z,1761585431.303 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:17:11.304Z,1761585431.304 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:17:11.304Z,1761585431.304 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:17:11.304Z,1761585431.304 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:17:11.304Z,1761585431.304 [marl:UpdateSpeed] Stopped
2025-10-27T17:17:11.304Z,1761585431.304 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:17:11.629Z,1761585431.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392301,0.919655,-0.018287],[-0.919259,0.392682,0.027625],[0.032587,0.005973,0.999451]]
2025-10-27T17:17:11.674Z,1761585431.674 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:17:11.674Z,1761585431.674 [marl:UpdateRudder:B] Stopped
2025-10-27T17:17:11.674Z,1761585431.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:17:11.674Z,1761585431.674 [marl:UpdateRudder] Stopped
2025-10-27T17:17:11.675Z,1761585431.675 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:17:12.042Z,1761585432.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422630,0.906126,-0.017881],[-0.905734,0.422982,0.027052],[0.032076,0.004762,0.999474]]
2025-10-27T17:17:12.446Z,1761585432.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435248,0.900166,-0.016121],[-0.899751,0.435539,0.027460],[0.031740,0.002554,0.999493]]
2025-10-27T17:17:12.884Z,1761585432.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446672,0.894585,-0.014207],[-0.894157,0.446897,0.027665],[0.031098,0.000346,0.999516]]
2025-10-27T17:17:13.309Z,1761585433.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457269,0.889250,-0.011864],[-0.888823,0.457418,0.027626],[0.029993,-0.002088,0.999548]]
2025-10-27T17:17:13.710Z,1761585433.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467128,0.884143,-0.009103],[-0.883722,0.467191,0.027694],[0.028738,-0.004892,0.999575]]
2025-10-27T17:17:14.114Z,1761585434.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475814,0.879508,-0.008181],[-0.879114,0.475852,0.026896],[0.027548,-0.005606,0.999605]]
2025-10-27T17:17:14.526Z,1761585434.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481359,0.876522,-0.001445],[-0.876105,0.481180,0.030083],[0.027064,-0.013214,0.999546]]
2025-10-27T17:17:14.922Z,1761585434.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482907,0.875606,0.010770],[-0.875251,0.482257,0.036931],[0.027143,-0.027261,0.999260]]
2025-10-27T17:17:15.326Z,1761585435.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481714,0.875820,0.029833],[-0.875885,0.480108,0.048179],[0.027873,-0.049339,0.998393]]
2025-10-27T17:17:15.739Z,1761585435.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479978,0.875705,0.052543],[-0.876798,0.476868,0.061824],[0.029084,-0.075744,0.996703]]
2025-10-27T17:17:16.134Z,1761585436.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478856,0.874569,0.076327],[-0.877363,0.473733,0.076233],[0.030512,-0.103471,0.994164]]
2025-10-27T17:17:16.538Z,1761585436.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478843,0.872550,0.096779],[-0.877321,0.471604,0.088868],[0.031901,-0.127460,0.991331]]
2025-10-27T17:17:17.345Z,1761585437.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483595,0.865571,0.130086],[-0.874657,0.472217,0.109483],[0.033337,-0.166726,0.985440]]
2025-10-27T17:17:17.755Z,1761585437.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487828,0.861421,0.141340],[-0.872309,0.474889,0.116436],[0.033180,-0.180093,0.983090]]
2025-10-27T17:17:18.153Z,1761585438.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492066,0.857729,0.148902],[-0.869941,0.478035,0.121182],[0.032761,-0.189165,0.981399]]
2025-10-27T17:17:18.581Z,1761585438.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496046,0.854356,0.154966],[-0.867708,0.481184,0.124678],[0.031952,-0.196311,0.980021]]
2025-10-27T17:17:18.962Z,1761585438.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498826,0.852020,0.158851],[-0.866143,0.483479,0.126665],[0.031120,-0.200772,0.979144]]
2025-10-27T17:17:19.366Z,1761585439.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500500,0.850813,0.160053],[-0.865214,0.485152,0.126619],[0.030079,-0.201852,0.978954]]
2025-10-27T17:17:19.770Z,1761585439.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500801,0.850109,0.162826],[-0.865072,0.485252,0.127205],[0.029127,-0.204560,0.978421]]
2025-10-27T17:17:20.175Z,1761585440.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500111,0.850047,0.165255],[-0.865499,0.484424,0.127454],[0.028288,-0.206769,0.977981]]
2025-10-27T17:17:21.039Z,1761585441.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496652,0.851584,0.167753],[-0.867532,0.481058,0.126376],[0.026920,-0.208296,0.977695]]
2025-10-27T17:17:21.386Z,1761585441.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494762,0.852775,0.167286],[-0.868626,0.479428,0.125049],[0.026437,-0.207179,0.977946]]
2025-10-27T17:17:21.792Z,1761585441.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493348,0.853661,0.166944],[-0.869443,0.478226,0.123968],[0.025990,-0.206308,0.978142]]
2025-10-27T17:17:22.194Z,1761585442.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493127,0.854131,0.165182],[-0.869580,0.478356,0.122502],[0.025617,-0.204048,0.978626]]
2025-10-27T17:17:22.600Z,1761585442.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494108,0.854196,0.161885],[-0.869027,0.479801,0.120761],[0.025480,-0.200352,0.979393]]
2025-10-27T17:17:23.408Z,1761585443.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500461,0.851562,0.156145],[-0.865381,0.486706,0.119303],[0.025597,-0.194831,0.980503]]
2025-10-27T17:17:23.810Z,1761585443.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505570,0.849397,0.151405],[-0.862415,0.492366,0.117540],[0.025291,-0.189999,0.981459]]
2025-10-27T17:17:24.214Z,1761585444.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511003,0.846529,0.149215],[-0.859221,0.498021,0.117112],[0.024826,-0.188053,0.981845]]
2025-10-27T17:17:24.259Z,1761585444.259 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:17:24.259Z,1761585444.259 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:17:24.259Z,1761585444.259 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateRudder:A] Stopped
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:17:24.260Z,1761585444.260 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateCommandMode] Stopped
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:17:24.261Z,1761585444.261 [marl:UpdateSpeed] Stopped
2025-10-27T17:17:24.262Z,1761585444.262 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:17:24.618Z,1761585444.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516291,0.843680,0.147130],[-0.856079,0.503620,0.116173],[0.023915,-0.185934,0.982271]]
2025-10-27T17:17:24.677Z,1761585444.677 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:17:24.677Z,1761585444.677 [marl:UpdateRudder:B] Stopped
2025-10-27T17:17:24.677Z,1761585444.677 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:17:24.677Z,1761585444.677 [marl:UpdateRudder] Stopped
2025-10-27T17:17:24.678Z,1761585444.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:17:25.427Z,1761585445.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526183,0.837174,0.149237],[-0.850129,0.513677,0.115833],[0.020312,-0.187820,0.981993]]
2025-10-27T17:17:25.830Z,1761585445.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529344,0.834692,0.151937],[-0.848219,0.516892,0.115532],[0.017899,-0.190032,0.981615]]
2025-10-27T17:17:26.233Z,1761585446.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530428,0.832955,0.157583],[-0.847588,0.517696,0.116554],[0.015504,-0.195389,0.980603]]
2025-10-27T17:17:26.645Z,1761585446.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529138,0.832724,0.163047],[-0.848432,0.516207,0.117019],[0.013278,-0.200253,0.979654]]
2025-10-27T17:17:27.446Z,1761585447.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524234,0.834277,0.170765],[-0.851535,0.511651,0.114460],[0.008120,-0.205417,0.978641]]
2025-10-27T17:17:27.850Z,1761585447.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521456,0.835850,0.171577],[-0.853259,0.509444,0.111426],[0.005726,-0.204503,0.978849]]
2025-10-27T17:17:28.254Z,1761585448.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518465,0.837855,0.170858],[-0.855089,0.507079,0.108132],[0.003960,-0.202162,0.979344]]
2025-10-27T17:17:28.666Z,1761585448.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515037,0.840633,0.167550],[-0.857161,0.504298,0.104686],[0.003507,-0.197535,0.980290]]
2025-10-27T17:17:28.995Z,1761585448.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:17:29.066Z,1761585449.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512414,0.842908,0.164129],[-0.858730,0.502113,0.102300],[0.003818,-0.193363,0.981120]]
2025-10-27T17:17:29.466Z,1761585449.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511756,0.844167,0.159652],[-0.859120,0.501909,0.099998],[0.004283,-0.188335,0.982096]]
2025-10-27T17:17:29.869Z,1761585449.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513660,0.843516,0.156951],[-0.857984,0.504116,0.098645],[0.004087,-0.185331,0.982668]]
2025-10-27T17:17:29.000Z,1761585450.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:17:30.275Z,1761585450.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516114,0.842238,0.155763],[-0.856514,0.506829,0.097509],[0.003180,-0.183739,0.982970]]
2025-10-27T17:17:30.678Z,1761585450.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518445,0.840712,0.156260],[-0.855109,0.509313,0.096898],[0.001878,-0.183856,0.982951]]
2025-10-27T17:17:31.082Z,1761585451.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519926,0.839047,0.160243],[-0.854212,0.510705,0.097481],[-0.000045,-0.187564,0.982252]]
2025-10-27T17:17:31.485Z,1761585451.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519699,0.838362,0.164505],[-0.854346,0.510518,0.097283],[-0.002424,-0.191102,0.981567]]
2025-10-27T17:17:31.891Z,1761585451.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518013,0.838262,0.170232],[-0.855356,0.508898,0.096897],[-0.005406,-0.195803,0.980628]]
2025-10-27T17:17:32.293Z,1761585452.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515592,0.838665,0.175517],[-0.856788,0.506768,0.095401],[-0.008937,-0.199569,0.979843]]
2025-10-27T17:17:32.698Z,1761585452.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513071,0.839907,0.176957],[-0.858254,0.505020,0.091408],[-0.012592,-0.198773,0.979965]]
2025-10-27T17:17:33.102Z,1761585453.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511062,0.841202,0.176623],[-0.859402,0.503811,0.087194],[-0.015637,-0.196352,0.980409]]
2025-10-27T17:17:33.507Z,1761585453.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510401,0.842293,0.173300],[-0.859760,0.503906,0.083012],[-0.017406,-0.191366,0.981364]]
2025-10-27T17:17:34.318Z,1761585454.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516040,0.841138,0.161833],[-0.856400,0.510343,0.078281],[-0.016746,-0.178990,0.983708]]
2025-10-27T17:17:34.727Z,1761585454.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521460,0.838664,0.157234],[-0.853158,0.515526,0.079717],[-0.014202,-0.175715,0.984339]]
2025-10-27T17:17:35.540Z,1761585455.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532239,0.832226,0.155309],[-0.846571,0.524556,0.090328],[-0.006295,-0.179556,0.983728]]
2025-10-27T17:17:35.930Z,1761585455.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536682,0.828297,0.160923],[-0.843780,0.527465,0.099078],[-0.002815,-0.188957,0.981981]]
2025-10-27T17:17:36.334Z,1761585456.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540391,0.824676,0.166997],[-0.841414,0.529824,0.106342],[-0.000782,-0.197980,0.980206]]
2025-10-27T17:17:36.748Z,1761585456.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543695,0.820904,0.174679],[-0.839283,0.531968,0.112313],[-0.000725,-0.207669,0.978199]]
2025-10-27T17:17:37.142Z,1761585457.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546969,0.817085,0.182198],[-0.837148,0.534584,0.115773],[-0.002803,-0.215851,0.976422]]
2025-10-27T17:17:37.193Z,1761585457.193 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:17:37.193Z,1761585457.193 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateRudder:A] Stopped
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:17:37.194Z,1761585457.194 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateCommandMode] Stopped
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:17:37.195Z,1761585457.195 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:17:37.196Z,1761585457.196 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:17:37.196Z,1761585457.196 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:17:37.196Z,1761585457.196 [marl:UpdateSpeed] Stopped
2025-10-27T17:17:37.196Z,1761585457.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:17:37.549Z,1761585457.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550249,0.813622,0.187736],[-0.834972,0.538015,0.115597],[-0.006953,-0.220362,0.975393]]
2025-10-27T17:17:37.597Z,1761585457.597 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:17:37.597Z,1761585457.597 [marl:UpdateRudder:B] Stopped
2025-10-27T17:17:37.598Z,1761585457.598 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:17:37.598Z,1761585457.598 [marl:UpdateRudder] Stopped
2025-10-27T17:17:37.598Z,1761585457.598 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:17:37.950Z,1761585457.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553633,0.810049,0.193161],[-0.832669,0.541922,0.113944],[-0.012378,-0.223922,0.974529]]
2025-10-27T17:17:38.761Z,1761585458.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556482,0.805837,0.202372],[-0.830520,0.546466,0.107756],[-0.023755,-0.228038,0.973362]]
2025-10-27T17:17:39.566Z,1761585459.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549481,0.810308,0.203644],[-0.834916,0.541690,0.097399],[-0.031389,-0.223545,0.974188]]
2025-10-27T17:17:39.971Z,1761585459.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545463,0.813886,0.200151],[-0.837403,0.539195,0.089580],[-0.035013,-0.216469,0.975661]]
2025-10-27T17:17:40.373Z,1761585460.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542355,0.817114,0.195386],[-0.839275,0.537540,0.081656],[-0.038306,-0.208269,0.977321]]
2025-10-27T17:17:40.777Z,1761585460.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539782,0.820245,0.189297],[-0.840804,0.536295,0.073733],[-0.041039,-0.198962,0.979148]]
2025-10-27T17:17:41.591Z,1761585461.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536039,0.825761,0.175445],[-0.843071,0.534348,0.060848],[-0.043503,-0.180530,0.982607]]
2025-10-27T17:17:41.993Z,1761585461.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535371,0.827604,0.168670],[-0.843545,0.533979,0.057431],[-0.042537,-0.173028,0.983998]]
2025-10-27T17:17:42.398Z,1761585462.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536445,0.828044,0.163002],[-0.842969,0.534983,0.056544],[-0.040382,-0.167738,0.985004]]
2025-10-27T17:17:42.802Z,1761585462.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539817,0.826658,0.158852],[-0.840917,0.538129,0.057239],[-0.038165,-0.164480,0.985642]]
2025-10-27T17:17:43.207Z,1761585463.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544678,0.823750,0.157358],[-0.837891,0.542481,0.060446],[-0.035572,-0.164772,0.985690]]
2025-10-27T17:17:43.230Z,1761585463.230 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   30,  +330,A
2025-10-27T17:17:43.250Z,1761585463.250 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:17:43.609Z,1761585463.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549986,0.820022,0.158366],[-0.834537,0.547000,0.065869],[-0.032612,-0.168389,0.985181]]
2025-10-27T17:17:44.025Z,1761585464.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555193,0.815917,0.161367],[-0.831193,0.551212,0.072684],[-0.029644,-0.174481,0.984214]]
2025-10-27T17:17:44.215Z,1761585464.215 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:17:44.215Z,1761585464.215 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:17:44.842Z,1761585464.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564838,0.807502,0.169994],[-0.824819,0.558743,0.086488],[-0.025143,-0.189066,0.981642]]
2025-10-27T17:17:44.865Z,1761585464.865 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:17:45.630Z,1761585465.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575300,0.797777,0.180507],[-0.817546,0.567715,0.096532],[-0.025466,-0.203107,0.978825]]
2025-10-27T17:17:46.035Z,1761585466.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581113,0.792536,0.184920],[-0.813334,0.573448,0.098206],[-0.028210,-0.207471,0.977834]]
2025-10-27T17:17:46.440Z,1761585466.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586154,0.787619,0.189944],[-0.809565,0.578647,0.098851],[-0.032054,-0.211714,0.976806]]
2025-10-27T17:17:46.885Z,1761585466.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586944,0.785356,0.196755],[-0.808803,0.579737,0.098709],[-0.036545,-0.217072,0.975471]]
2025-10-27T17:17:47.649Z,1761585467.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584949,0.786994,0.196149],[-0.810164,0.578380,0.095450],[-0.038330,-0.214747,0.975917]]
2025-10-27T17:17:48.055Z,1761585468.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582805,0.789175,0.193757],[-0.811607,0.577151,0.090504],[-0.040403,-0.210001,0.976866]]
2025-10-27T17:17:48.458Z,1761585468.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580269,0.791853,0.190414],[-0.813330,0.575546,0.085090],[-0.042214,-0.204245,0.978009]]
2025-10-27T17:17:50.147Z,1761585470.147 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:17:50.147Z,1761585470.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateRudder:A] Stopped
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:17:50.148Z,1761585470.148 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateCommandMode] Stopped
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:17:50.149Z,1761585470.149 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:17:50.150Z,1761585470.150 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:17:50.150Z,1761585470.150 [marl:UpdateSpeed] Stopped
2025-10-27T17:17:50.150Z,1761585470.150 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:17:50.488Z,1761585470.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577245,0.800145,0.162959],[-0.815860,0.573466,0.074222],[-0.034063,-0.175796,0.983837]]
2025-10-27T17:17:50.561Z,1761585470.561 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:17:50.561Z,1761585470.561 [marl:UpdateRudder:B] Stopped
2025-10-27T17:17:50.561Z,1761585470.561 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:17:50.561Z,1761585470.561 [marl:UpdateRudder] Stopped
2025-10-27T17:17:50.561Z,1761585470.561 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:17:50.894Z,1761585470.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581413,0.796761,0.164712],[-0.812937,0.577125,0.077844],[-0.033037,-0.179160,0.983265]]
2025-10-27T17:17:51.294Z,1761585471.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586143,0.792523,0.168355],[-0.809554,0.581230,0.082425],[-0.032529,-0.184606,0.982274]]
2025-10-27T17:17:51.695Z,1761585471.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591478,0.787676,0.172395],[-0.805640,0.586101,0.086201],[-0.033143,-0.189874,0.981249]]
2025-10-27T17:17:52.095Z,1761585472.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597079,0.782636,0.176005],[-0.801443,0.591413,0.088996],[-0.034440,-0.194196,0.980358]]
2025-10-27T17:17:52.508Z,1761585472.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602126,0.778036,0.179176],[-0.797590,0.596287,0.091065],[-0.035989,-0.197742,0.979593]]
2025-10-27T17:17:52.902Z,1761585472.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606162,0.774572,0.180574],[-0.794477,0.600274,0.092074],[-0.037076,-0.199274,0.979242]]
2025-10-27T17:17:53.309Z,1761585473.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608604,0.772468,0.181366],[-0.792587,0.602634,0.092941],[-0.037503,-0.200313,0.979014]]
2025-10-27T17:17:53.710Z,1761585473.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609641,0.771638,0.181418],[-0.791793,0.603608,0.093392],[-0.037440,-0.200581,0.978961]]
2025-10-27T17:17:54.114Z,1761585474.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610053,0.771604,0.180173],[-0.791501,0.604014,0.093234],[-0.036888,-0.199485,0.979206]]
2025-10-27T17:17:55.335Z,1761585475.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606914,0.774649,0.177690],[-0.794068,0.600408,0.094689],[-0.033336,-0.198566,0.979520]]
2025-10-27T17:17:55.737Z,1761585475.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604611,0.776289,0.178382],[-0.795879,0.597768,0.096175],[-0.031972,-0.200119,0.979250]]
2025-10-27T17:17:56.134Z,1761585476.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602537,0.777865,0.178538],[-0.797505,0.595404,0.097362],[-0.030568,-0.201049,0.979104]]
2025-10-27T17:17:56.538Z,1761585476.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601006,0.779459,0.176732],[-0.798719,0.593761,0.097447],[-0.028981,-0.199725,0.979423]]
2025-10-27T17:17:57.349Z,1761585477.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599831,0.782121,0.168790],[-0.799708,0.592852,0.094837],[-0.025893,-0.191869,0.981079]]
2025-10-27T17:17:57.757Z,1761585477.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600523,0.782555,0.164254],[-0.799239,0.593683,0.093583],[-0.024281,-0.187476,0.981969]]
2025-10-27T17:17:58.154Z,1761585478.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602357,0.782320,0.158562],[-0.797901,0.595784,0.091623],[-0.022790,-0.181707,0.983089]]
2025-10-27T17:17:58.558Z,1761585478.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604848,0.781342,0.153833],[-0.796056,0.598414,0.090531],[-0.021320,-0.177217,0.983941]]
2025-10-27T17:17:58.969Z,1761585478.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607652,0.779829,0.150417],[-0.793953,0.601216,0.090432],[-0.019912,-0.174375,0.984478]]
2025-10-27T17:17:59.368Z,1761585479.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610166,0.778135,0.149008],[-0.792061,0.603473,0.091975],[-0.018353,-0.174143,0.984549]]
2025-10-27T17:17:59.770Z,1761585479.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612454,0.776051,0.150483],[-0.790322,0.605222,0.095380],[-0.017055,-0.177346,0.984001]]
2025-10-27T17:18:00.127Z,1761585480.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:18:00.180Z,1761585480.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613837,0.774270,0.153978],[-0.789268,0.605902,0.099690],[-0.016108,-0.182723,0.983032]]
2025-10-27T17:18:00.579Z,1761585480.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614183,0.773203,0.157913],[-0.789016,0.605518,0.103929],[-0.015261,-0.188427,0.981969]]
2025-10-27T17:18:00.994Z,1761585480.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613732,0.772623,0.162441],[-0.789383,0.604248,0.108435],[-0.014375,-0.194778,0.980742]]
2025-10-27T17:18:01.131Z,1761585481.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:18:01.386Z,1761585481.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613027,0.772124,0.167399],[-0.789943,0.602694,0.112915],[-0.013706,-0.201456,0.979402]]
2025-10-27T17:18:01.790Z,1761585481.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612723,0.771680,0.170531],[-0.790196,0.601678,0.116510],[-0.012697,-0.206141,0.978440]]
2025-10-27T17:18:02.597Z,1761585482.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615425,0.769834,0.169139],[-0.788129,0.603829,0.119347],[-0.010254,-0.206752,0.978340]]
2025-10-27T17:18:03.002Z,1761585483.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618435,0.768080,0.166106],[-0.785787,0.606765,0.119895],[-0.008698,-0.204671,0.978792]]
2025-10-27T17:18:03.072Z,1761585483.072 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:18:03.072Z,1761585483.072 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:18:03.072Z,1761585483.072 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateRudder:A] Stopped
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:18:03.073Z,1761585483.073 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateCommandMode] Stopped
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:18:03.074Z,1761585483.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:18:03.075Z,1761585483.075 [marl:UpdateSpeed] Stopped
2025-10-27T17:18:03.075Z,1761585483.075 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:18:03.410Z,1761585483.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622606,0.765933,0.160340],[-0.782505,0.611181,0.118926],[-0.006907,-0.199511,0.979871]]
2025-10-27T17:18:03.482Z,1761585483.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:18:03.482Z,1761585483.482 [marl:UpdateRudder:B] Stopped
2025-10-27T17:18:03.482Z,1761585483.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:18:03.482Z,1761585483.482 [marl:UpdateRudder] Stopped
2025-10-27T17:18:03.483Z,1761585483.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:18:03.811Z,1761585483.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627619,0.763038,0.154494],[-0.778505,0.616400,0.118240],[-0.005009,-0.194484,0.980893]]
2025-10-27T17:18:04.213Z,1761585484.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633145,0.759461,0.149490],[-0.774027,0.622017,0.118229],[-0.003195,-0.190565,0.981669]]
2025-10-27T17:18:04.617Z,1761585484.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638972,0.755234,0.146074],[-0.769228,0.627806,0.118946],[-0.001874,-0.188367,0.982097]]
2025-10-27T17:18:05.024Z,1761585485.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644266,0.751209,0.143550],[-0.764801,0.632998,0.119971],[-0.000743,-0.187080,0.982344]]
2025-10-27T17:18:05.425Z,1761585485.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648654,0.747646,0.142383],[-0.761083,0.637102,0.121873],[0.000405,-0.187419,0.982280]]
2025-10-27T17:18:05.830Z,1761585485.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650571,0.746050,0.142010],[-0.759442,0.638548,0.124519],[0.002217,-0.188857,0.982002]]
2025-10-27T17:18:06.233Z,1761585486.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648405,0.746678,0.148471],[-0.761283,0.634796,0.132225],[0.004481,-0.198764,0.980037]]
2025-10-27T17:18:06.639Z,1761585486.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641255,0.749612,0.163935],[-0.767295,0.624451,0.146009],[0.007080,-0.219416,0.975606]]
2025-10-27T17:18:07.041Z,1761585487.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629498,0.753887,0.188114],[-0.776937,0.607595,0.164914],[0.010029,-0.249965,0.968203]]
2025-10-27T17:18:07.494Z,1761585487.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613892,0.759335,0.215749],[-0.789274,0.585745,0.184253],[0.013535,-0.283396,0.958907]]
2025-10-27T17:18:07.849Z,1761585487.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595290,0.766171,0.242098],[-0.803320,0.560937,0.200065],[0.017482,-0.313579,0.949401]]
2025-10-27T17:18:08.253Z,1761585488.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574417,0.773687,0.267308],[-0.818263,0.533895,0.213077],[0.022141,-0.341123,0.939758]]
2025-10-27T17:18:08.657Z,1761585488.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553038,0.781307,0.289323],[-0.832714,0.507038,0.222484],[0.027131,-0.363965,0.931017]]
2025-10-27T17:18:09.062Z,1761585489.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532223,0.789263,0.306272],[-0.845987,0.481997,0.228003],[0.032332,-0.380450,0.924236]]
2025-10-27T17:18:09.488Z,1761585489.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512604,0.797118,0.319123],[-0.857796,0.459088,0.231137],[0.037738,-0.392225,0.919095]]
2025-10-27T17:18:09.870Z,1761585489.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494665,0.805223,0.326991],[-0.868020,0.439145,0.231719],[0.042989,-0.398458,0.916179]]
2025-10-27T17:18:10.274Z,1761585490.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478539,0.813346,0.330861],[-0.876736,0.421859,0.231017],[0.048320,-0.400628,0.914966]]
2025-10-27T17:18:10.706Z,1761585490.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464682,0.820644,0.332589],[-0.883864,0.407207,0.230146],[0.053435,-0.400908,0.914559]]
2025-10-27T17:18:11.106Z,1761585491.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452107,0.827373,0.333247],[-0.890051,0.394012,0.229270],[0.058389,-0.400261,0.914539]]
2025-10-27T17:18:11.661Z,1761585491.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440536,0.833649,0.333103],[-0.895503,0.381920,0.228498],[0.063268,-0.398956,0.914785]]
2025-10-27T17:18:12.205Z,1761585492.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418459,0.845304,0.332193],[-0.905385,0.359287,0.226253],[0.071900,-0.395440,0.915673]]
2025-10-27T17:18:12.748Z,1761585492.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406908,0.850693,0.332787],[-0.910336,0.347498,0.224794],[0.075588,-0.394418,0.915817]]
2025-10-27T17:18:13.141Z,1761585493.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394966,0.856011,0.333537],[-0.915308,0.335508,0.222815],[0.078828,-0.393293,0.916028]]
2025-10-27T17:18:13.547Z,1761585493.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382570,0.860852,0.335520],[-0.920328,0.323045,0.220540],[0.081464,-0.393161,0.915854]]
2025-10-27T17:18:13.965Z,1761585493.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369756,0.865090,0.338967],[-0.925344,0.309976,0.218295],[0.083773,-0.394377,0.915122]]
2025-10-27T17:18:14.502Z,1761585494.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356025,0.869576,0.342175],[-0.930510,0.296192,0.215455],[0.086005,-0.395105,0.914601]]
2025-10-27T17:18:14.919Z,1761585494.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326802,0.878251,0.349106],[-0.940849,0.267359,0.208140],[0.089463,-0.396476,0.913675]]
2025-10-27T17:18:15.542Z,1761585495.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310908,0.883746,0.349756],[-0.946122,0.252738,0.202428],[0.090498,-0.393848,0.914710]]
2025-10-27T17:18:16.045Z,1761585496.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294154,0.889426,0.349851],[-0.951386,0.237515,0.196089],[0.091311,-0.390524,0.916053]]
2025-10-27T17:18:16.457Z,1761585496.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276668,0.895441,0.348769],[-0.956552,0.221874,0.189159],[0.091999,-0.385950,0.917921]]
2025-10-27T17:18:16.906Z,1761585496.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258596,0.900767,0.348922],[-0.961535,0.205391,0.182389],[0.092625,-0.382666,0.919232]]
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateRudder:A] Stopped
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:18:17.013Z,1761585497.013 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateCommandMode] Stopped
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:18:17.014Z,1761585497.014 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:18:17.019Z,1761585497.019 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:18:17.019Z,1761585497.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:18:17.019Z,1761585497.019 [marl:UpdateSpeed] Stopped
2025-10-27T17:18:17.019Z,1761585497.019 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:18:17.333Z,1761585497.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220709,0.911707,0.346522],[-0.970844,0.171287,0.167697],[0.093536,-0.373432,0.922930]]
2025-10-27T17:18:17.368Z,1761585497.368 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:18:17.369Z,1761585497.369 [marl:UpdateRudder:B] Stopped
2025-10-27T17:18:17.369Z,1761585497.369 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:18:17.369Z,1761585497.369 [marl:UpdateRudder] Stopped
2025-10-27T17:18:17.369Z,1761585497.369 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:18:17.825Z,1761585497.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201016,0.916254,0.346514],[-0.975037,0.153090,0.160828],[0.094311,-0.370193,0.924155]]
2025-10-27T17:18:18.222Z,1761585498.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181298,0.919576,0.348585],[-0.978855,0.134594,0.154037],[0.094731,-0.369140,0.924533]]
2025-10-27T17:18:18.709Z,1761585498.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161885,0.921765,0.352339],[-0.982282,0.116357,0.146912],[0.094422,-0.369880,0.924269]]
2025-10-27T17:18:19.105Z,1761585499.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144757,0.923691,0.354741],[-0.985035,0.100633,0.139925],[0.093549,-0.369687,0.924435]]
2025-10-27T17:18:19.510Z,1761585499.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128735,0.923780,0.360635],[-0.987346,0.085437,0.133599],[0.092605,-0.373270,0.923089]]
2025-10-27T17:18:19.921Z,1761585499.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114278,0.923868,0.365251],[-0.989207,0.071880,0.127684],[0.091709,-0.375901,0.922111]]
2025-10-27T17:18:20.325Z,1761585500.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101253,0.923173,0.370809],[-0.990723,0.059609,0.122123],[0.090637,-0.379734,0.920645]]
2025-10-27T17:18:20.725Z,1761585500.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089181,0.922674,0.375126],[-0.992006,0.048520,0.116493],[0.089284,-0.382516,0.919625]]
2025-10-27T17:18:21.232Z,1761585501.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077811,0.922049,0.379172],[-0.993148,0.038427,0.110361],[0.087188,-0.385161,0.918721]]
2025-10-27T17:18:21.652Z,1761585501.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065916,0.921862,0.381871],[-0.994255,0.028335,0.103219],[0.084334,-0.386481,0.918434]]
2025-10-27T17:18:22.138Z,1761585502.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035109,0.924179,0.380342],[-0.996504,0.003503,0.083474],[0.075813,-0.381943,0.921071]]
2025-10-27T17:18:22.541Z,1761585502.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015956,0.926294,0.376463],[-0.997416,-0.011633,0.070898],[0.070052,-0.376621,0.923715]]
2025-10-27T17:18:22.950Z,1761585502.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005382,0.928941,0.370188],[-0.997947,-0.028614,0.057296],[0.063817,-0.369120,0.927188]]
2025-10-27T17:18:23.342Z,1761585503.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028692,0.931428,0.362793],[-0.997908,-0.047724,0.043604],[0.057927,-0.360783,0.930849]]
2025-10-27T17:18:23.753Z,1761585503.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053732,0.932932,0.356022],[-0.997124,-0.069210,0.030870],[0.053440,-0.353339,0.933968]]
2025-10-27T17:18:24.165Z,1761585504.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079771,0.932720,0.351668],[-0.995520,-0.092511,0.019545],[0.050763,-0.348533,0.935921]]
2025-10-27T17:18:24.577Z,1761585504.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106212,0.930707,0.350005],[-0.993093,-0.116940,0.009596],[0.049861,-0.346568,0.936699]]
2025-10-27T17:18:24.971Z,1761585504.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129738,0.927361,0.350956],[-0.990315,-0.138834,0.000762],[0.049432,-0.347458,0.936392]]
2025-10-27T17:18:25.374Z,1761585505.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148762,0.922615,0.355881],[-0.987690,-0.156228,-0.007845],[0.048361,-0.352667,0.934498]]
2025-10-27T17:18:25.780Z,1761585505.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164222,0.917613,0.361962],[-0.985328,-0.169887,-0.016359],[0.046481,-0.359338,0.932049]]
2025-10-27T17:18:26.183Z,1761585506.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177953,0.912721,0.367794],[-0.983060,-0.181562,-0.025076],[0.043890,-0.366026,0.929569]]
2025-10-27T17:18:26.590Z,1761585506.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190480,0.907511,0.374356],[-0.980849,-0.191725,-0.034297],[0.040649,-0.373720,0.926651]]
2025-10-27T17:18:27.395Z,1761585507.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215694,0.899845,0.379151],[-0.975918,-0.211612,-0.052964],[0.032574,-0.381444,0.923818]]
2025-10-27T17:18:27.804Z,1761585507.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230517,0.897101,0.376923],[-0.972649,-0.223801,-0.062187],[0.028568,-0.380949,0.924154]]
2025-10-27T17:18:28.202Z,1761585508.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247606,0.894722,0.371704],[-0.968540,-0.238450,-0.071212],[0.024918,-0.377642,0.925616]]
2025-10-27T17:18:28.610Z,1761585508.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264634,0.892362,0.365594],[-0.964108,-0.253290,-0.079623],[0.021549,-0.373543,0.927362]]
2025-10-27T17:18:29.010Z,1761585509.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283100,0.889177,0.359471],[-0.958910,-0.269684,-0.088104],[0.018603,-0.369642,0.928988]]
2025-10-27T17:18:29.428Z,1761585509.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301817,0.885360,0.353615],[-0.953229,-0.286538,-0.096181],[0.016169,-0.366105,0.930433]]
2025-10-27T17:18:30.244Z,1761585510.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336526,0.875040,0.347930],[-0.941602,-0.317256,-0.112845],[0.011639,-0.365587,0.930705]]
2025-10-27T17:18:30.278Z,1761585510.278 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:18:30.278Z,1761585510.278 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:18:30.278Z,1761585510.278 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:18:30.278Z,1761585510.278 [marl:UpdateRudder:A] Stopped
2025-10-27T17:18:30.279Z,1761585510.279 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:18:30.279Z,1761585510.279 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:18:30.279Z,1761585510.279 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:18:30.279Z,1761585510.279 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:18:30.279Z,1761585510.279 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateCommandMode] Stopped
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:18:30.280Z,1761585510.280 [marl:UpdateSpeed] Stopped
2025-10-27T17:18:30.281Z,1761585510.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:18:30.642Z,1761585510.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351794,0.869389,0.346992],[-0.936029,-0.330487,-0.120947],[0.009526,-0.367343,0.930037]]
2025-10-27T17:18:30.694Z,1761585510.694 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:18:30.694Z,1761585510.694 [marl:UpdateRudder:B] Stopped
2025-10-27T17:18:30.695Z,1761585510.695 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:18:30.695Z,1761585510.695 [marl:UpdateRudder] Stopped
2025-10-27T17:18:30.695Z,1761585510.695 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:18:31.046Z,1761585511.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365972,0.863506,0.347017],[-0.930597,-0.342513,-0.129131],[0.007352,-0.370191,0.928927]]
2025-10-27T17:18:31.252Z,1761585511.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:18:31.451Z,1761585511.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378469,0.857363,0.348839],[-0.925600,-0.352637,-0.137523],[0.005106,-0.374934,0.927037]]
2025-10-27T17:18:31.853Z,1761585511.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389160,0.852552,0.348869],[-0.921167,-0.361177,-0.144922],[0.002450,-0.377765,0.925898]]
2025-10-27T17:18:32.255Z,1761585512.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:18:32.260Z,1761585512.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397437,0.850477,0.344577],[-0.917628,-0.367783,-0.150643],[-0.001389,-0.376065,0.926592]]
2025-10-27T17:18:32.661Z,1761585512.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401544,0.853195,0.332897],[-0.915813,-0.371309,-0.153022],[-0.006950,-0.366316,0.930464]]
2025-10-27T17:18:33.066Z,1761585513.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402493,0.860591,0.312063],[-0.915313,-0.373052,-0.151772],[-0.014198,-0.346722,0.937860]]
2025-10-27T17:18:33.471Z,1761585513.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402699,0.868528,0.288950],[-0.915073,-0.374486,-0.149673],[-0.021787,-0.324684,0.945572]]
2025-10-27T17:18:33.873Z,1761585513.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403308,0.876256,0.263664],[-0.914586,-0.376687,-0.147102],[-0.029580,-0.300471,0.953332]]
2025-10-27T17:18:34.278Z,1761585514.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404874,0.882779,0.238280],[-0.913600,-0.379848,-0.145087],[-0.037569,-0.276434,0.960298]]
2025-10-27T17:18:34.685Z,1761585514.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407973,0.887356,0.214842],[-0.911867,-0.384342,-0.144149],[-0.045338,-0.254716,0.965952]]
2025-10-27T17:18:35.087Z,1761585515.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412547,0.890346,0.192584],[-0.909390,-0.390225,-0.143991],[-0.053051,-0.234537,0.970659]]
2025-10-27T17:18:35.489Z,1761585515.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418543,0.891318,0.174279],[-0.906168,-0.397027,-0.145705],[-0.060676,-0.218910,0.973857]]
2025-10-27T17:18:35.906Z,1761585515.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425595,0.890802,0.159187],[-0.902374,-0.404612,-0.148356],[-0.067747,-0.206786,0.976038]]
2025-10-27T17:18:36.298Z,1761585516.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433255,0.888736,0.149794],[-0.898195,-0.412051,-0.153164],[-0.074399,-0.200903,0.976782]]
2025-10-27T17:18:36.710Z,1761585516.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441108,0.885926,0.143383],[-0.893840,-0.419365,-0.158690],[-0.080458,-0.198161,0.976862]]
2025-10-27T17:18:37.106Z,1761585517.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447640,0.883191,0.139971],[-0.890071,-0.425024,-0.164707],[-0.085977,-0.198314,0.976360]]
2025-10-27T17:18:37.510Z,1761585517.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452615,0.880532,0.140724],[-0.887023,-0.428442,-0.172127],[-0.091272,-0.202733,0.974971]]
2025-10-27T17:18:37.918Z,1761585517.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455825,0.878567,0.142629],[-0.884842,-0.429951,-0.179435],[-0.096322,-0.207995,0.973376]]
2025-10-27T17:18:38.319Z,1761585518.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456403,0.877554,0.146953],[-0.884025,-0.428484,-0.186820],[-0.100978,-0.215175,0.971341]]
2025-10-27T17:18:38.737Z,1761585518.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454909,0.877523,0.151695],[-0.884306,-0.425009,-0.193313],[-0.105165,-0.222084,0.969339]]
2025-10-27T17:18:39.126Z,1761585519.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451737,0.878431,0.155861],[-0.885438,-0.420051,-0.198887],[-0.109239,-0.227850,0.967549]]
2025-10-27T17:18:39.530Z,1761585519.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447721,0.879803,0.159662],[-0.886972,-0.414361,-0.203927],[-0.113258,-0.232918,0.965879]]
2025-10-27T17:18:39.935Z,1761585519.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442851,0.882071,0.160729],[-0.888831,-0.408363,-0.207895],[-0.117742,-0.234927,0.964856]]
2025-10-27T17:18:40.337Z,1761585520.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437993,0.884573,0.160289],[-0.890549,-0.402574,-0.211795],[-0.122820,-0.235510,0.964080]]
2025-10-27T17:18:40.749Z,1761585520.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434846,0.887097,0.154817],[-0.891393,-0.399640,-0.213792],[-0.127783,-0.230969,0.964534]]
2025-10-27T17:18:41.145Z,1761585521.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433663,0.888620,0.149301],[-0.891256,-0.398614,-0.216263],[-0.132662,-0.226851,0.964852]]
2025-10-27T17:18:41.955Z,1761585521.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438722,0.888878,0.131982],[-0.887480,-0.405526,-0.218924],[-0.141075,-0.213179,0.966774]]
2025-10-27T17:18:42.358Z,1761585522.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443659,0.887527,0.124351],[-0.884393,-0.411137,-0.220941],[-0.144966,-0.207998,0.967327]]
2025-10-27T17:18:42.764Z,1761585522.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449855,0.885591,0.115581],[-0.880662,-0.418335,-0.222329],[-0.148541,-0.201803,0.968097]]
2025-10-27T17:18:43.167Z,1761585523.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457211,0.882445,0.110672],[-0.876392,-0.425872,-0.224877],[-0.151309,-0.199808,0.968082]]
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateRudder:A] Stopped
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:18:43.256Z,1761585523.256 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode] Stopped
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:18:43.257Z,1761585523.257 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:18:43.258Z,1761585523.258 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:18:43.258Z,1761585523.258 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:18:43.258Z,1761585523.258 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:18:43.258Z,1761585523.258 [marl:UpdateSpeed] Stopped
2025-10-27T17:18:43.258Z,1761585523.258 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:18:43.264Z,1761585523.264 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:18:43.576Z,1761585523.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465214,0.878719,0.106909],[-0.871789,-0.433871,-0.227464],[-0.153493,-0.199021,0.967900]]
2025-10-27T17:18:43.641Z,1761585523.641 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:18:43.641Z,1761585523.641 [marl:UpdateRudder:B] Stopped
2025-10-27T17:18:43.641Z,1761585523.641 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:18:43.641Z,1761585523.641 [marl:UpdateRudder] Stopped
2025-10-27T17:18:43.641Z,1761585523.641 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:18:43.973Z,1761585523.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472164,0.875215,0.105168],[-0.867707,-0.440420,-0.230465],[-0.155388,-0.200072,0.967381]]
2025-10-27T17:18:44.372Z,1761585524.372 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:18:44.372Z,1761585524.372 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:18:44.405Z,1761585524.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476720,0.872590,0.106419],[-0.864930,-0.443995,-0.234018],[-0.156953,-0.203606,0.966391]]
2025-10-27T17:18:45.367Z,1761585525.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475029,0.870958,0.125619],[-0.866054,-0.437440,-0.242067],[-0.155879,-0.223782,0.962093]]
2025-10-27T17:18:45.761Z,1761585525.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471209,0.871991,0.132642],[-0.868564,-0.432572,-0.241822],[-0.153490,-0.229157,0.961212]]
2025-10-27T17:18:46.161Z,1761585526.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466650,0.873248,0.140272],[-0.871474,-0.426928,-0.241383],[-0.150901,-0.234885,0.960238]]
2025-10-27T17:18:46.566Z,1761585526.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464053,0.873169,0.149102],[-0.873289,-0.422769,-0.242143],[-0.148396,-0.242577,0.958715]]
2025-10-27T17:18:46.973Z,1761585526.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465598,0.869979,0.162346],[-0.873019,-0.421423,-0.245442],[-0.145113,-0.256008,0.955721]]
2025-10-27T17:18:47.388Z,1761585527.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471979,0.862977,0.180295],[-0.870387,-0.423595,-0.250988],[-0.140225,-0.275387,0.951052]]
2025-10-27T17:18:47.775Z,1761585527.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482398,0.852974,0.199317],[-0.865647,-0.429418,-0.257402],[-0.133967,-0.296708,0.945525]]
2025-10-27T17:18:48.178Z,1761585528.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495671,0.841019,0.216788],[-0.859257,-0.438528,-0.263383],[-0.126443,-0.316828,0.940017]]
2025-10-27T17:18:48.588Z,1761585528.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510032,0.828267,0.232037],[-0.851907,-0.449147,-0.269297],[-0.118831,-0.335024,0.934686]]
2025-10-27T17:18:48.986Z,1761585528.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524976,0.815103,0.244964],[-0.843815,-0.460827,-0.274982],[-0.111252,-0.351063,0.929719]]
2025-10-27T17:18:49.394Z,1761585529.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539617,0.802525,0.254495],[-0.835492,-0.473196,-0.279354],[-0.103762,-0.363373,0.925847]]
2025-10-27T17:18:49.799Z,1761585529.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553777,0.790458,0.261740],[-0.827009,-0.485559,-0.283353],[-0.096888,-0.373376,0.922607]]
2025-10-27T17:18:50.191Z,1761585530.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568315,0.778595,0.266098],[-0.817848,-0.499063,-0.286463],[-0.090239,-0.380429,0.920397]]
2025-10-27T17:18:50.641Z,1761585530.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583202,0.767529,0.266033],[-0.807984,-0.514274,-0.287549],[-0.083889,-0.382650,0.920077]]
2025-10-27T17:18:51.044Z,1761585531.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598835,0.756491,0.262903],[-0.797028,-0.530809,-0.288075],[-0.078375,-0.382051,0.920812]]
2025-10-27T17:18:51.445Z,1761585531.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614985,0.745012,0.258362],[-0.785133,-0.548106,-0.288352],[-0.073215,-0.380180,0.922010]]
2025-10-27T17:18:51.858Z,1761585531.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631609,0.733477,0.251162],[-0.772283,-0.566739,-0.287030],[-0.068187,-0.375259,0.924409]]
2025-10-27T17:18:52.656Z,1761585532.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666497,0.706258,0.238708],[-0.743311,-0.604983,-0.285457],[-0.057192,-0.367690,0.928188]]
2025-10-27T17:18:53.061Z,1761585533.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683648,0.690745,0.235578],[-0.728013,-0.622805,-0.286551],[-0.051214,-0.367404,0.928650]]
2025-10-27T17:18:53.918Z,1761585533.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714014,0.659242,0.235764],[-0.699042,-0.652490,-0.292569],[-0.039040,-0.373708,0.926725]]
2025-10-27T17:18:54.329Z,1761585534.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726592,0.644450,0.238218],[-0.686263,-0.663933,-0.297046],[-0.033271,-0.379311,0.924671]]
2025-10-27T17:18:54.730Z,1761585534.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737381,0.630557,0.242214],[-0.674911,-0.673092,-0.302394],[-0.027644,-0.386452,0.921895]]
2025-10-27T17:18:55.130Z,1761585535.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746842,0.617630,0.246495],[-0.664630,-0.680869,-0.307707],[-0.022218,-0.393636,0.918998]]
2025-10-27T17:18:55.939Z,1761585535.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762275,0.595600,0.253370],[-0.647153,-0.694450,-0.314536],[-0.011385,-0.403732,0.914807]]
2025-10-27T17:18:56.364Z,1761585536.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768519,0.586385,0.255990],[-0.639795,-0.700312,-0.316583],[-0.006367,-0.407081,0.913370]]
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateRudder:A] Stopped
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:18:56.425Z,1761585536.425 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateCommandMode] Stopped
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:18:56.426Z,1761585536.426 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:18:56.427Z,1761585536.427 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:18:56.427Z,1761585536.427 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:18:56.427Z,1761585536.427 [marl:UpdateSpeed] Stopped
2025-10-27T17:18:56.427Z,1761585536.427 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:18:56.753Z,1761585536.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773820,0.578764,0.257363],[-0.633403,-0.705749,-0.317364],[-0.002045,-0.408597,0.912713]]
2025-10-27T17:18:56.788Z,1761585536.788 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:18:56.788Z,1761585536.788 [marl:UpdateRudder:B] Stopped
2025-10-27T17:18:56.788Z,1761585536.788 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:18:56.788Z,1761585536.788 [marl:UpdateRudder] Stopped
2025-10-27T17:18:56.789Z,1761585536.789 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:18:57.558Z,1761585537.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783589,0.566886,0.254222],[-0.621260,-0.718277,-0.313232],[0.005035,-0.403383,0.915018]]
2025-10-27T17:18:58.037Z,1761585538.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789159,0.561100,0.249788],[-0.614135,-0.726231,-0.308912],[0.008073,-0.397185,0.917703]]
2025-10-27T17:18:58.443Z,1761585538.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796484,0.553018,0.244508],[-0.604551,-0.735981,-0.304712],[0.011442,-0.390516,0.920525]]
2025-10-27T17:18:58.982Z,1761585538.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817273,0.528177,0.230421],[-0.575939,-0.761832,-0.296489],[0.018944,-0.375021,0.926823]]
2025-10-27T17:18:59.394Z,1761585539.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829549,0.511955,0.223048],[-0.557969,-0.776153,-0.293695],[0.022761,-0.368088,0.929512]]
2025-10-27T17:18:59.786Z,1761585539.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841631,0.494212,0.217741],[-0.539404,-0.789018,-0.294098],[0.026455,-0.364973,0.930642]]
2025-10-27T17:19:00.196Z,1761585540.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852970,0.475811,0.214583],[-0.521096,-0.799909,-0.297665],[0.030015,-0.365718,0.930242]]
2025-10-27T17:19:00.598Z,1761585540.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863264,0.457635,0.212944],[-0.503659,-0.808747,-0.303737],[0.033217,-0.369456,0.928654]]
2025-10-27T17:19:01.002Z,1761585541.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872482,0.440307,0.211906],[-0.487315,-0.816011,-0.310885],[0.036033,-0.374507,0.926524]]
2025-10-27T17:19:01.413Z,1761585541.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880810,0.423825,0.211061],[-0.471905,-0.822062,-0.318621],[0.038466,-0.380246,0.924085]]
2025-10-27T17:19:01.809Z,1761585541.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888737,0.407968,0.209068],[-0.456633,-0.828057,-0.325282],[0.040416,-0.384557,0.922216]]
2025-10-27T17:19:02.212Z,1761585542.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896316,0.393138,0.205086],[-0.441422,-0.834921,-0.328714],[0.042001,-0.385162,0.921893]]
2025-10-27T17:19:02.375Z,1761585542.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:19:02.614Z,1761585542.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903825,0.378484,0.199624],[-0.425666,-0.842894,-0.329147],[0.043685,-0.382465,0.922937]]
2025-10-27T17:19:03.018Z,1761585543.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911506,0.362969,0.193420],[-0.408788,-0.851303,-0.328902],[0.045278,-0.378864,0.924344]]
2025-10-27T17:19:03.379Z,1761585543.379 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:19:03.521Z,1761585543.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918969,0.347143,0.187049],[-0.391515,-0.859804,-0.327800],[0.047032,-0.374471,0.926045]]
2025-10-27T17:19:04.657Z,1761585544.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938520,0.300282,0.170325],[-0.341435,-0.880279,-0.329440],[0.051009,-0.367341,0.928686]]
2025-10-27T17:19:05.109Z,1761585545.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944429,0.283803,0.165864],[-0.324454,-0.885807,-0.331775],[0.052764,-0.367153,0.928663]]
2025-10-27T17:19:05.521Z,1761585545.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950099,0.266802,0.161645],[-0.307137,-0.890732,-0.335059],[0.054588,-0.367986,0.928228]]
2025-10-27T17:19:05.914Z,1761585545.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955467,0.249661,0.157327],[-0.289682,-0.895190,-0.338702],[0.056277,-0.369194,0.927647]]
2025-10-27T17:19:06.349Z,1761585546.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960825,0.231561,0.152300],[-0.271024,-0.899954,-0.341511],[0.057983,-0.369409,0.927456]]
2025-10-27T17:19:06.768Z,1761585546.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966044,0.212632,0.146785],[-0.251444,-0.904393,-0.344746],[0.059448,-0.369948,0.927149]]
2025-10-27T17:19:07.158Z,1761585547.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970799,0.193436,0.141887],[-0.232033,-0.907309,-0.350643],[0.060908,-0.373326,0.925698]]
2025-10-27T17:19:07.583Z,1761585547.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974808,0.175653,0.137459],[-0.214129,-0.909501,-0.356311],[0.062431,-0.376768,0.924201]]
2025-10-27T17:19:07.990Z,1761585547.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978070,0.160125,0.133189],[-0.198340,-0.911239,-0.360977],[0.063566,-0.379478,0.923015]]
2025-10-27T17:19:08.390Z,1761585548.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980915,0.145389,0.129102],[-0.183360,-0.912596,-0.365443],[0.064686,-0.382140,0.921838]]
2025-10-27T17:19:09.259Z,1761585549.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985358,0.119338,0.121772],[-0.156854,-0.914452,-0.373061],[0.066834,-0.386699,0.919781]]
2025-10-27T17:19:09.676Z,1761585549.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987162,0.107739,0.117910],[-0.144889,-0.914722,-0.377215],[0.067214,-0.389456,0.918589]]
2025-10-27T17:19:10.080Z,1761585550.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988894,0.096639,0.112911],[-0.132703,-0.916219,-0.378065],[0.066915,-0.388850,0.918868]]
2025-10-27T17:19:10.105Z,1761585550.105 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:19:10.106Z,1761585550.106 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:19:10.106Z,1761585550.106 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:19:10.106Z,1761585550.106 [marl:UpdateRudder:A] Stopped
2025-10-27T17:19:10.106Z,1761585550.106 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:19:10.106Z,1761585550.106 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:19:10.107Z,1761585550.107 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:19:10.107Z,1761585550.107 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:19:10.107Z,1761585550.107 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:19:10.107Z,1761585550.107 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:19:10.107Z,1761585550.107 [marl:UpdateCommandMode] Stopped
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed] Stopped
2025-10-27T17:19:10.108Z,1761585550.108 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:19:10.482Z,1761585550.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990543,0.085332,0.107435],[-0.120077,-0.918002,-0.377960],[0.066374,-0.387287,0.919567]]
2025-10-27T17:19:10.533Z,1761585550.533 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:19:10.534Z,1761585550.534 [marl:UpdateRudder:B] Stopped
2025-10-27T17:19:10.534Z,1761585550.534 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:19:10.534Z,1761585550.534 [marl:UpdateRudder] Stopped
2025-10-27T17:19:10.534Z,1761585550.534 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:19:10.899Z,1761585550.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992262,0.072321,0.100924],[-0.105366,-0.920470,-0.376341],[0.065680,-0.384063,0.920968]]
2025-10-27T17:19:11.290Z,1761585551.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993972,0.057272,0.093481],[-0.088330,-0.923438,-0.373443],[0.064936,-0.379449,0.922931]]
2025-10-27T17:19:11.695Z,1761585551.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995537,0.041085,0.084962],[-0.069846,-0.926184,-0.370545],[0.063467,-0.374826,0.924920]]
2025-10-27T17:19:12.098Z,1761585552.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996742,0.026116,0.076310],[-0.052381,-0.929048,-0.366232],[0.061331,-0.369036,0.927389]]
2025-10-27T17:19:12.518Z,1761585552.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997597,0.014979,0.067648],[-0.038366,-0.932423,-0.359326],[0.057694,-0.361058,0.930757]]
2025-10-27T17:19:12.906Z,1761585552.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998201,0.009068,0.059273],[-0.029038,-0.937959,-0.345529],[0.052462,-0.346628,0.936534]]
2025-10-27T17:19:13.323Z,1761585553.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998681,0.006494,0.050933],[-0.022821,-0.944747,-0.327004],[0.045996,-0.327735,0.943649]]
2025-10-27T17:19:13.713Z,1761585553.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999042,0.006415,0.043287],[-0.019445,-0.951252,-0.307803],[0.039202,-0.308349,0.950465]]
2025-10-27T17:19:14.117Z,1761585554.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999295,0.008832,0.036484],[-0.019058,-0.956715,-0.290401],[0.032340,-0.290892,0.956209]]
2025-10-27T17:19:14.522Z,1761585554.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999450,0.013042,0.030490],[-0.020927,-0.961279,-0.274782],[0.025725,-0.275269,0.961023]]
2025-10-27T17:19:14.927Z,1761585554.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999528,0.017680,0.025142],[-0.023588,-0.965677,-0.258672],[0.019706,-0.259143,0.965638]]
2025-10-27T17:19:15.338Z,1761585555.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999545,0.022334,0.020273],[-0.026650,-0.968706,-0.246777],[0.014128,-0.247205,0.968860]]
2025-10-27T17:19:15.741Z,1761585555.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999530,0.026300,0.015748],[-0.029273,-0.971368,-0.235768],[0.009097,-0.236119,0.971682]]
2025-10-27T17:19:16.138Z,1761585556.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999518,0.028980,0.011108],[-0.030746,-0.973378,-0.227135],[0.004230,-0.227367,0.973800]]
2025-10-27T17:19:16.548Z,1761585556.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999544,0.029538,0.006260],[-0.030191,-0.975027,-0.220026],[-0.000396,-0.220115,0.975474]]
2025-10-27T17:19:16.946Z,1761585556.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999590,0.028595,0.001269],[-0.028197,-0.976104,-0.215468],[-0.004922,-0.215416,0.976510]]
2025-10-27T17:19:17.350Z,1761585557.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999662,0.025627,-0.004281],[-0.024136,-0.976942,-0.212134],[-0.009619,-0.211959,0.977231]]
2025-10-27T17:19:17.758Z,1761585557.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999726,0.020950,-0.010401],[-0.018293,-0.977436,-0.210436],[-0.014574,-0.210188,0.977552]]
2025-10-27T17:19:18.160Z,1761585558.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999733,0.015793,-0.016854],[-0.011916,-0.977766,-0.209358],[-0.019786,-0.209101,0.977694]]
2025-10-27T17:19:18.562Z,1761585558.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999676,0.010418,-0.023241],[-0.005314,-0.977741,-0.209747],[-0.024909,-0.209555,0.977480]]
2025-10-27T17:19:18.966Z,1761585558.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999538,0.005407,-0.029923],[0.001063,-0.977249,-0.212093],[-0.030389,-0.212027,0.976791]]
2025-10-27T17:19:19.376Z,1761585559.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999047,-0.001796,-0.043616],[0.011295,-0.975762,-0.218541],[-0.042167,-0.218825,0.974853]]
2025-10-27T17:19:19.780Z,1761585559.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998751,-0.002469,-0.049895],[0.013599,-0.974498,-0.223984],[-0.048070,-0.224383,0.973315]]
2025-10-27T17:19:20.586Z,1761585560.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998233,0.001118,-0.059412],[0.012846,-0.972122,-0.234122],[-0.058018,-0.234471,0.970390]]
2025-10-27T17:19:20.989Z,1761585560.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998025,0.004355,-0.062671],[0.010619,-0.971546,-0.236613],[-0.061919,-0.236811,0.969581]]
2025-10-27T17:19:21.392Z,1761585561.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997862,0.007559,-0.064924],[0.008186,-0.971017,-0.238869],[-0.064848,-0.238890,0.968879]]
2025-10-27T17:19:21.819Z,1761585561.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997740,0.010830,-0.066314],[0.005377,-0.970892,-0.239459],[-0.066977,-0.239274,0.968639]]
2025-10-27T17:19:22.198Z,1761585562.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997650,0.013896,-0.067086],[0.002518,-0.971115,-0.238599],[-0.068464,-0.238207,0.968798]]
2025-10-27T17:19:22.603Z,1761585562.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997554,0.016212,-0.067996],[0.000381,-0.971457,-0.237217],[-0.069901,-0.236663,0.969074]]
2025-10-27T17:19:23.006Z,1761585563.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997448,0.017011,-0.069340],[-0.000250,-0.972025,-0.234878],[-0.071395,-0.234261,0.969549]]
2025-10-27T17:19:23.069Z,1761585563.069 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:19:23.069Z,1761585563.069 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateRudder:A] Stopped
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:19:23.070Z,1761585563.070 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:19:23.071Z,1761585563.071 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateCommandMode] Stopped
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:19:23.087Z,1761585563.087 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:19:23.088Z,1761585563.088 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:19:23.088Z,1761585563.088 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:19:23.088Z,1761585563.088 [marl:UpdateSpeed] Stopped
2025-10-27T17:19:23.088Z,1761585563.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:19:23.410Z,1761585563.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997358,0.015769,-0.070911],[0.001147,-0.972613,-0.232427],[-0.072634,-0.231895,0.970025]]
2025-10-27T17:19:23.462Z,1761585563.462 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:19:23.462Z,1761585563.462 [marl:UpdateRudder:B] Stopped
2025-10-27T17:19:23.462Z,1761585563.462 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:19:23.462Z,1761585563.462 [marl:UpdateRudder] Stopped
2025-10-27T17:19:23.462Z,1761585563.462 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:19:23.823Z,1761585563.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997259,0.013082,-0.072819],[0.004039,-0.973147,-0.230148],[-0.073874,-0.229812,0.970427]]
2025-10-27T17:19:24.219Z,1761585564.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997122,0.010036,-0.075141],[0.007488,-0.973312,-0.229365],[-0.075438,-0.229268,0.970436]]
2025-10-27T17:19:24.621Z,1761585564.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996963,0.006431,-0.077613],[0.011404,-0.973788,-0.227171],[-0.077040,-0.227366,0.970757]]
2025-10-27T17:19:25.025Z,1761585565.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996762,0.002900,-0.080356],[0.015331,-0.974165,-0.225318],[-0.078934,-0.225820,0.970966]]
2025-10-27T17:19:25.430Z,1761585565.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996548,-0.000609,-0.083014],[0.019301,-0.974272,-0.224547],[-0.080741,-0.225374,0.970921]]
2025-10-27T17:19:25.839Z,1761585565.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996318,-0.003511,-0.085662],[0.022701,-0.974303,-0.224096],[-0.082674,-0.225216,0.970795]]
2025-10-27T17:19:26.238Z,1761585566.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996110,-0.005659,-0.087939],[0.025232,-0.974470,-0.223095],[-0.084431,-0.224446,0.970822]]
2025-10-27T17:19:26.642Z,1761585566.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995949,-0.006855,-0.089662],[0.026745,-0.974549,-0.222571],[-0.085855,-0.224068,0.970785]]
2025-10-27T17:19:27.045Z,1761585567.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995811,-0.007003,-0.091168],[0.027245,-0.974499,-0.222730],[-0.087283,-0.224281,0.970608]]
2025-10-27T17:19:27.454Z,1761585567.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995811,-0.005600,-0.091263],[0.026077,-0.974064,-0.224763],[-0.087637,-0.226202,0.970130]]
2025-10-27T17:19:27.856Z,1761585567.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995895,-0.004615,-0.090398],[0.024932,-0.974053,-0.224944],[-0.087014,-0.226274,0.970169]]
2025-10-27T17:19:28.258Z,1761585568.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996029,-0.002501,-0.088991],[0.022726,-0.973632,-0.226991],[-0.086077,-0.228112,0.969823]]
2025-10-27T17:19:28.662Z,1761585568.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996263,-0.001371,-0.086365],[0.021155,-0.973295,-0.228580],[-0.083745,-0.229552,0.969687]]
2025-10-27T17:19:29.067Z,1761585569.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996520,-0.000368,-0.083358],[0.019598,-0.972997,-0.229984],[-0.081022,-0.230817,0.969618]]
2025-10-27T17:19:31.086Z,1761585571.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997598,-0.002643,-0.069218],[0.018773,-0.972187,-0.233451],[-0.066676,-0.234189,0.969902]]
2025-10-27T17:19:31.889Z,1761585571.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997970,-0.006075,-0.063389],[0.020661,-0.972478,-0.232076],[-0.060235,-0.232915,0.970630]]
2025-10-27T17:19:32.300Z,1761585572.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998155,-0.007854,-0.060212],[0.021602,-0.972659,-0.231230],[-0.056750,-0.232104,0.971034]]
2025-10-27T17:19:32.698Z,1761585572.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998339,-0.009156,-0.056886],[0.022074,-0.972744,-0.230828],[-0.053223,-0.231701,0.971330]]
2025-10-27T17:19:33.102Z,1761585573.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998506,-0.011193,-0.053487],[0.023168,-0.973185,-0.228853],[-0.049491,-0.229750,0.971990]]
2025-10-27T17:19:33.503Z,1761585573.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:19:33.507Z,1761585573.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998651,-0.013448,-0.050154],[0.024553,-0.973374,-0.227904],[-0.045753,-0.228828,0.972391]]
2025-10-27T17:19:33.909Z,1761585573.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998809,-0.015213,-0.046359],[0.025372,-0.973526,-0.227166],[-0.041676,-0.228071,0.972752]]
2025-10-27T17:19:34.313Z,1761585574.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998932,-0.018346,-0.042406],[0.027441,-0.973960,-0.225054],[-0.037173,-0.225977,0.973423]]
2025-10-27T17:19:34.507Z,1761585574.507 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:19:34.719Z,1761585574.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.022175,-0.038316],[0.030204,-0.974185,-0.223720],[-0.032366,-0.224658,0.973900]]
2025-10-27T17:19:35.123Z,1761585575.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999049,-0.026948,-0.034275],[0.033932,-0.974207,-0.223092],[-0.027379,-0.224043,0.974195]]
2025-10-27T17:19:35.528Z,1761585575.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999033,-0.032080,-0.030056],[0.037975,-0.974211,-0.222419],[-0.022146,-0.223346,0.974488]]
2025-10-27T17:19:35.929Z,1761585575.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998959,-0.037411,-0.026084],[0.042262,-0.974332,-0.221112],[-0.017142,-0.221984,0.974900]]
2025-10-27T17:19:35.974Z,1761585575.974 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:19:35.974Z,1761585575.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:19:35.974Z,1761585575.974 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:19:35.974Z,1761585575.974 [marl:UpdateRudder:A] Stopped
2025-10-27T17:19:35.974Z,1761585575.974 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:19:35.975Z,1761585575.975 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:19:35.979Z,1761585575.979 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:19:35.979Z,1761585575.979 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:19:35.979Z,1761585575.979 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:19:35.979Z,1761585575.979 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:19:35.979Z,1761585575.979 [marl:UpdateCommandMode] Stopped
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed] Stopped
2025-10-27T17:19:35.980Z,1761585575.980 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:19:36.334Z,1761585576.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998827,-0.042958,-0.022320],[0.046847,-0.973935,-0.221938],[-0.012205,-0.222723,0.974805]]
2025-10-27T17:19:36.375Z,1761585576.375 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:19:36.379Z,1761585576.379 [marl:UpdateRudder:B] Stopped
2025-10-27T17:19:36.379Z,1761585576.379 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:19:36.379Z,1761585576.379 [marl:UpdateRudder] Stopped
2025-10-27T17:19:36.379Z,1761585576.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:19:36.745Z,1761585576.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998725,-0.046962,-0.018527],[0.049944,-0.972665,-0.226778],[-0.007371,-0.227414,0.973770]]
2025-10-27T17:19:37.546Z,1761585577.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998660,-0.050718,-0.010314],[0.051722,-0.970757,-0.234428],[0.001877,-0.234647,0.972079]]
2025-10-27T17:19:37.950Z,1761585577.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998729,-0.050046,-0.005951],[0.050027,-0.970140,-0.237332],[0.006104,-0.237328,0.971410]]
2025-10-27T17:19:38.356Z,1761585578.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998860,-0.047729,-0.001274],[0.046645,-0.969801,-0.239394],[0.010191,-0.239180,0.970922]]
2025-10-27T17:19:38.776Z,1761585578.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999032,-0.043854,0.003354],[0.041769,-0.969898,-0.239904],[0.013773,-0.239532,0.970791]]
2025-10-27T17:19:39.162Z,1761585579.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999221,-0.038769,0.007431],[0.035884,-0.970538,-0.238262],[0.016449,-0.237809,0.971173]]
2025-10-27T17:19:39.566Z,1761585579.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999395,-0.032772,0.011683],[0.029128,-0.971763,-0.234156],[0.019026,-0.233674,0.972129]]
2025-10-27T17:19:39.970Z,1761585579.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.026997,0.015964],[0.022612,-0.972996,-0.229712],[0.021734,-0.229238,0.973128]]
2025-10-27T17:19:40.374Z,1761585580.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999535,-0.022678,0.020380],[0.017523,-0.974267,-0.224716],[0.024952,-0.224254,0.974211]]
2025-10-27T17:19:40.783Z,1761585580.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999459,-0.021838,0.024609],[0.015910,-0.975490,-0.219468],[0.028799,-0.218958,0.975309]]
2025-10-27T17:19:41.182Z,1761585581.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999307,-0.024143,0.028316],[0.017504,-0.976485,-0.214872],[0.032837,-0.214228,0.976232]]
2025-10-27T17:19:41.586Z,1761585581.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999086,-0.028873,0.031508],[0.021574,-0.977172,-0.211351],[0.036891,-0.210479,0.976902]]
2025-10-27T17:19:41.990Z,1761585581.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998813,-0.034603,0.034279],[0.026633,-0.977241,-0.210452],[0.040781,-0.209289,0.977003]]
2025-10-27T17:19:42.396Z,1761585582.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998463,-0.041572,0.036649],[0.032868,-0.976635,-0.212378],[0.044621,-0.210847,0.976500]]
2025-10-27T17:19:42.798Z,1761585582.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998071,-0.048713,0.038480],[0.039311,-0.975701,-0.215550],[0.048045,-0.213622,0.975734]]
2025-10-27T17:19:43.206Z,1761585583.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997634,-0.055908,0.040003],[0.045739,-0.974226,-0.220891],[0.051321,-0.218538,0.974478]]
2025-10-27T17:19:43.290Z,1761585583.290 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:19:43.606Z,1761585583.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997216,-0.061840,0.041660],[0.050841,-0.972621,-0.226768],[0.054543,-0.224019,0.973057]]
2025-10-27T17:19:44.011Z,1761585584.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996831,-0.066734,0.043304],[0.054906,-0.971039,-0.232526],[0.057567,-0.229411,0.971626]]
2025-10-27T17:19:44.414Z,1761585584.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996512,-0.070626,0.044454],[0.057991,-0.969111,-0.239711],[0.060011,-0.236297,0.969826]]
2025-10-27T17:19:44.660Z,1761585584.660 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:19:44.661Z,1761585584.661 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:19:44.829Z,1761585584.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996268,-0.073125,0.045854],[0.059772,-0.967761,-0.244676],[0.062267,-0.241022,0.968520]]
2025-10-27T17:19:45.225Z,1761585585.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996082,-0.074585,0.047507],[0.060533,-0.966729,-0.248537],[0.064463,-0.244688,0.967457]]
2025-10-27T17:19:45.628Z,1761585585.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995937,-0.075469,0.049139],[0.060763,-0.965854,-0.251861],[0.066469,-0.247852,0.966515]]
2025-10-27T17:19:46.434Z,1761585586.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995827,-0.074831,0.052246],[0.059136,-0.965096,-0.255133],[0.069515,-0.250979,0.965493]]
2025-10-27T17:19:46.888Z,1761585586.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995816,-0.073934,0.053703],[0.057940,-0.965312,-0.254590],[0.070663,-0.250413,0.965557]]
2025-10-27T17:19:47.268Z,1761585587.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995836,-0.072979,0.054637],[0.056890,-0.965771,-0.253080],[0.071236,-0.248918,0.965901]]
2025-10-27T17:19:47.659Z,1761585587.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995889,-0.071532,0.055578],[0.055509,-0.966753,-0.249613],[0.071586,-0.245502,0.966749]]
2025-10-27T17:19:48.061Z,1761585588.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995894,-0.070725,0.056509],[0.054850,-0.968002,-0.244874],[0.072019,-0.240769,0.967907]]
2025-10-27T17:19:48.466Z,1761585588.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995894,-0.070536,0.056750],[0.054844,-0.968802,-0.241693],[0.072027,-0.237588,0.968692]]
2025-10-27T17:19:48.889Z,1761585588.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995870,-0.070714,0.056944],[0.055137,-0.969335,-0.239476],[0.072132,-0.235348,0.969231]]
2025-10-27T17:19:48.964Z,1761585588.964 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:19:48.964Z,1761585588.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:19:48.965Z,1761585588.965 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:19:48.965Z,1761585588.965 [marl:UpdateRudder:A] Stopped
2025-10-27T17:19:48.965Z,1761585588.965 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:19:48.965Z,1761585588.965 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:19:48.965Z,1761585588.965 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateCommandMode] Stopped
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:19:48.966Z,1761585588.966 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:19:48.971Z,1761585588.971 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:19:48.971Z,1761585588.971 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:19:48.971Z,1761585588.971 [marl:UpdateSpeed] Stopped
2025-10-27T17:19:48.971Z,1761585588.971 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:19:49.277Z,1761585589.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995881,-0.070447,0.057075],[0.055036,-0.969971,-0.236913],[0.072051,-0.232796,0.969853]]
2025-10-27T17:19:49.302Z,1761585589.302 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:19:49.302Z,1761585589.302 [marl:UpdateRudder:B] Stopped
2025-10-27T17:19:49.302Z,1761585589.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:19:49.302Z,1761585589.302 [marl:UpdateRudder] Stopped
2025-10-27T17:19:49.302Z,1761585589.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:19:49.678Z,1761585589.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995901,-0.070235,0.056994],[0.055037,-0.970588,-0.234372],[0.071778,-0.230275,0.970475]]
2025-10-27T17:19:50.082Z,1761585590.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995953,-0.069545,0.056923],[0.054512,-0.971045,-0.232595],[0.071451,-0.228551,0.970906]]
2025-10-27T17:19:50.486Z,1761585590.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996027,-0.068494,0.056906],[0.053497,-0.971122,-0.232508],[0.071188,-0.228540,0.970928]]
2025-10-27T17:19:50.899Z,1761585590.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996169,-0.066238,0.057088],[0.051234,-0.971171,-0.232814],[0.070863,-0.228997,0.970844]]
2025-10-27T17:19:51.702Z,1761585591.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996339,-0.063520,0.057212],[0.048492,-0.971101,-0.233690],[0.070402,-0.230060,0.970627]]
2025-10-27T17:19:52.106Z,1761585592.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996210,-0.066454,0.056123],[0.051425,-0.970352,-0.236162],[0.070153,-0.232381,0.970092]]
2025-10-27T17:19:52.510Z,1761585592.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995671,-0.075189,0.054637],[0.059683,-0.967860,-0.244304],[0.071250,-0.239986,0.968158]]
2025-10-27T17:19:52.917Z,1761585592.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994619,-0.090162,0.051036],[0.073799,-0.962300,-0.261788],[0.072716,-0.256612,0.963775]]
2025-10-27T17:19:53.318Z,1761585593.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993038,-0.108426,0.046032],[0.090800,-0.953550,-0.287226],[0.075036,-0.281046,0.956756]]
2025-10-27T17:19:53.746Z,1761585593.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990816,-0.129250,0.039731],[0.110560,-0.943534,-0.312282],[0.077850,-0.305021,0.949158]]
2025-10-27T17:19:54.126Z,1761585594.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987994,-0.151166,0.031887],[0.131721,-0.932085,-0.337443],[0.080731,-0.329191,0.940806]]
2025-10-27T17:19:54.615Z,1761585594.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980838,-0.194311,0.014156],[0.174515,-0.908567,-0.379539],[0.086611,-0.369796,0.925067]]
2025-10-27T17:19:55.014Z,1761585595.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976700,-0.214543,0.005228],[0.195087,-0.897752,-0.394946],[0.089427,-0.384724,0.918689]]
2025-10-27T17:19:55.501Z,1761585595.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972432,-0.233162,-0.003379],[0.214425,-0.888402,-0.405912],[0.091642,-0.395446,0.913906]]
2025-10-27T17:19:55.902Z,1761585595.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968205,-0.249901,-0.011316],[0.232087,-0.880470,-0.413411],[0.093349,-0.402893,0.910474]]
2025-10-27T17:19:56.362Z,1761585596.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964227,-0.264458,-0.018087],[0.247608,-0.874228,-0.417630],[0.094634,-0.407169,0.908437]]
2025-10-27T17:19:56.777Z,1761585596.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960556,-0.277077,-0.023666],[0.261086,-0.869264,-0.419778],[0.095739,-0.409400,0.907318]]
2025-10-27T17:19:57.258Z,1761585597.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957124,-0.288322,-0.028014],[0.273075,-0.865761,-0.419390],[0.096666,-0.409058,0.907374]]
2025-10-27T17:19:57.785Z,1761585597.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953827,-0.298694,-0.031560],[0.284133,-0.863245,-0.417225],[0.097378,-0.406927,0.908255]]
2025-10-27T17:19:58.255Z,1761585598.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946637,-0.320184,-0.036874],[0.306863,-0.860395,-0.406885],[0.098552,-0.396488,0.912735]]
2025-10-27T17:19:58.754Z,1761585598.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942288,-0.332366,-0.040325],[0.319995,-0.858629,-0.400448],[0.098471,-0.390241,0.915432]]
2025-10-27T17:19:59.593Z,1761585599.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930789,-0.362097,-0.050175],[0.352026,-0.850859,-0.390022],[0.098534,-0.380691,0.919438]]
2025-10-27T17:20:00.406Z,1761585600.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915365,-0.397484,-0.064137],[0.390522,-0.837747,-0.381670],[0.097977,-0.374414,0.922071]]
2025-10-27T17:20:00.807Z,1761585600.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906299,-0.416281,-0.073019],[0.411247,-0.828778,-0.379477],[0.097452,-0.373949,0.922315]]
2025-10-27T17:20:01.382Z,1761585601.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896689,-0.434841,-0.082843],[0.431978,-0.818717,-0.378281],[0.096667,-0.374987,0.921976]]
2025-10-27T17:20:01.800Z,1761585601.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886754,-0.452860,-0.092657],[0.452254,-0.808538,-0.376473],[0.095573,-0.375743,0.921782]]
2025-10-27T17:20:02.627Z,1761585602.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855898,-0.501807,-0.125013],[0.509890,-0.778516,-0.365957],[0.086315,-0.376965,0.922197]]
2025-10-27T17:20:02.674Z,1761585602.674 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateRudder:A] Stopped
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:20:02.675Z,1761585602.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateCommandMode] Stopped
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:20:02.676Z,1761585602.676 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:20:02.677Z,1761585602.677 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:20:02.677Z,1761585602.677 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:20:02.677Z,1761585602.677 [marl:UpdateSpeed] Stopped
2025-10-27T17:20:02.677Z,1761585602.677 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:20:03.030Z,1761585603.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845320,-0.516740,-0.135699],[0.527957,-0.769048,-0.360316],[0.081831,-0.376225,0.922908]]
2025-10-27T17:20:03.099Z,1761585603.099 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:20:03.099Z,1761585603.099 [marl:UpdateRudder:B] Stopped
2025-10-27T17:20:03.100Z,1761585603.100 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:20:03.100Z,1761585603.100 [marl:UpdateRudder] Stopped
2025-10-27T17:20:03.100Z,1761585603.100 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:20:03.441Z,1761585603.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835070,-0.530326,-0.146331],[0.544721,-0.759801,-0.354939],[0.077051,-0.376108,0.923367]]
2025-10-27T17:20:03.835Z,1761585603.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825194,-0.542914,-0.155885],[0.560168,-0.751113,-0.349343],[0.072576,-0.375597,0.923937]]
2025-10-27T17:20:04.238Z,1761585604.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815853,-0.554443,-0.164246],[0.574167,-0.742986,-0.343954],[0.068670,-0.374921,0.924510]]
2025-10-27T17:20:04.627Z,1761585604.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:20:04.643Z,1761585604.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806511,-0.565626,-0.172070],[0.587626,-0.734869,-0.338619],[0.065083,-0.374213,0.925056]]
2025-10-27T17:20:05.049Z,1761585605.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797144,-0.576465,-0.179582],[0.600634,-0.726724,-0.333333],[0.061648,-0.373577,0.925548]]
2025-10-27T17:20:05.450Z,1761585605.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787878,-0.587219,-0.185533],[0.613035,-0.719181,-0.327058],[0.058623,-0.371420,0.926612]]
2025-10-27T17:20:05.631Z,1761585605.631 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:20:05.854Z,1761585605.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778087,-0.598187,-0.191713],[0.625701,-0.711103,-0.320672],[0.055494,-0.369465,0.927586]]
2025-10-27T17:20:06.258Z,1761585606.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768237,-0.608957,-0.197441],[0.637990,-0.702891,-0.314505],[0.052740,-0.367580,0.928495]]
2025-10-27T17:20:06.662Z,1761585606.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757878,-0.619753,-0.203783],[0.650511,-0.694142,-0.308224],[0.049569,-0.366159,0.929231]]
2025-10-27T17:20:07.067Z,1761585607.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747550,-0.630014,-0.210358],[0.662609,-0.685418,-0.301914],[0.046027,-0.365081,0.929837]]
2025-10-27T17:20:08.293Z,1761585608.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717256,-0.656744,-0.232875],[0.695984,-0.658947,-0.285299],[0.033916,-0.366710,0.929717]]
2025-10-27T17:20:08.713Z,1761585608.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707477,-0.664577,-0.240445],[0.706098,-0.650212,-0.280448],[0.030038,-0.368188,0.929266]]
2025-10-27T17:20:09.097Z,1761585609.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697386,-0.672469,-0.247869],[0.716197,-0.640985,-0.276046],[0.026752,-0.370033,0.928633]]
2025-10-27T17:20:09.501Z,1761585609.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687196,-0.680155,-0.255249],[0.726071,-0.631353,-0.272422],[0.024137,-0.372536,0.927704]]
2025-10-27T17:20:09.906Z,1761585609.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676515,-0.688240,-0.262017],[0.736079,-0.620992,-0.269362],[0.022675,-0.375093,0.926710]]
2025-10-27T17:20:10.311Z,1761585610.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664975,-0.697175,-0.267873],[0.746535,-0.609780,-0.266183],[0.022232,-0.376982,0.925954]]
2025-10-27T17:20:10.738Z,1761585610.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653180,-0.706336,-0.272848],[0.756860,-0.598177,-0.263339],[0.022794,-0.378515,0.925314]]
2025-10-27T17:20:11.129Z,1761585611.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640570,-0.716257,-0.276851],[0.767526,-0.585951,-0.259933],[0.023958,-0.378995,0.925088]]
2025-10-27T17:20:11.531Z,1761585611.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626284,-0.727318,-0.280671],[0.779183,-0.572272,-0.255694],[0.025351,-0.378831,0.925119]]
2025-10-27T17:20:11.933Z,1761585611.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610824,-0.739198,-0.283692],[0.791308,-0.557749,-0.250495],[0.026937,-0.377496,0.925619]]
2025-10-27T17:20:12.339Z,1761585612.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594390,-0.751168,-0.287135],[0.803681,-0.542328,-0.244904],[0.028243,-0.376334,0.926053]]
2025-10-27T17:20:13.337Z,1761585613.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560783,-0.773988,-0.294049],[0.827438,-0.511248,-0.232320],[0.029481,-0.373588,0.927126]]
2025-10-27T17:20:13.774Z,1761585613.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543962,-0.784535,-0.297676],[0.838633,-0.496327,-0.224400],[0.028305,-0.371706,0.927919]]
2025-10-27T17:20:14.188Z,1761585614.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527237,-0.794292,-0.301862],[0.849333,-0.481936,-0.215339],[0.025564,-0.369916,0.928713]]
2025-10-27T17:20:14.584Z,1761585614.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510248,-0.803147,-0.307575],[0.859768,-0.467575,-0.205360],[0.021120,-0.369227,0.929099]]
2025-10-27T17:20:15.390Z,1761585615.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474791,-0.820216,-0.319090],[0.880069,-0.439499,-0.179777],[0.007216,-0.366177,0.930517]]
2025-10-27T17:20:15.797Z,1761585615.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456459,-0.828453,-0.324516],[0.889743,-0.425723,-0.164676],[-0.001728,-0.363903,0.931435]]
2025-10-27T17:20:15.846Z,1761585615.846 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:20:15.846Z,1761585615.846 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:20:15.846Z,1761585615.846 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:20:15.851Z,1761585615.851 [marl:UpdateRudder:A] Stopped
2025-10-27T17:20:15.851Z,1761585615.851 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:20:15.851Z,1761585615.851 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:20:15.851Z,1761585615.851 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:20:15.851Z,1761585615.851 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateCommandMode] Stopped
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:20:15.852Z,1761585615.852 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:20:15.853Z,1761585615.853 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:20:15.853Z,1761585615.853 [marl:UpdateSpeed] Stopped
2025-10-27T17:20:15.853Z,1761585615.853 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:20:16.207Z,1761585616.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438081,-0.836243,-0.329822],[0.898866,-0.412042,-0.149198],[-0.011134,-0.361827,0.932179]]
2025-10-27T17:20:16.264Z,1761585616.264 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:20:16.264Z,1761585616.264 [marl:UpdateRudder:B] Stopped
2025-10-27T17:20:16.264Z,1761585616.264 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:20:16.264Z,1761585616.264 [marl:UpdateRudder] Stopped
2025-10-27T17:20:16.265Z,1761585616.265 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:20:16.601Z,1761585616.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421384,-0.842293,-0.336121],[0.906666,-0.399365,-0.135881],[-0.019784,-0.362008,0.931965]]
2025-10-27T17:20:17.017Z,1761585617.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407699,-0.847472,-0.339960],[0.912734,-0.389003,-0.124872],[-0.026420,-0.361203,0.932113]]
2025-10-27T17:20:17.463Z,1761585617.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382956,-0.856200,-0.346795],[0.923081,-0.369142,-0.107962],[-0.035580,-0.361465,0.931707]]
2025-10-27T17:20:17.864Z,1761585617.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370640,-0.860093,-0.350523],[0.927993,-0.358437,-0.101740],[-0.038135,-0.362992,0.931011]]
2025-10-27T17:20:18.265Z,1761585618.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358003,-0.863656,-0.354868],[0.932880,-0.346960,-0.096711],[-0.039600,-0.365672,0.929901]]
2025-10-27T17:20:19.082Z,1761585619.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330048,-0.871905,-0.361733],[0.943079,-0.321159,-0.086366],[-0.040871,-0.369647,0.928273]]
2025-10-27T17:20:19.477Z,1761585619.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313901,-0.876507,-0.364967],[0.948560,-0.306200,-0.080465],[-0.041225,-0.371451,0.927537]]
2025-10-27T17:20:20.286Z,1761585620.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277152,-0.887376,-0.368444],[0.959839,-0.273077,-0.064322],[-0.043536,-0.371474,0.927422]]
2025-10-27T17:20:20.697Z,1761585620.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257692,-0.893311,-0.368225],[0.965171,-0.255802,-0.054874],[-0.045173,-0.369541,0.928116]]
2025-10-27T17:20:21.094Z,1761585621.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237677,-0.898444,-0.369198],[0.970182,-0.238166,-0.044991],[-0.047509,-0.368883,0.928261]]
2025-10-27T17:20:21.498Z,1761585621.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217841,-0.902682,-0.371093],[0.974696,-0.220743,-0.035214],[-0.050129,-0.369374,0.927928]]
2025-10-27T17:20:21.914Z,1761585621.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197836,-0.906802,-0.372251],[0.978783,-0.203405,-0.024687],[-0.053332,-0.369237,0.927804]]
2025-10-27T17:20:22.310Z,1761585622.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178492,-0.910815,-0.372233],[0.982297,-0.186813,-0.013917],[-0.056862,-0.368127,0.928035]]
2025-10-27T17:20:22.710Z,1761585622.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159966,-0.914652,-0.371244],[0.985268,-0.170986,-0.003278],[-0.060479,-0.366299,0.928530]]
2025-10-27T17:20:23.113Z,1761585623.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142085,-0.917669,-0.371075],[0.987767,-0.155776,0.007019],[-0.064246,-0.365538,0.928576]]
2025-10-27T17:20:23.521Z,1761585623.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125157,-0.920183,-0.370943],[0.989799,-0.141458,0.016947],[-0.068067,-0.365038,0.928501]]
2025-10-27T17:20:23.924Z,1761585623.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109366,-0.922131,-0.371099],[0.991397,-0.128202,0.026391],[-0.071911,-0.365020,0.928218]]
2025-10-27T17:20:24.325Z,1761585624.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094243,-0.924028,-0.370527],[0.992663,-0.115538,0.035648],[-0.075750,-0.364449,0.928137]]
2025-10-27T17:20:24.812Z,1761585624.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079893,-0.926222,-0.368415],[0.993650,-0.103377,0.044419],[-0.079228,-0.362527,0.928599]]
2025-10-27T17:20:25.485Z,1761585625.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052234,-0.927878,-0.369207],[0.995022,-0.079776,0.059717],[-0.084864,-0.364249,0.927427]]
2025-10-27T17:20:25.985Z,1761585625.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038314,-0.928581,-0.369147],[0.995515,-0.067447,0.066335],[-0.086495,-0.364950,0.927001]]
2025-10-27T17:20:26.382Z,1761585626.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023749,-0.928730,-0.369996],[0.995903,-0.054279,0.072322],[-0.087251,-0.366763,0.926214]]
2025-10-27T17:20:26.787Z,1761585626.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008155,-0.929163,-0.369580],[0.996142,-0.039845,0.078195],[-0.087382,-0.367516,0.925903]]
2025-10-27T17:20:27.190Z,1761585627.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008447,-0.928665,-0.370823],[0.996187,-0.024386,0.083762],[-0.086829,-0.370116,0.924919]]
2025-10-27T17:20:27.998Z,1761585627.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043944,-0.928342,-0.369119],[0.995470,0.009506,0.094604],[-0.084316,-0.371604,0.924554]]
2025-10-27T17:20:28.813Z,1761585628.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083334,-0.926696,-0.366457],[0.993085,0.046713,0.107703],[-0.082689,-0.372898,0.924181]]
2025-10-27T17:20:29.246Z,1761585629.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104115,-0.925275,-0.364727],[0.991093,0.065908,0.115715],[-0.083030,-0.373527,0.923896]]
2025-10-27T17:20:29.308Z,1761585629.308 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:20:29.308Z,1761585629.308 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:20:29.308Z,1761585629.308 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateRudder:A] Stopped
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:20:29.309Z,1761585629.309 [marl:UpdateCommandMode] Stopped
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed] Stopped
2025-10-27T17:20:29.310Z,1761585629.310 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:20:29.649Z,1761585629.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124349,-0.923945,-0.361750],[0.988663,0.084450,0.124152],[-0.084160,-0.373087,0.923971]]
2025-10-27T17:20:29.688Z,1761585629.688 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:20:29.688Z,1761585629.688 [marl:UpdateRudder:B] Stopped
2025-10-27T17:20:29.688Z,1761585629.688 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:20:29.688Z,1761585629.688 [marl:UpdateRudder] Stopped
2025-10-27T17:20:29.689Z,1761585629.689 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:20:30.042Z,1761585630.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144297,-0.922778,-0.357294],[0.985777,0.102616,0.133091],[-0.086150,-0.371416,0.924461]]
2025-10-27T17:20:30.446Z,1761585630.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163526,-0.921328,-0.352723],[0.982532,0.119904,0.142316],[-0.088827,-0.369834,0.924842]]
2025-10-27T17:20:30.885Z,1761585630.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182035,-0.919923,-0.347282],[0.978981,0.136521,0.151521],[-0.091976,-0.367565,0.925439]]
2025-10-27T17:20:31.254Z,1761585631.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198328,-0.919296,-0.339944],[0.975426,0.151162,0.160295],[-0.095972,-0.363381,0.926684]]
2025-10-27T17:20:31.668Z,1761585631.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210751,-0.920998,-0.327639],[0.972336,0.162968,0.167341],[-0.100726,-0.353842,0.929865]]
2025-10-27T17:20:32.468Z,1761585632.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222510,-0.931784,-0.286825],[0.968501,0.177527,0.174614],[-0.111783,-0.316643,0.941935]]
2025-10-27T17:20:32.891Z,1761585632.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225533,-0.937143,-0.266267],[0.967148,0.182462,0.177008],[-0.117299,-0.297441,0.947507]]
2025-10-27T17:20:33.273Z,1761585633.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227910,-0.941605,-0.247864],[0.965899,0.186517,0.179586],[-0.122868,-0.280341,0.952004]]
2025-10-27T17:20:33.681Z,1761585633.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230432,-0.945572,-0.229769],[0.964594,0.190831,0.182048],[-0.128292,-0.263584,0.956067]]
2025-10-27T17:20:34.083Z,1761585634.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232502,-0.948652,-0.214481],[0.963321,0.194233,0.185164],[-0.133997,-0.249666,0.959016]]
2025-10-27T17:20:34.486Z,1761585634.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234084,-0.950961,-0.202181],[0.962129,0.196711,0.188716],[-0.139690,-0.238700,0.960994]]
2025-10-27T17:20:34.895Z,1761585634.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235189,-0.952625,-0.192852],[0.961005,0.198224,0.192815],[-0.145452,-0.230680,0.962097]]
2025-10-27T17:20:35.294Z,1761585635.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235633,-0.953897,-0.185898],[0.959993,0.198682,0.197332],[-0.151300,-0.224958,0.962550]]
2025-10-27T17:20:35.701Z,1761585635.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234347,-0.954879,-0.182449],[0.959411,0.196880,0.201911],[-0.156880,-0.222360,0.962260]]
2025-10-27T17:20:35.751Z,1761585635.751 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:20:36.102Z,1761585636.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231929,-0.956252,-0.178299],[0.959176,0.194326,0.205473],[-0.161836,-0.218675,0.962284]]
2025-10-27T17:20:36.506Z,1761585636.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227684,-0.957796,-0.175464],[0.959504,0.189989,0.207979],[-0.165866,-0.215712,0.962267]]
2025-10-27T17:20:36.759Z,1761585636.759 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:20:36.910Z,1761585636.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222241,-0.959742,-0.171769],[0.960373,0.185091,0.208385],[-0.168203,-0.211274,0.962845]]
2025-10-27T17:20:37.316Z,1761585637.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215961,-0.961425,-0.170360],[0.961704,0.179287,0.207319],[-0.168778,-0.208609,0.963326]]
2025-10-27T17:20:37.732Z,1761585637.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210019,-0.962510,-0.171657],[0.963248,0.173627,0.204957],[-0.167469,-0.208393,0.963601]]
2025-10-27T17:20:38.136Z,1761585638.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205748,-0.963298,-0.172407],[0.964514,0.169824,0.202169],[-0.165470,-0.207885,0.964056]]
2025-10-27T17:20:38.526Z,1761585638.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201888,-0.964011,-0.172988],[0.965942,0.166792,0.197831],[-0.161858,-0.207035,0.964851]]
2025-10-27T17:20:38.932Z,1761585638.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199241,-0.964291,-0.174487],[0.967229,0.164914,0.193059],[-0.157390,-0.207234,0.965548]]
2025-10-27T17:20:39.334Z,1761585639.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199066,-0.963715,-0.177837],[0.968007,0.165080,0.188973],[-0.152759,-0.209766,0.965745]]
2025-10-27T17:20:39.750Z,1761585639.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201418,-0.962615,-0.181118],[0.968236,0.167699,0.185464],[-0.148157,-0.212720,0.965815]]
2025-10-27T17:20:40.159Z,1761585640.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206400,-0.960913,-0.184514],[0.967809,0.172731,0.183057],[-0.144031,-0.216358,0.965632]]
2025-10-27T17:20:40.551Z,1761585640.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212753,-0.958739,-0.188560],[0.967021,0.178945,0.181246],[-0.140026,-0.220902,0.965192]]
2025-10-27T17:20:40.953Z,1761585640.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220429,-0.956321,-0.191993],[0.965791,0.186423,0.180260],[-0.136594,-0.225159,0.964700]]
2025-10-27T17:20:41.357Z,1761585641.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228280,-0.953414,-0.197207],[0.964354,0.193583,0.180410],[-0.133829,-0.231361,0.963619]]
2025-10-27T17:20:41.768Z,1761585641.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235653,-0.950862,-0.200821],[0.962851,0.200400,0.180989],[-0.131851,-0.236011,0.962764]]
2025-10-27T17:20:42.172Z,1761585642.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242098,-0.948395,-0.204780],[0.961477,0.206183,0.181797],[-0.130193,-0.240904,0.961777]]
2025-10-27T17:20:42.196Z,1761585642.196 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:20:42.196Z,1761585642.196 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:20:42.196Z,1761585642.196 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateRudder:A] Stopped
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:20:42.197Z,1761585642.197 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateCommandMode] Stopped
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed] Stopped
2025-10-27T17:20:42.198Z,1761585642.198 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:20:42.593Z,1761585642.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246691,-0.946308,-0.208913],[0.960527,0.210158,0.182270],[-0.128578,-0.245631,0.960798]]
2025-10-27T17:20:42.653Z,1761585642.653 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:20:42.653Z,1761585642.653 [marl:UpdateRudder:B] Stopped
2025-10-27T17:20:42.653Z,1761585642.653 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:20:42.653Z,1761585642.653 [marl:UpdateRudder] Stopped
2025-10-27T17:20:42.653Z,1761585642.653 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:20:42.973Z,1761585642.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248865,-0.944944,-0.212479],[0.960260,0.212105,0.181419],[-0.126363,-0.249184,0.960177]]
2025-10-27T17:20:43.378Z,1761585643.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249308,-0.944190,-0.215291],[0.960494,0.212687,0.179487],[-0.123680,-0.251534,0.959914]]
2025-10-27T17:20:43.442Z,1761585643.442 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:20:43.791Z,1761585643.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248398,-0.943770,-0.218165],[0.961133,0.212118,0.176718],[-0.120505,-0.253582,0.959778]]
2025-10-27T17:20:44.186Z,1761585644.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246643,-0.943746,-0.220254],[0.962076,0.211118,0.172741],[-0.116524,-0.254506,0.960025]]
2025-10-27T17:20:44.590Z,1761585644.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244603,-0.944185,-0.220644],[0.963100,0.210232,0.168053],[-0.112286,-0.253608,0.960768]]
2025-10-27T17:20:44.854Z,1761585644.854 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:20:44.855Z,1761585644.855 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:20:44.996Z,1761585644.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242889,-0.944642,-0.220582],[0.964027,0.209748,0.163272],[-0.107967,-0.252304,0.961606]]
2025-10-27T17:20:45.398Z,1761585645.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242417,-0.945030,-0.219439],[0.964562,0.210479,0.159119],[-0.104185,-0.250235,0.962563]]
2025-10-27T17:20:45.805Z,1761585645.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242891,-0.944969,-0.219173],[0.964806,0.211861,0.155770],[-0.100763,-0.249295,0.963171]]
2025-10-27T17:20:46.206Z,1761585646.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244103,-0.944697,-0.219001],[0.964792,0.213776,0.153219],[-0.097929,-0.248691,0.963619]]
2025-10-27T17:20:46.626Z,1761585646.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245434,-0.944344,-0.219037],[0.964711,0.215700,0.151015],[-0.095364,-0.248372,0.963959]]
2025-10-27T17:20:47.014Z,1761585647.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246830,-0.943953,-0.219153],[0.964609,0.217685,0.148801],[-0.092755,-0.248125,0.964277]]
2025-10-27T17:20:47.418Z,1761585647.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247941,-0.943406,-0.220250],[0.964592,0.219302,0.146522],[-0.089928,-0.248780,0.964376]]
2025-10-27T17:20:47.824Z,1761585647.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248213,-0.943105,-0.221233],[0.964818,0.220245,0.143590],[-0.086695,-0.249090,0.964592]]
2025-10-27T17:20:48.228Z,1761585648.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247806,-0.942995,-0.222155],[0.965270,0.220739,0.139743],[-0.082739,-0.249069,0.964945]]
2025-10-27T17:20:48.634Z,1761585648.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246018,-0.943203,-0.223258],[0.966134,0.220130,0.134639],[-0.077846,-0.248820,0.965416]]
2025-10-27T17:20:49.033Z,1761585649.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243710,-0.943329,-0.225245],[0.967138,0.219031,0.129112],[-0.072460,-0.249309,0.965709]]
2025-10-27T17:20:49.438Z,1761585649.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241442,-0.943695,-0.226155],[0.968116,0.218206,0.123032],[-0.066756,-0.248649,0.966290]]
2025-10-27T17:20:49.846Z,1761585649.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239112,-0.944105,-0.226919],[0.969091,0.217421,0.116576],[-0.060723,-0.247780,0.966912]]
2025-10-27T17:20:50.246Z,1761585650.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237380,-0.943887,-0.229626],[0.969866,0.216932,0.110911],[-0.054874,-0.249034,0.966939]]
2025-10-27T17:20:50.650Z,1761585650.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236028,-0.943635,-0.232043],[0.970490,0.216763,0.105660],[-0.049406,-0.250134,0.966950]]
2025-10-27T17:20:51.053Z,1761585651.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236041,-0.942549,-0.236401],[0.970714,0.217515,0.101989],[-0.044709,-0.253551,0.966288]]
2025-10-27T17:20:51.459Z,1761585651.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236379,-0.941948,-0.238451],[0.970804,0.218646,0.098658],[-0.040794,-0.254810,0.966130]]
2025-10-27T17:20:51.880Z,1761585651.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236478,-0.941033,-0.241939],[0.971022,0.220027,0.093298],[-0.034564,-0.256991,0.965796]]
2025-10-27T17:20:52.676Z,1761585652.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232683,-0.941078,-0.245419],[0.972091,0.217273,0.088495],[-0.029957,-0.259161,0.965369]]
2025-10-27T17:20:53.078Z,1761585653.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228335,-0.942316,-0.244753],[0.973196,0.213830,0.084656],[-0.027437,-0.257523,0.965883]]
2025-10-27T17:20:53.484Z,1761585653.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223094,-0.943765,-0.244001],[0.974481,0.209545,0.080488],[-0.024833,-0.255731,0.966429]]
2025-10-27T17:20:53.889Z,1761585653.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217233,-0.945668,-0.241911],[0.975876,0.204861,0.075492],[-0.021832,-0.252475,0.967357]]
2025-10-27T17:20:54.290Z,1761585654.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210960,-0.947451,-0.240483],[0.977327,0.199884,0.069843],[-0.018104,-0.249765,0.968137]]
2025-10-27T17:20:54.694Z,1761585654.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204492,-0.949320,-0.238691],[0.978776,0.194950,0.063186],[-0.013451,-0.246546,0.969038]]
2025-10-27T17:20:55.112Z,1761585655.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198521,-0.950892,-0.237473],[0.980064,0.190615,0.056044],[-0.008026,-0.243865,0.969776]]
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateRudder:A] Stopped
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:20:55.184Z,1761585655.184 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode] Stopped
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:20:55.185Z,1761585655.185 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:20:55.186Z,1761585655.186 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:20:55.186Z,1761585655.186 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:20:55.186Z,1761585655.186 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:20:55.186Z,1761585655.186 [marl:UpdateSpeed] Stopped
2025-10-27T17:20:55.186Z,1761585655.186 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:20:55.561Z,1761585655.561 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:20:55.561Z,1761585655.561 [marl:UpdateRudder:B] Stopped
2025-10-27T17:20:55.562Z,1761585655.562 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:20:55.562Z,1761585655.562 [marl:UpdateRudder] Stopped
2025-10-27T17:20:55.562Z,1761585655.562 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:20:56.311Z,1761585656.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191119,-0.953615,-0.232577],[0.981504,0.188353,0.034259],[0.011137,-0.234823,0.971974]]
2025-10-27T17:20:56.713Z,1761585656.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193145,-0.952830,-0.234113],[0.981012,0.191819,0.028649],[0.017610,-0.235201,0.971787]]
2025-10-27T17:20:57.119Z,1761585657.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196697,-0.951478,-0.236641],[0.980168,0.196753,0.023625],[0.024081,-0.236595,0.971310]]
2025-10-27T17:20:57.522Z,1761585657.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201478,-0.949717,-0.239677],[0.979029,0.202795,0.019422],[0.030160,-0.238563,0.970659]]
2025-10-27T17:20:57.932Z,1761585657.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206395,-0.948049,-0.242084],[0.977815,0.208884,0.015631],[0.035748,-0.239940,0.970129]]
2025-10-27T17:20:58.329Z,1761585658.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211968,-0.946094,-0.244900],[0.976457,0.215294,0.013431],[0.040018,-0.241981,0.969455]]
2025-10-27T17:20:58.741Z,1761585658.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217185,-0.943938,-0.248620],[0.975198,0.220952,0.013006],[0.042656,-0.245278,0.968514]]
2025-10-27T17:20:59.137Z,1761585659.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221755,-0.942109,-0.251506],[0.974142,0.225485,0.014269],[0.043268,-0.248167,0.967750]]
2025-10-27T17:20:59.543Z,1761585659.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226324,-0.940150,-0.254747],[0.973152,0.229485,0.017654],[0.041864,-0.251903,0.966847]]
2025-10-27T17:20:59.945Z,1761585659.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229813,-0.938507,-0.257663],[0.972436,0.232153,0.021740],[0.039414,-0.255557,0.965990]]
2025-10-27T17:21:00.349Z,1761585660.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229902,-0.938132,-0.258947],[0.972493,0.231691,0.024025],[0.037457,-0.257348,0.965593]]
2025-10-27T17:21:00.758Z,1761585660.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225477,-0.938726,-0.260680],[0.973544,0.227270,0.023661],[0.037034,-0.259119,0.965135]]
2025-10-27T17:21:01.159Z,1761585661.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218591,-0.940060,-0.261736],[0.975078,0.220857,0.021110],[0.037962,-0.259827,0.964909]]
2025-10-27T17:21:01.562Z,1761585661.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211751,-0.941564,-0.261952],[0.976527,0.214659,0.017811],[0.039460,-0.259575,0.964916]]
2025-10-27T17:21:01.966Z,1761585661.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204753,-0.943240,-0.261486],[0.977912,0.208596,0.013287],[0.042012,-0.258431,0.965116]]
2025-10-27T17:21:02.370Z,1761585662.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197861,-0.945004,-0.260420],[0.979171,0.202892,0.007703],[0.045558,-0.256520,0.965465]]
2025-10-27T17:21:02.775Z,1761585662.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190937,-0.947022,-0.258249],[0.980303,0.197499,0.000544],[0.050489,-0.253266,0.966078]]
2025-10-27T17:21:03.178Z,1761585663.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184741,-0.949254,-0.254535],[0.981165,0.193017,-0.007700],[0.056439,-0.248318,0.967033]]
2025-10-27T17:21:03.593Z,1761585663.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179788,-0.950751,-0.252485],[0.981710,0.189751,-0.015472],[0.062619,-0.245085,0.967477]]
2025-10-27T17:21:04.392Z,1761585664.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178504,-0.951901,-0.249041],[0.981221,0.191015,-0.026805],[0.073086,-0.239580,0.968122]]
2025-10-27T17:21:04.794Z,1761585664.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181206,-0.951152,-0.249949],[0.980427,0.194613,-0.029795],[0.076983,-0.239658,0.967801]]
2025-10-27T17:21:05.198Z,1761585665.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184402,-0.950324,-0.250758],[0.979553,0.198585,-0.032258],[0.080452,-0.239682,0.967512]]
2025-10-27T17:21:05.603Z,1761585665.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188087,-0.949478,-0.251227],[0.978623,0.202842,-0.033946],[0.083191,-0.239472,0.967333]]
2025-10-27T17:21:06.012Z,1761585666.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191541,-0.948753,-0.251355],[0.977776,0.206694,-0.035082],[0.085238,-0.239049,0.967259]]
2025-10-27T17:21:06.410Z,1761585666.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195164,-0.947451,-0.253470],[0.977009,0.210423,-0.034280],[0.085814,-0.240952,0.966736]]
2025-10-27T17:21:06.826Z,1761585666.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198472,-0.946874,-0.253059],[0.976456,0.213291,-0.032248],[0.084510,-0.240701,0.966913]]
2025-10-27T17:21:06.886Z,1761585666.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:21:07.217Z,1761585667.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200649,-0.946242,-0.253703],[0.976169,0.214967,-0.029733],[0.082672,-0.241691,0.966825]]
2025-10-27T17:21:07.625Z,1761585667.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200561,-0.945913,-0.254997],[0.976354,0.214424,-0.027484],[0.080675,-0.243455,0.966551]]
2025-10-27T17:21:07.889Z,1761585667.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:21:08.031Z,1761585668.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197958,-0.946268,-0.255713],[0.977018,0.211518,-0.026374],[0.079045,-0.244616,0.966393]]
2025-10-27T17:21:08.153Z,1761585668.153 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:21:08.154Z,1761585668.154 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:21:08.154Z,1761585668.154 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:21:08.154Z,1761585668.154 [marl:UpdateRudder:A] Stopped
2025-10-27T17:21:08.154Z,1761585668.154 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:21:08.154Z,1761585668.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode] Stopped
2025-10-27T17:21:08.155Z,1761585668.155 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed] Stopped
2025-10-27T17:21:08.156Z,1761585668.156 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:21:08.430Z,1761585668.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193487,-0.947145,-0.255889],[0.978057,0.206746,-0.025703],[0.077249,-0.245300,0.966365]]
2025-10-27T17:21:08.511Z,1761585668.511 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:21:08.511Z,1761585668.511 [marl:UpdateRudder:B] Stopped
2025-10-27T17:21:08.512Z,1761585668.512 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:21:08.512Z,1761585668.512 [marl:UpdateRudder] Stopped
2025-10-27T17:21:08.512Z,1761585668.512 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:21:09.238Z,1761585669.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182316,-0.949349,-0.255926],[0.980502,0.194953,-0.024681],[0.073324,-0.246436,0.966381]]
2025-10-27T17:21:09.642Z,1761585669.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175950,-0.950919,-0.254549],[0.981773,0.188389,-0.025142],[0.071862,-0.245486,0.966733]]
2025-10-27T17:21:10.047Z,1761585670.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168608,-0.953069,-0.251458],[0.983062,0.181188,-0.027569],[0.071837,-0.242550,0.967475]]
2025-10-27T17:21:10.884Z,1761585670.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152713,-0.957757,-0.243682],[0.985268,0.166753,-0.037940],[0.076972,-0.234298,0.969113]]
2025-10-27T17:21:11.266Z,1761585671.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145367,-0.959945,-0.239528],[0.985977,0.160615,-0.045308],[0.081965,-0.229583,0.969832]]
2025-10-27T17:21:11.661Z,1761585671.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140378,-0.961603,-0.235825],[0.986243,0.156806,-0.052318],[0.087288,-0.225237,0.970386]]
2025-10-27T17:21:12.076Z,1761585672.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138713,-0.962220,-0.234290],[0.986061,0.156145,-0.057476],[0.091887,-0.223051,0.970466]]
2025-10-27T17:21:12.470Z,1761585672.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140955,-0.962039,-0.233695],[0.985405,0.159090,-0.060561],[0.095441,-0.221748,0.970422]]
2025-10-27T17:21:12.894Z,1761585672.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144808,-0.961271,-0.234496],[0.984548,0.163568,-0.062532],[0.098467,-0.221817,0.970104]]
2025-10-27T17:21:13.278Z,1761585673.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149308,-0.960252,-0.235845],[0.983608,0.168627,-0.063873],[0.101104,-0.222442,0.969689]]
2025-10-27T17:21:13.681Z,1761585673.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154830,-0.958805,-0.238161],[0.982574,0.174542,-0.063904],[0.102841,-0.224117,0.969121]]
2025-10-27T17:21:14.088Z,1761585674.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160880,-0.956956,-0.241563],[0.981500,0.180864,-0.062820],[0.103806,-0.226987,0.968350]]
2025-10-27T17:21:14.491Z,1761585674.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167528,-0.955312,-0.243543],[0.980375,0.187471,-0.060986],[0.103918,-0.228547,0.967971]]
2025-10-27T17:21:14.898Z,1761585674.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174631,-0.953026,-0.247478],[0.979189,0.194487,-0.058005],[0.103412,-0.232198,0.967156]]
2025-10-27T17:21:15.702Z,1761585675.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189270,-0.948623,-0.253556],[0.976841,0.208147,-0.049561],[0.099792,-0.238303,0.966050]]
2025-10-27T17:21:16.112Z,1761585676.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195248,-0.946261,-0.257813],[0.975919,0.213522,-0.044609],[0.097261,-0.242895,0.965164]]
2025-10-27T17:21:17.318Z,1761585677.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202195,-0.941978,-0.267944],[0.975210,0.218776,-0.033216],[0.089908,-0.254585,0.962862]]
2025-10-27T17:21:17.725Z,1761585677.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201459,-0.941857,-0.268922],[0.975625,0.217340,-0.030325],[0.087009,-0.256257,0.962685]]
2025-10-27T17:21:18.127Z,1761585678.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199423,-0.942154,-0.269400],[0.976337,0.214505,-0.027441],[0.083642,-0.257553,0.962637]]
2025-10-27T17:21:18.534Z,1761585678.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195766,-0.943766,-0.266424],[0.977367,0.209985,-0.025682],[0.080183,-0.255367,0.963514]]
2025-10-27T17:21:18.935Z,1761585678.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190846,-0.945787,-0.262801],[0.978648,0.204139,-0.023975],[0.076323,-0.252614,0.964552]]
2025-10-27T17:21:19.341Z,1761585679.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184729,-0.948462,-0.257477],[0.980116,0.197102,-0.022867],[0.072438,-0.248133,0.966014]]
2025-10-27T17:21:19.751Z,1761585679.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178130,-0.951106,-0.252325],[0.981584,0.189733,-0.022219],[0.069007,-0.243721,0.967387]]
2025-10-27T17:21:20.146Z,1761585680.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170547,-0.954089,-0.246226],[0.983107,0.181611,-0.022772],[0.066444,-0.238183,0.968945]]
2025-10-27T17:21:20.559Z,1761585680.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162712,-0.956845,-0.240776],[0.984550,0.173456,-0.023973],[0.064702,-0.233155,0.970285]]
2025-10-27T17:21:20.954Z,1761585680.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156172,-0.959300,-0.235275],[0.985669,0.166740,-0.025584],[0.063773,-0.227908,0.971592]]
2025-10-27T17:21:21.014Z,1761585681.014 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:21:21.014Z,1761585681.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:21:21.014Z,1761585681.014 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:21:21.015Z,1761585681.015 [marl:UpdateRudder:A] Stopped
2025-10-27T17:21:21.015Z,1761585681.015 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:21:21.015Z,1761585681.015 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:21:21.015Z,1761585681.015 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:21:21.015Z,1761585681.015 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateCommandMode] Stopped
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:21:21.016Z,1761585681.016 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:21:21.017Z,1761585681.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:21:21.017Z,1761585681.017 [marl:UpdateSpeed] Stopped
2025-10-27T17:21:21.017Z,1761585681.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:21:21.359Z,1761585681.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150099,-0.961648,-0.229573],[0.986623,0.160632,-0.027796],[0.063607,-0.222330,0.972894]]
2025-10-27T17:21:21.384Z,1761585681.384 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:21:21.384Z,1761585681.384 [marl:UpdateRudder:B] Stopped
2025-10-27T17:21:21.385Z,1761585681.385 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:21:21.385Z,1761585681.385 [marl:UpdateRudder] Stopped
2025-10-27T17:21:21.385Z,1761585681.385 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:21:21.764Z,1761585681.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145016,-0.963323,-0.225787],[0.987348,0.155688,-0.030100],[0.064148,-0.218565,0.973712]]
2025-10-27T17:21:22.166Z,1761585682.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141318,-0.964528,-0.222967],[0.987820,0.152204,-0.032331],[0.065121,-0.215683,0.974290]]
2025-10-27T17:21:22.570Z,1761585682.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139721,-0.964950,-0.222146],[0.987985,0.150824,-0.033741],[0.066063,-0.214763,0.974429]]
2025-10-27T17:21:23.378Z,1761585683.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143617,-0.964371,-0.222178],[0.987411,0.154673,-0.033099],[0.066285,-0.214628,0.974444]]
2025-10-27T17:21:23.781Z,1761585683.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148379,-0.963197,-0.224132],[0.986774,0.159162,-0.030732],[0.065274,-0.216607,0.974074]]
2025-10-27T17:21:24.185Z,1761585684.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153972,-0.961642,-0.227020],[0.985972,0.164517,-0.028167],[0.064435,-0.219498,0.973483]]
2025-10-27T17:21:24.591Z,1761585684.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160655,-0.959651,-0.230781],[0.984994,0.170820,-0.024629],[0.063057,-0.223361,0.972694]]
2025-10-27T17:21:24.993Z,1761585684.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167832,-0.957329,-0.235272],[0.983899,0.177541,-0.020549],[0.061442,-0.228035,0.971712]]
2025-10-27T17:21:25.398Z,1761585685.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174737,-0.955052,-0.239464],[0.982804,0.183923,-0.016387],[0.059693,-0.232483,0.970767]]
2025-10-27T17:21:25.802Z,1761585685.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180841,-0.953237,-0.242149],[0.981814,0.189435,-0.012490],[0.057777,-0.235487,0.970159]]
2025-10-27T17:21:26.208Z,1761585686.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185362,-0.951642,-0.244985],[0.981085,0.193374,-0.008844],[0.055790,-0.238712,0.969487]]
2025-10-27T17:21:26.610Z,1761585686.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188412,-0.950528,-0.246977],[0.980609,0.195889,-0.005831],[0.053922,-0.241089,0.969004]]
2025-10-27T17:21:27.020Z,1761585687.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189513,-0.950100,-0.247779],[0.980484,0.196565,-0.003801],[0.052316,-0.242223,0.968809]]
2025-10-27T17:21:27.418Z,1761585687.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189849,-0.950156,-0.247307],[0.980512,0.196449,-0.002054],[0.050535,-0.242098,0.968935]]
2025-10-27T17:21:27.824Z,1761585687.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189306,-0.950562,-0.246162],[0.980692,0.195554,-0.000956],[0.049047,-0.241228,0.969228]]
2025-10-27T17:21:28.226Z,1761585688.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188243,-0.950980,-0.245359],[0.980949,0.194265,-0.000350],[0.047997,-0.240619,0.969432]]
2025-10-27T17:21:28.629Z,1761585688.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187195,-0.951912,-0.242534],[0.981208,0.192955,0.000001],[0.046797,-0.237976,0.970143]]
2025-10-27T17:21:29.043Z,1761585689.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186363,-0.952588,-0.240509],[0.981399,0.191980,0.000076],[0.046100,-0.236050,0.970647]]
2025-10-27T17:21:29.439Z,1761585689.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185858,-0.952951,-0.239462],[0.981509,0.191416,0.000046],[0.045793,-0.235043,0.970906]]
2025-10-27T17:21:29.854Z,1761585689.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186721,-0.952652,-0.239977],[0.981354,0.192207,0.000557],[0.045595,-0.235606,0.970778]]
2025-10-27T17:21:30.245Z,1761585690.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188903,-0.952258,-0.239834],[0.980955,0.194232,0.001444],[0.045208,-0.235539,0.970813]]
2025-10-27T17:21:30.650Z,1761585690.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191802,-0.951491,-0.240578],[0.980414,0.196926,0.002792],[0.044720,-0.236402,0.970626]]
2025-10-27T17:21:31.055Z,1761585691.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194872,-0.950570,-0.241748],[0.979829,0.199791,0.004245],[0.044264,-0.237699,0.970330]]
2025-10-27T17:21:31.457Z,1761585691.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197934,-0.949737,-0.242531],[0.979247,0.202586,0.005868],[0.043561,-0.238659,0.970126]]
2025-10-27T17:21:31.861Z,1761585691.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200383,-0.949046,-0.243226],[0.978794,0.204705,0.007643],[0.042536,-0.239599,0.969940]]
2025-10-27T17:21:32.673Z,1761585692.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201057,-0.948564,-0.244546],[0.978873,0.204031,0.013383],[0.037200,-0.242070,0.969545]]
2025-10-27T17:21:33.073Z,1761585693.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197979,-0.949754,-0.242426],[0.979609,0.200341,0.015127],[0.034201,-0.240478,0.970052]]
2025-10-27T17:21:33.882Z,1761585693.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187504,-0.953414,-0.236313],[0.981852,0.188885,0.016993],[0.028435,-0.235211,0.971528]]
2025-10-27T17:21:33.906Z,1761585693.906 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:21:33.906Z,1761585693.906 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:21:33.907Z,1761585693.907 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:21:33.907Z,1761585693.907 [marl:UpdateRudder:A] Stopped
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode] Stopped
2025-10-27T17:21:33.908Z,1761585693.908 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed] Stopped
2025-10-27T17:21:33.909Z,1761585693.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:21:34.287Z,1761585694.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181285,-0.955450,-0.232919],[0.983072,0.182458,0.016689],[0.026553,-0.232001,0.972353]]
2025-10-27T17:21:34.358Z,1761585694.358 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:21:34.358Z,1761585694.358 [marl:UpdateRudder:B] Stopped
2025-10-27T17:21:34.359Z,1761585694.359 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:21:34.359Z,1761585694.359 [marl:UpdateRudder] Stopped
2025-10-27T17:21:34.360Z,1761585694.360 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:21:34.689Z,1761585694.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174569,-0.957612,-0.229141],[0.984304,0.175842,0.015014],[0.025915,-0.228165,0.973278]]
2025-10-27T17:21:35.094Z,1761585695.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168100,-0.959467,-0.226197],[0.985404,0.169804,0.012049],[0.026848,-0.224921,0.974007]]
2025-10-27T17:21:35.507Z,1761585695.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162561,-0.961022,-0.223631],[0.986266,0.164973,0.007987],[0.029218,-0.221858,0.974641]]
2025-10-27T17:21:35.903Z,1761585695.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158569,-0.961828,-0.223033],[0.986812,0.161825,0.003722],[0.032513,-0.220682,0.974804]]
2025-10-27T17:21:36.305Z,1761585696.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157137,-0.962122,-0.222777],[0.986915,0.161240,-0.000232],[0.036144,-0.219826,0.974869]]
2025-10-27T17:21:36.710Z,1761585696.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158956,-0.961879,-0.222535],[0.986529,0.163572,-0.002347],[0.038658,-0.219164,0.974922]]
2025-10-27T17:21:37.533Z,1761585697.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156491,-0.969465,-0.188804],[0.986960,0.160787,-0.007555],[0.037682,-0.185160,0.981986]]
2025-10-27T17:21:37.926Z,1761585697.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148910,-0.975668,-0.160927],[0.988275,0.152393,-0.009452],[0.033746,-0.157632,0.986921]]
2025-10-27T17:21:38.012Z,1761585698.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:21:38.330Z,1761585698.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138817,-0.981714,-0.130259],[0.989914,0.141311,-0.010060],[0.028283,-0.127549,0.991429]]
2025-10-27T17:21:38.741Z,1761585698.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126497,-0.986750,-0.101603],[0.991719,0.128088,-0.009269],[0.022161,-0.099589,0.994782]]
2025-10-27T17:21:39.016Z,1761585699.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:21:39.136Z,1761585699.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112523,-0.990853,-0.074489],[0.993519,0.113406,-0.007706],[0.016083,-0.073139,0.997192]]
2025-10-27T17:21:39.537Z,1761585699.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096044,-0.993924,-0.053761],[0.995318,0.096486,-0.005675],[0.010828,-0.052965,0.998538]]
2025-10-27T17:21:39.938Z,1761585699.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077818,-0.996303,-0.036397],[0.996946,0.078007,-0.003798],[0.006623,-0.035991,0.999330]]
2025-10-27T17:21:40.344Z,1761585700.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058454,-0.998051,-0.021858],[0.998285,0.058510,-0.001947],[0.003222,-0.021707,0.999759]]
2025-10-27T17:21:40.758Z,1761585700.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038279,-0.999206,-0.011027],[0.999267,0.038283,-0.000117],[0.000539,-0.011015,0.999939]]
2025-10-27T17:21:41.149Z,1761585701.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018091,-0.999832,-0.002906],[0.999835,0.018086,0.001693],[-0.001640,-0.002937,0.999994]]
2025-10-27T17:21:41.555Z,1761585701.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002075,-0.999992,0.003305],[0.999991,-0.002063,0.003650],[-0.003643,0.003313,0.999988]]
2025-10-27T17:21:41.958Z,1761585701.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021803,-0.999740,0.006698],[0.999747,-0.021765,0.005626],[-0.005479,0.006819,0.999962]]
2025-10-27T17:21:42.362Z,1761585702.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041217,-0.999108,0.009153],[0.999125,-0.041149,0.007441],[-0.007058,0.009452,0.999930]]
2025-10-27T17:21:42.766Z,1761585702.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060225,-0.998138,0.009695],[0.998147,-0.060135,0.009312],[-0.008712,0.010238,0.999910]]
2025-10-27T17:21:43.171Z,1761585703.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079119,-0.996808,0.010660],[0.996813,-0.079001,0.011074],[-0.010197,0.011502,0.999882]]
2025-10-27T17:21:43.573Z,1761585703.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097466,-0.995184,0.010459],[0.995170,-0.097330,0.012771],[-0.011691,0.011653,0.999864]]
2025-10-27T17:21:43.648Z,1761585703.648 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:21:44.381Z,1761585704.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129683,-0.991533,0.006670],[0.991459,-0.129574,0.014800],[-0.013810,0.008532,0.999868]]
2025-10-27T17:21:45.048Z,1761585705.048 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:21:45.048Z,1761585705.048 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:21:45.191Z,1761585705.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158513,-0.987352,0.003085],[0.987253,-0.158450,0.015012],[-0.014333,0.005426,0.999883]]
2025-10-27T17:21:46.005Z,1761585706.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183252,-0.983065,0.000955],[0.982957,-0.183218,0.015034],[-0.014605,0.003694,0.999887]]
2025-10-27T17:21:46.406Z,1761585706.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194796,-0.980841,0.002283],[0.980732,-0.194739,0.015551],[-0.014809,0.005269,0.999876]]
2025-10-27T17:21:46.840Z,1761585706.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206072,-0.978532,0.003199],[0.978416,-0.205994,0.016361],[-0.015350,0.006502,0.999861]]
2025-10-27T17:21:46.938Z,1761585706.938 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:21:46.938Z,1761585706.938 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:21:46.938Z,1761585706.938 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:21:46.939Z,1761585706.939 [marl:UpdateRudder:A] Stopped
2025-10-27T17:21:46.939Z,1761585706.939 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:21:46.943Z,1761585706.943 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:21:46.943Z,1761585706.943 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:21:46.943Z,1761585706.943 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:21:46.943Z,1761585706.943 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateCommandMode] Stopped
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:21:46.944Z,1761585706.944 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:21:46.945Z,1761585706.944 [marl:UpdateSpeed] Stopped
2025-10-27T17:21:46.945Z,1761585706.945 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:21:47.210Z,1761585707.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216932,-0.976186,0.000948],[0.976049,-0.216885,0.017005],[-0.016394,0.004614,0.999855]]
2025-10-27T17:21:47.256Z,1761585707.256 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:21:47.256Z,1761585707.256 [marl:UpdateRudder:B] Stopped
2025-10-27T17:21:47.256Z,1761585707.256 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:21:47.256Z,1761585707.256 [marl:UpdateRudder] Stopped
2025-10-27T17:21:47.256Z,1761585707.256 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:21:47.637Z,1761585707.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227885,-0.973688,-0.000066],[0.973515,-0.227846,0.018848],[-0.018367,0.004231,0.999822]]
2025-10-27T17:21:48.020Z,1761585708.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238865,-0.971052,-0.001278],[0.970819,-0.238836,0.021610],[-0.021290,0.003921,0.999766]]
2025-10-27T17:21:48.422Z,1761585708.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250602,-0.968085,-0.003054],[0.967766,-0.250599,0.025082],[-0.025047,0.003330,0.999681]]
2025-10-27T17:21:48.888Z,1761585708.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264099,-0.964481,-0.005296],[0.964051,-0.264140,0.028917],[-0.029289,0.002531,0.999568]]
2025-10-27T17:21:49.232Z,1761585709.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279484,-0.960128,-0.006592],[0.959550,-0.279545,0.033436],[-0.033945,0.003020,0.999419]]
2025-10-27T17:21:49.634Z,1761585709.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297244,-0.954781,-0.006272],[0.954038,-0.297262,0.038025],[-0.038170,0.005319,0.999257]]
2025-10-27T17:21:50.038Z,1761585710.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316173,-0.948683,-0.005866],[0.947763,-0.316130,0.042503],[-0.042177,0.007878,0.999079]]
2025-10-27T17:21:50.442Z,1761585710.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336158,-0.941793,-0.004884],[0.940704,-0.336011,0.046603],[-0.045532,0.011071,0.998902]]
2025-10-27T17:21:50.893Z,1761585710.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356229,-0.934381,-0.005729],[0.933163,-0.356066,0.049232],[-0.048041,0.012191,0.998771]]
2025-10-27T17:21:51.262Z,1761585711.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376429,-0.926429,-0.005585],[0.925139,-0.376211,0.050821],[-0.049183,0.013964,0.998692]]
2025-10-27T17:21:51.665Z,1761585711.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396538,-0.917998,-0.006075],[0.916706,-0.396316,0.050830],[-0.049069,0.014587,0.998689]]
2025-10-27T17:21:52.070Z,1761585712.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416250,-0.909235,-0.005294],[0.908006,-0.415978,0.049878],[-0.047553,0.015955,0.998741]]
2025-10-27T17:21:52.492Z,1761585712.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435498,-0.900174,-0.005343],[0.899086,-0.435250,0.046921],[-0.044563,0.015630,0.998884]]
2025-10-27T17:21:53.281Z,1761585713.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471152,-0.882030,-0.006180],[0.881279,-0.471021,0.038545],[-0.036909,0.012714,0.999238]]
2025-10-27T17:21:53.686Z,1761585713.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486815,-0.873479,-0.006739],[0.872873,-0.486742,0.034290],[-0.033231,0.010810,0.999389]]
2025-10-27T17:21:54.092Z,1761585714.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500866,-0.865492,-0.007511],[0.865003,-0.500847,0.030368],[-0.030045,0.008714,0.999511]]
2025-10-27T17:21:54.496Z,1761585714.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513271,-0.858178,-0.009090],[0.857792,-0.513319,0.026391],[-0.027314,0.005748,0.999610]]
2025-10-27T17:21:54.900Z,1761585714.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523974,-0.851675,-0.010003],[0.851353,-0.524055,0.023756],[-0.025475,0.003932,0.999668]]
2025-10-27T17:21:55.301Z,1761585715.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534202,-0.845273,-0.011944],[0.845016,-0.534334,0.020842],[-0.023999,0.001041,0.999711]]
2025-10-27T17:21:55.706Z,1761585715.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543849,-0.839090,-0.012510],[0.838866,-0.543993,0.019393],[-0.023078,0.000052,0.999734]]
2025-10-27T17:21:56.110Z,1761585716.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553378,-0.832811,-0.014113],[0.832625,-0.553555,0.017699],[-0.022553,-0.001956,0.999744]]
2025-10-27T17:21:56.921Z,1761585716.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571570,-0.820393,-0.016202],[0.820225,-0.571789,0.016971],[-0.023187,-0.003589,0.999725]]
2025-10-27T17:21:57.323Z,1761585717.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581169,-0.813598,-0.017343],[0.813413,-0.581415,0.017775],[-0.024545,-0.003777,0.999692]]
2025-10-27T17:21:57.734Z,1761585717.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590381,-0.806923,-0.018056],[0.806694,-0.590649,0.019468],[-0.026374,-0.003072,0.999647]]
2025-10-27T17:21:58.129Z,1761585718.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600041,-0.799779,-0.017446],[0.799476,-0.600294,0.022044],[-0.028103,-0.000721,0.999605]]
2025-10-27T17:21:59.342Z,1761585719.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634531,-0.772744,-0.015366],[0.772211,-0.634680,0.029513],[-0.032558,0.006861,0.999446]]
2025-10-27T17:21:59.753Z,1761585719.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647947,-0.761543,-0.014701],[0.760956,-0.648050,0.031239],[-0.033316,0.009055,0.999404]]
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateRudder:A] Stopped
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:21:59.789Z,1761585719.789 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateCommandMode] Stopped
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:21:59.790Z,1761585719.790 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:21:59.791Z,1761585719.791 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:21:59.791Z,1761585719.791 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:21:59.791Z,1761585719.791 [marl:UpdateSpeed] Stopped
2025-10-27T17:21:59.791Z,1761585719.791 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:22:00.200Z,1761585720.200 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:22:00.200Z,1761585720.200 [marl:UpdateRudder:B] Stopped
2025-10-27T17:22:00.201Z,1761585720.201 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:22:00.201Z,1761585720.201 [marl:UpdateRudder] Stopped
2025-10-27T17:22:00.201Z,1761585720.201 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:22:00.555Z,1761585720.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675121,-0.737535,-0.015920],[0.736873,-0.675227,0.032961],[-0.035059,0.010522,0.999330]]
2025-10-27T17:22:00.973Z,1761585720.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688668,-0.724881,-0.016855],[0.724206,-0.688794,0.033008],[-0.035536,0.010525,0.999313]]
2025-10-27T17:22:01.362Z,1761585721.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701992,-0.711977,-0.017175],[0.711295,-0.702117,0.033035],[-0.035579,0.010974,0.999307]]
2025-10-27T17:22:01.766Z,1761585721.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715073,-0.698850,-0.016728],[0.698177,-0.715170,0.032876],[-0.034939,0.011829,0.999319]]
2025-10-27T17:22:02.083Z,1761585722.083 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:22:02.083Z,1761585722.083 [DAT] No Fault, FailCount= 8
2025-10-27T17:22:02.171Z,1761585722.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727969,-0.685407,-0.016682],[0.684795,-0.728075,0.031035],[-0.033418,0.011169,0.999379]]
2025-10-27T17:22:02.260Z,1761585722.260 [DAT](INFO): Powering up
2025-10-27T17:22:02.260Z,1761585722.260 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:22:02.574Z,1761585722.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740509,-0.671820,-0.017426],[0.671303,-0.740660,0.027825],[-0.031600,0.008906,0.999461]]
2025-10-27T17:22:02.979Z,1761585722.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752604,-0.658261,-0.016741],[0.657809,-0.752743,0.025802],[-0.029586,0.008406,0.999527]]
2025-10-27T17:22:03.382Z,1761585723.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764353,-0.644631,-0.014701],[0.644219,-0.764434,0.024954],[-0.027324,0.009603,0.999581]]
2025-10-27T17:22:04.189Z,1761585724.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786165,-0.617889,-0.012563],[0.617553,-0.786200,0.022780],[-0.023952,0.010151,0.999662]]
2025-10-27T17:22:05.071Z,1761585725.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805673,-0.592265,-0.010656],[0.591973,-0.805666,0.021686],[-0.021429,0.011164,0.999708]]
2025-10-27T17:22:05.404Z,1761585725.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815008,-0.579366,-0.009805],[0.579088,-0.814981,0.021531],[-0.020466,0.011870,0.999720]]
2025-10-27T17:22:05.806Z,1761585725.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824610,-0.565625,-0.009354],[0.565370,-0.824579,0.020644],[-0.019389,0.011735,0.999743]]
2025-10-27T17:22:06.614Z,1761585726.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843963,-0.536321,-0.009272],[0.536107,-0.843947,0.018541],[-0.017769,0.010677,0.999785]]
2025-10-27T17:22:07.023Z,1761585727.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853570,-0.520888,-0.009656],[0.520723,-0.853586,0.015421],[-0.016275,0.008135,0.999834]]
2025-10-27T17:22:07.422Z,1761585727.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863052,-0.505011,-0.010234],[0.504899,-0.863099,0.011696],[-0.014740,0.004927,0.999879]]
2025-10-27T17:22:07.826Z,1761585727.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872094,-0.489237,-0.009994],[0.489169,-0.872147,0.008513],[-0.012881,0.002536,0.999914]]
2025-10-27T17:22:08.231Z,1761585728.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880791,-0.473422,-0.008897],[0.473390,-0.880836,0.005522],[-0.010451,0.000652,0.999945]]
2025-10-27T17:22:08.633Z,1761585728.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889163,-0.457543,-0.006612],[0.457526,-0.889187,0.004037],[-0.007726,0.000565,0.999970]]
2025-10-27T17:22:09.037Z,1761585729.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896706,-0.442609,-0.003880],[0.442600,-0.896714,0.002885],[-0.004757,0.000870,0.999988]]
2025-10-27T17:22:09.143Z,1761585729.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:22:09.452Z,1761585729.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903374,-0.428853,-0.000954],[0.428850,-0.903373,0.001977],[-0.001710,0.001377,0.999998]]
2025-10-27T17:22:09.847Z,1761585729.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909314,-0.416108,0.001740],[0.416109,-0.909314,0.000908],[0.001205,0.001550,0.999998]]
2025-10-27T17:22:10.148Z,1761585730.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:22:10.250Z,1761585730.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914518,-0.404522,0.004416],[0.404529,-0.914525,0.000750],[0.003735,0.002472,0.999990]]
2025-10-27T17:22:10.654Z,1761585730.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919362,-0.393344,0.007312],[0.393361,-0.919384,0.000989],[0.006334,0.003786,0.999973]]
2025-10-27T17:22:11.462Z,1761585731.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928020,-0.372361,0.011188],[0.372405,-0.928068,0.002019],[0.009631,0.006040,0.999935]]
2025-10-27T17:22:11.867Z,1761585731.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931949,-0.362382,0.012270],[0.362435,-0.932006,0.002354],[0.010583,0.006641,0.999922]]
2025-10-27T17:22:12.270Z,1761585732.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935847,-0.352172,0.012873],[0.352236,-0.935906,0.003033],[0.010980,0.007373,0.999913]]
2025-10-27T17:22:12.674Z,1761585732.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939733,-0.341648,0.013341],[0.341735,-0.939784,0.004881],[0.010870,0.009146,0.999899]]
2025-10-27T17:22:12.736Z,1761585732.736 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:22:12.736Z,1761585732.736 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:22:12.736Z,1761585732.736 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:22:12.737Z,1761585732.737 [marl:UpdateRudder:A] Stopped
2025-10-27T17:22:12.737Z,1761585732.737 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:22:12.737Z,1761585732.737 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:22:12.737Z,1761585732.737 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:22:12.737Z,1761585732.737 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateCommandMode] Stopped
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:22:12.738Z,1761585732.738 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:22:12.739Z,1761585732.739 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:22:12.739Z,1761585732.739 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:22:12.740Z,1761585732.740 [marl:UpdateSpeed] Stopped
2025-10-27T17:22:12.740Z,1761585732.740 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:22:13.084Z,1761585733.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943705,-0.330519,0.013338],[0.330611,-0.943752,0.005385],[0.010807,0.009492,0.999897]]
2025-10-27T17:22:13.148Z,1761585733.148 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:22:13.148Z,1761585733.148 [marl:UpdateRudder:B] Stopped
2025-10-27T17:22:13.148Z,1761585733.148 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:22:13.148Z,1761585733.148 [marl:UpdateRudder] Stopped
2025-10-27T17:22:13.148Z,1761585733.148 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:22:13.482Z,1761585733.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947784,-0.318634,0.013336],[0.318737,-0.947821,0.006438],[0.010589,0.010352,0.999890]]
2025-10-27T17:22:13.856Z,1761585733.856 [DAT](INFO): DAT read: 

2025-10-27T17:22:13.856Z,1761585733.856 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:22:13.886Z,1761585733.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952325,-0.304809,0.012997],[0.304900,-0.952367,0.005677],[0.010647,0.009369,0.999899]]
2025-10-27T17:22:14.290Z,1761585734.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957317,-0.288760,0.012724],[0.288837,-0.957367,0.004687],[0.010829,0.008162,0.999908]]
2025-10-27T17:22:14.694Z,1761585734.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962506,-0.270962,0.012686],[0.271027,-0.962565,0.003631],[0.011228,0.006933,0.999913]]
2025-10-27T17:22:15.368Z,1761585735.368 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:22:15.369Z,1761585735.369 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:22:15.370Z,1761585735.370 [DAT](INFO): DAT read: Oct 27 2025 17:21:39 

2025-10-27T17:22:15.501Z,1761585735.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972359,-0.233132,0.012952],[0.233174,-0.972433,0.001828],[0.012169,0.004797,0.999914]]
2025-10-27T17:22:15.910Z,1761585735.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976973,-0.212925,0.013657],[0.212966,-0.977058,0.001645],[0.012993,0.004515,0.999905]]
2025-10-27T17:22:16.311Z,1761585736.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981245,-0.192176,0.015027],[0.192241,-0.981343,0.002961],[0.014177,0.005795,0.999883]]
2025-10-27T17:22:16.376Z,1761585736.376 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:22:16.377Z,1761585736.377 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:22:16.378Z,1761585736.378 [DAT](INFO): commRate: 600
2025-10-27T17:22:16.713Z,1761585736.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985083,-0.171298,0.016401],[0.171394,-0.985192,0.004627],[0.015365,0.007369,0.999855]]
2025-10-27T17:22:17.526Z,1761585737.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991239,-0.130804,0.018340],[0.130941,-0.991369,0.006453],[0.017338,0.008798,0.999811]]
2025-10-27T17:22:17.936Z,1761585737.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993537,-0.111895,0.019079],[0.112053,-0.993674,0.007427],[0.018127,0.009517,0.999790]]
2025-10-27T17:22:18.329Z,1761585738.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995383,-0.093901,0.019903],[0.094076,-0.995532,0.008078],[0.019056,0.009913,0.999769]]
2025-10-27T17:22:18.447Z,1761585738.447 [DAT](INFO): entering command mode
2025-10-27T17:22:18.643Z,1761585738.643 [DAT](INFO): DAT read: 

2025-10-27T17:22:18.644Z,1761585738.644 [DAT](INFO): DAT read: user:1>

2025-10-27T17:22:18.644Z,1761585738.644 [DAT](INFO): setting verbose to 3
2025-10-27T17:22:18.740Z,1761585738.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996812,-0.076926,0.021159],[0.077141,-0.996975,0.009521],[0.020362,0.011123,0.999731]]
2025-10-27T17:22:18.896Z,1761585738.896 [DAT](INFO): DAT read: user:1>

2025-10-27T17:22:18.898Z,1761585738.898 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:22:18.900Z,1761585738.900 [DAT](INFO): set verbose to 3
2025-10-27T17:22:18.901Z,1761585738.901 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:22:19.139Z,1761585739.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997846,-0.061798,0.022026],[0.062021,-0.998029,0.009573],[0.021391,0.010919,0.999712]]
2025-10-27T17:22:19.148Z,1761585739.148 [DAT](INFO): DAT read: user:2>

2025-10-27T17:22:19.149Z,1761585739.149 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:22:19.149Z,1761585739.149 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:22:19.149Z,1761585739.149 [DAT](INFO): setting transmit power to 8
2025-10-27T17:22:19.401Z,1761585739.401 [DAT](INFO): DAT read: user:3>

2025-10-27T17:22:19.403Z,1761585739.403 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:22:19.404Z,1761585739.404 [DAT](INFO): set transmit power to 8
2025-10-27T17:22:19.404Z,1761585739.404 [DAT](INFO): setting local address to 11
2025-10-27T17:22:19.546Z,1761585739.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998611,-0.047161,0.023473],[0.047373,-0.998841,0.008539],[0.023043,0.009639,0.999688]]
2025-10-27T17:22:19.652Z,1761585739.652 [DAT](INFO): DAT read: user:4>

2025-10-27T17:22:19.654Z,1761585739.654 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:22:19.654Z,1761585739.654 [DAT](INFO): set local address to 11
2025-10-27T17:22:19.656Z,1761585739.656 [DAT](INFO): Setting time to: 17:22:19 And date to:10/27/2025
2025-10-27T17:22:19.904Z,1761585739.904 [DAT](INFO): DAT read: user:5>

2025-10-27T17:22:19.906Z,1761585739.906 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:22:19  

2025-10-27T17:22:19.907Z,1761585739.907 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:22:19  

2025-10-27T17:22:19.908Z,1761585739.908 [DAT](INFO): setting remote address to 6
2025-10-27T17:22:19.908Z,1761585739.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:22:19.909Z,1761585739.909 [DAT](INFO): setting remote address to 0
2025-10-27T17:22:19.946Z,1761585739.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999125,-0.033396,0.025160],[0.033651,-0.999386,0.009794],[0.024817,0.010632,0.999635]]
2025-10-27T17:22:20.156Z,1761585740.156 [DAT](INFO): DAT read: user:6>

2025-10-27T17:22:20.157Z,1761585740.157 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:22:20.157Z,1761585740.157 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:22:20.158Z,1761585740.158 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:22:20.158Z,1761585740.158 [DAT](ERROR): Communications Fault
2025-10-27T17:22:20.158Z,1761585740.158 [DAT](INFO): DAT read: user:7>

2025-10-27T17:22:20.159Z,1761585740.159 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:22:20.160Z,1761585740.160 [DAT](INFO): set remote address to 0
2025-10-27T17:22:20.160Z,1761585740.160 [DAT](INFO): setting remote address to 6
2025-10-27T17:22:20.160Z,1761585740.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:22:20.161Z,1761585740.161 [DAT](INFO): setting remote address to 0
2025-10-27T17:22:20.173Z,1761585740.173 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:22:20.349Z,1761585740.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999441,-0.020275,0.026585],[0.020576,-0.999727,0.011105],[0.026352,0.011646,0.999585]]
2025-10-27T17:22:20.567Z,1761585740.567 [DAT](INFO): Powering down
2025-10-27T17:22:20.760Z,1761585740.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999576,-0.007732,0.028067],[0.008068,-0.999897,0.011855],[0.027973,0.012077,0.999536]]
2025-10-27T17:22:21.158Z,1761585741.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999554,0.005391,0.029388],[-0.005059,-0.999922,0.011378],[0.029447,0.011224,0.999503]]
2025-10-27T17:22:21.942Z,1761585741.942 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:22:21.942Z,1761585741.942 [DAT] No Fault, FailCount= 1
2025-10-27T17:22:21.978Z,1761585741.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998469,0.046640,0.029737],[-0.046260,-0.998840,0.013366],[0.030325,0.011970,0.999468]]
2025-10-27T17:22:22.382Z,1761585742.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997644,0.062500,0.028284],[-0.062082,-0.997952,0.015390],[0.029188,0.013598,0.999481]]
2025-10-27T17:22:22.784Z,1761585742.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996474,0.079483,0.026861],[-0.079081,-0.996744,0.015730],[0.028024,0.013550,0.999515]]
2025-10-27T17:22:23.184Z,1761585743.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994889,0.097770,0.025230],[-0.097391,-0.995120,0.015845],[0.026656,0.013306,0.999556]]
2025-10-27T17:22:23.589Z,1761585743.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992896,0.116623,0.023569],[-0.116272,-0.993092,0.015767],[0.025245,0.012915,0.999598]]
2025-10-27T17:22:23.699Z,1761585743.699 [DAT](INFO): Powering up
2025-10-27T17:22:23.699Z,1761585743.699 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:22:23.991Z,1761585743.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990439,0.136202,0.021917],[-0.135873,-0.990599,0.015855],[0.023870,0.012725,0.999634]]
2025-10-27T17:22:24.406Z,1761585744.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987560,0.155943,0.020190],[-0.155654,-0.987695,0.015160],[0.022306,0.011829,0.999681]]
2025-10-27T17:22:24.798Z,1761585744.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984212,0.175950,0.019180],[-0.175683,-0.984335,0.014851],[0.021492,0.011247,0.999706]]
2025-10-27T17:22:25.202Z,1761585745.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980686,0.194680,0.018820],[-0.194431,-0.980813,0.014240],[0.021231,0.010306,0.999721]]
2025-10-27T17:22:25.612Z,1761585745.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976875,0.212978,0.018842],[-0.212724,-0.977003,0.014606],[0.021519,0.010260,0.999716]]
2025-10-27T17:22:25.689Z,1761585745.689 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:22:25.689Z,1761585745.689 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:22:25.689Z,1761585745.689 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:22:25.689Z,1761585745.689 [marl:UpdateRudder:A] Stopped
2025-10-27T17:22:25.689Z,1761585745.689 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode] Stopped
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:22:25.690Z,1761585745.690 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:22:25.691Z,1761585745.691 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:22:25.691Z,1761585745.691 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:22:25.691Z,1761585745.691 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:22:25.691Z,1761585745.691 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:22:25.692Z,1761585745.692 [marl:UpdateSpeed] Stopped
2025-10-27T17:22:25.692Z,1761585745.692 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:22:26.009Z,1761585746.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973276,0.228871,0.018754],[-0.228585,-0.973389,0.016230],[0.021969,0.011509,0.999692]]
2025-10-27T17:22:26.058Z,1761585746.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:22:26.058Z,1761585746.058 [marl:UpdateRudder:B] Stopped
2025-10-27T17:22:26.058Z,1761585746.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:22:26.058Z,1761585746.058 [marl:UpdateRudder] Stopped
2025-10-27T17:22:26.058Z,1761585746.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:22:26.420Z,1761585746.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969922,0.242669,0.019028],[-0.242347,-0.970027,0.017754],[0.022767,0.012609,0.999661]]
2025-10-27T17:22:26.837Z,1761585746.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966842,0.254681,0.018817],[-0.254305,-0.966912,0.020250],[0.023351,0.014793,0.999618]]
2025-10-27T17:22:27.229Z,1761585747.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964330,0.264027,0.018890],[-0.263642,-0.964400,0.020637],[0.023667,0.014921,0.999609]]
2025-10-27T17:22:27.627Z,1761585747.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961788,0.273105,0.019439],[-0.272767,-0.961905,0.018368],[0.023715,0.012364,0.999642]]
2025-10-27T17:22:28.029Z,1761585748.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959321,0.281620,0.019809],[-0.281310,-0.959465,0.017080],[0.023816,0.010813,0.999658]]
2025-10-27T17:22:28.434Z,1761585748.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956806,0.289961,0.021113],[-0.289739,-0.957018,0.012960],[0.023964,0.006283,0.999693]]
2025-10-27T17:22:28.878Z,1761585748.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954258,0.298131,0.022598],[-0.298007,-0.954524,0.008750],[0.024179,0.001616,0.999706]]
2025-10-27T17:22:29.241Z,1761585749.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951564,0.306531,0.023758],[-0.306489,-0.951858,0.005445],[0.024283,-0.002101,0.999703]]
2025-10-27T17:22:29.645Z,1761585749.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948337,0.316288,0.024859],[-0.316336,-0.948645,0.002087],[0.024243,-0.005885,0.999689]]
2025-10-27T17:22:30.050Z,1761585750.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944231,0.328295,0.025501],[-0.328413,-0.944534,-0.000466],[0.023934,-0.008814,0.999675]]
2025-10-27T17:22:30.456Z,1761585750.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939087,0.342764,0.025059],[-0.342887,-0.939376,-0.000648],[0.023317,-0.009201,0.999686]]
2025-10-27T17:22:30.891Z,1761585750.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932719,0.359842,0.023446],[-0.359923,-0.932982,0.000816],[0.022169,-0.007678,0.999725]]
2025-10-27T17:22:31.262Z,1761585751.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924914,0.379596,0.020994],[-0.379623,-0.925137,0.002829],[0.020496,-0.005353,0.999776]]
2025-10-27T17:22:31.666Z,1761585751.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916013,0.400772,0.017342],[-0.400718,-0.916177,0.006650],[0.018553,-0.000858,0.999828]]
2025-10-27T17:22:32.071Z,1761585752.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905910,0.423276,0.012861],[-0.423160,-0.905991,0.010815],[0.016230,0.004355,0.999859]]
2025-10-27T17:22:32.474Z,1761585752.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894877,0.446243,0.007917],[-0.446109,-0.894863,0.014374],[0.013499,0.009331,0.999865]]
2025-10-27T17:22:32.901Z,1761585752.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883163,0.469054,0.003366],[-0.468943,-0.883072,0.016612],[0.010764,0.013093,0.999856]]
2025-10-27T17:22:33.283Z,1761585753.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871176,0.490970,-0.000935],[-0.490900,-0.871015,0.018730],[0.008381,0.016776,0.999824]]
2025-10-27T17:22:33.687Z,1761585753.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859488,0.511142,-0.003833],[-0.511111,-0.859287,0.019782],[0.006817,0.018962,0.999797]]
2025-10-27T17:22:34.089Z,1761585754.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848720,0.528813,-0.005609],[-0.528807,-0.848493,0.020568],[0.006117,0.020422,0.999773]]
2025-10-27T17:22:34.904Z,1761585754.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830966,0.556279,-0.006996],[-0.556280,-0.830679,0.022908],[0.006932,0.022927,0.999713]]
2025-10-27T17:22:35.295Z,1761585755.295 [DAT](INFO): DAT read: 

2025-10-27T17:22:35.296Z,1761585755.296 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:22:35.305Z,1761585755.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823268,0.567618,-0.006268],[-0.567591,-0.822966,0.023805],[0.008354,0.023156,0.999697]]
2025-10-27T17:22:35.706Z,1761585755.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816538,0.577260,-0.005939],[-0.577205,-0.816197,0.025614],[0.009938,0.024343,0.999654]]
2025-10-27T17:22:36.110Z,1761585756.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810008,0.586402,-0.004387],[-0.586310,-0.809693,0.025249],[0.011253,0.023024,0.999672]]
2025-10-27T17:22:36.514Z,1761585756.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803617,0.595142,-0.002402],[-0.595019,-0.803353,0.024026],[0.012369,0.020737,0.999708]]
2025-10-27T17:22:36.812Z,1761585756.812 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:22:36.814Z,1761585756.814 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:22:36.816Z,1761585756.816 [DAT](INFO): DAT read: Oct 27 2025 17:22:31 

2025-10-27T17:22:36.918Z,1761585756.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797340,0.603529,-0.000970],[-0.603390,-0.797120,0.022818],[0.012998,0.018779,0.999739]]
2025-10-27T17:22:37.820Z,1761585757.820 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:22:37.821Z,1761585757.821 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:22:37.822Z,1761585757.822 [DAT](INFO): commRate: 600
2025-10-27T17:22:38.534Z,1761585758.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774063,0.633107,0.001141],[-0.632993,-0.773955,0.017737],[0.012112,0.013007,0.999842]]
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateRudder:A] Stopped
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:22:38.586Z,1761585758.586 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode] Stopped
2025-10-27T17:22:38.587Z,1761585758.587 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed] Stopped
2025-10-27T17:22:38.588Z,1761585758.588 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:22:38.938Z,1761585758.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768264,0.640128,0.002772],[-0.640028,-0.768208,0.014837],[0.011627,0.009625,0.999886]]
2025-10-27T17:22:39.001Z,1761585759.001 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:22:39.001Z,1761585759.001 [marl:UpdateRudder:B] Stopped
2025-10-27T17:22:39.001Z,1761585759.001 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:22:39.001Z,1761585759.001 [marl:UpdateRudder] Stopped
2025-10-27T17:22:39.001Z,1761585759.001 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:22:39.344Z,1761585759.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762068,0.647478,0.005046],[-0.647398,-0.762064,0.011549],[0.011323,0.005534,0.999921]]
2025-10-27T17:22:39.752Z,1761585759.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755278,0.655362,0.007445],[-0.655311,-0.755314,0.008291],[0.011058,0.001383,0.999938]]
2025-10-27T17:22:39.887Z,1761585759.887 [DAT](INFO): entering command mode
2025-10-27T17:22:40.087Z,1761585760.087 [DAT](INFO): DAT read: 

2025-10-27T17:22:40.088Z,1761585760.088 [DAT](INFO): DAT read: user:1>

2025-10-27T17:22:40.088Z,1761585760.088 [DAT](INFO): setting verbose to 3
2025-10-27T17:22:40.156Z,1761585760.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747164,0.664574,0.009349],[-0.664554,-0.747220,0.005512],[0.010649,-0.002094,0.999941]]
2025-10-27T17:22:40.268Z,1761585760.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:22:40.340Z,1761585760.340 [DAT](INFO): DAT read: user:1>

2025-10-27T17:22:40.341Z,1761585760.341 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:22:40.341Z,1761585760.341 [DAT](INFO): set verbose to 3
2025-10-27T17:22:40.341Z,1761585760.341 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:22:40.554Z,1761585760.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736954,0.675871,0.009854],[-0.675869,-0.737011,0.003996],[0.009963,-0.003715,0.999943]]
2025-10-27T17:22:40.600Z,1761585760.600 [DAT](INFO): DAT read: user:2>

2025-10-27T17:22:40.601Z,1761585760.601 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:22:40.601Z,1761585760.601 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:22:40.601Z,1761585760.601 [DAT](INFO): setting transmit power to 8
2025-10-27T17:22:40.855Z,1761585760.855 [DAT](INFO): DAT read: user:3>

2025-10-27T17:22:40.859Z,1761585760.859 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:22:40.860Z,1761585760.860 [DAT](INFO): set transmit power to 8
2025-10-27T17:22:40.861Z,1761585760.861 [DAT](INFO): setting local address to 11
2025-10-27T17:22:40.957Z,1761585760.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724479,0.689209,0.011016],[-0.689238,-0.724533,0.001426],[0.008965,-0.006559,0.999938]]
2025-10-27T17:22:41.104Z,1761585761.104 [DAT](INFO): DAT read: user:4>

2025-10-27T17:22:41.105Z,1761585761.105 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:22:41.105Z,1761585761.105 [DAT](INFO): set local address to 11
2025-10-27T17:22:41.106Z,1761585761.106 [DAT](INFO): Setting time to: 17:22:41 And date to:10/27/2025
2025-10-27T17:22:41.273Z,1761585761.273 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:22:41.357Z,1761585761.357 [DAT](INFO): DAT read: user:5>

2025-10-27T17:22:41.358Z,1761585761.358 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:22:41  

2025-10-27T17:22:41.359Z,1761585761.359 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:22:41  

2025-10-27T17:22:41.360Z,1761585761.360 [DAT](INFO): setting remote address to 6
2025-10-27T17:22:41.361Z,1761585761.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:22:41.362Z,1761585761.362 [DAT](INFO): setting remote address to 0
2025-10-27T17:22:41.416Z,1761585761.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709915,0.704202,0.010976],[-0.704244,-0.709958,-0.000051],[0.007756,-0.007766,0.999940]]
2025-10-27T17:22:41.608Z,1761585761.608 [DAT](INFO): DAT read: user:6>

2025-10-27T17:22:41.609Z,1761585761.609 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:22:41.610Z,1761585761.610 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:22:41.610Z,1761585761.610 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:22:41.610Z,1761585761.610 [DAT](ERROR): Communications Fault
2025-10-27T17:22:41.611Z,1761585761.611 [DAT](INFO): DAT read: user:7>

2025-10-27T17:22:41.616Z,1761585761.616 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:22:41.616Z,1761585761.616 [DAT](INFO): set remote address to 0
2025-10-27T17:22:41.616Z,1761585761.616 [DAT](INFO): setting remote address to 6
2025-10-27T17:22:41.617Z,1761585761.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:22:41.617Z,1761585761.617 [DAT](INFO): setting remote address to 0
2025-10-27T17:22:41.767Z,1761585761.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694016,0.719877,0.010910],[-0.719929,-0.694046,-0.001286],[0.006646,-0.008747,0.999940]]
2025-10-27T17:22:41.935Z,1761585761.935 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:22:42.019Z,1761585762.019 [DAT](INFO): Powering down
2025-10-27T17:22:42.169Z,1761585762.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677563,0.735416,0.008441],[-0.735445,-0.677585,-0.000381],[0.005439,-0.006466,0.999964]]
2025-10-27T17:22:42.573Z,1761585762.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660998,0.750380,0.003435],[-0.750375,-0.661006,0.002761],[0.004342,-0.000753,0.999990]]
2025-10-27T17:22:42.981Z,1761585762.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644859,0.764301,-0.000707],[-0.764293,-0.644848,0.005158],[0.003486,0.003867,0.999986]]
2025-10-27T17:22:43.115Z,1761585763.115 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:22:43.115Z,1761585763.115 [DAT] No Fault, FailCount= 2
2025-10-27T17:22:43.388Z,1761585763.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629206,0.777222,-0.005084],[-0.777234,-0.629166,0.007554],[0.002672,0.008705,0.999959]]
2025-10-27T17:22:43.785Z,1761585763.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615386,0.788166,-0.009699],[-0.788223,-0.615303,0.010346],[0.002187,0.014012,0.999899]]
2025-10-27T17:22:43.832Z,1761585763.832 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:22:44.189Z,1761585764.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604809,0.796259,-0.013290],[-0.796368,-0.604681,0.012642],[0.002030,0.018229,0.999832]]
2025-10-27T17:22:44.594Z,1761585764.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596040,0.802782,-0.016652],[-0.802953,-0.595863,0.014646],[0.001836,0.022100,0.999754]]
2025-10-27T17:22:44.998Z,1761585764.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587897,0.808700,-0.019509],[-0.808934,-0.587677,0.016158],[0.001602,0.025280,0.999679]]
2025-10-27T17:22:45.207Z,1761585765.207 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:22:45.207Z,1761585765.207 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:22:45.247Z,1761585765.247 [DAT](INFO): Powering up
2025-10-27T17:22:45.247Z,1761585765.247 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:22:45.402Z,1761585765.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579788,0.814538,-0.019326],[-0.814765,-0.579570,0.015998],[0.001830,0.025021,0.999685]]
2025-10-27T17:22:45.810Z,1761585765.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571034,0.820760,-0.016538],[-0.820924,-0.570864,0.014070],[0.002107,0.021611,0.999764]]
2025-10-27T17:22:46.614Z,1761585766.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549533,0.835419,-0.009426],[-0.835465,-0.549445,0.010417],[0.003523,0.013599,0.999901]]
2025-10-27T17:22:47.019Z,1761585767.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536034,0.844172,-0.006352],[-0.844186,-0.535976,0.008972],[0.004169,0.010171,0.999940]]
2025-10-27T17:22:47.832Z,1761585767.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502904,0.864342,0.000946],[-0.864329,-0.502902,0.005106],[0.004889,0.001750,0.999987]]
2025-10-27T17:22:48.230Z,1761585768.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484024,0.875050,0.003077],[-0.875039,-0.484033,0.004319],[0.005269,-0.000602,0.999986]]
2025-10-27T17:22:48.633Z,1761585768.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464160,0.885744,0.003749],[-0.885733,-0.464173,0.004414],[0.005650,-0.001272,0.999983]]
2025-10-27T17:22:49.038Z,1761585769.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443607,0.896214,0.003651],[-0.896202,-0.443620,0.004797],[0.005919,-0.001144,0.999982]]
2025-10-27T17:22:49.443Z,1761585769.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422667,0.906285,0.000069],[-0.906267,-0.422659,0.006264],[0.005706,0.002585,0.999980]]
2025-10-27T17:22:49.866Z,1761585769.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401618,0.915797,-0.004389],[-0.915793,-0.401581,0.007473],[0.005081,0.007021,0.999962]]
2025-10-27T17:22:50.249Z,1761585770.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380932,0.924554,-0.009490],[-0.924595,-0.380866,0.008120],[0.003893,0.011868,0.999922]]
2025-10-27T17:22:50.657Z,1761585770.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362255,0.931961,-0.014845],[-0.932077,-0.362172,0.008016],[0.002094,0.016741,0.999858]]
2025-10-27T17:22:51.059Z,1761585771.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346229,0.937928,-0.020436],[-0.938150,-0.346154,0.007192],[-0.000328,0.021662,0.999765]]
2025-10-27T17:22:51.462Z,1761585771.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333527,0.942386,-0.025849],[-0.942735,-0.333495,0.005682],[-0.003266,0.026263,0.999650]]
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateRudder:A] Stopped
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:22:51.513Z,1761585771.513 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode] Stopped
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:22:51.514Z,1761585771.514 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:22:51.515Z,1761585771.515 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:22:51.515Z,1761585771.515 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:22:51.535Z,1761585771.535 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:22:51.535Z,1761585771.535 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:22:51.535Z,1761585771.535 [marl:UpdateSpeed] Stopped
2025-10-27T17:22:51.536Z,1761585771.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:22:51.873Z,1761585771.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323173,0.945922,-0.028125],[-0.946312,-0.323248,0.001971],[-0.007227,0.027252,0.999602]]
2025-10-27T17:22:51.912Z,1761585771.912 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:22:51.912Z,1761585771.912 [marl:UpdateRudder:B] Stopped
2025-10-27T17:22:51.912Z,1761585771.912 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:22:51.912Z,1761585771.912 [marl:UpdateRudder] Stopped
2025-10-27T17:22:51.912Z,1761585771.912 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:22:52.269Z,1761585772.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314800,0.948763,-0.027386],[-0.949088,-0.314996,-0.003074],[-0.011543,0.025024,0.999620]]
2025-10-27T17:22:52.705Z,1761585772.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307692,0.951218,-0.022585],[-0.951366,-0.307944,-0.008564],[-0.015101,0.018851,0.999708]]
2025-10-27T17:22:53.481Z,1761585773.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296589,0.954958,-0.009483],[-0.954831,-0.296710,-0.016146],[-0.018233,0.004266,0.999825]]
2025-10-27T17:22:53.886Z,1761585773.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291689,0.956508,-0.003003],[-0.956358,-0.291697,-0.017064],[-0.017198,-0.002105,0.999850]]
2025-10-27T17:22:54.292Z,1761585774.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286441,0.958095,0.002148],[-0.957989,-0.286375,-0.015687],[-0.014415,-0.006551,0.999875]]
2025-10-27T17:22:54.694Z,1761585774.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282235,0.959313,0.007899],[-0.959288,-0.282119,-0.013225],[-0.010459,-0.011310,0.999881]]
2025-10-27T17:22:55.502Z,1761585775.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278832,0.959323,0.044191],[-0.960335,-0.278385,-0.016090],[-0.003134,-0.046925,0.998894]]
2025-10-27T17:22:55.913Z,1761585775.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276507,0.958176,0.073782],[-0.961012,-0.275615,-0.022208],[-0.000943,-0.077046,0.997027]]
2025-10-27T17:22:56.311Z,1761585776.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272949,0.956173,0.105980],[-0.962028,-0.271323,-0.029752],[0.000306,-0.110077,0.993923]]
2025-10-27T17:22:56.714Z,1761585776.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268268,0.953745,0.135656],[-0.963343,-0.265786,-0.036432],[0.001308,-0.140457,0.990086]]
2025-10-27T17:22:56.842Z,1761585776.842 [DAT](INFO): DAT read: 

2025-10-27T17:22:56.846Z,1761585776.846 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:22:57.117Z,1761585777.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262949,0.951132,0.161883],[-0.964807,-0.259600,-0.041890],[0.002182,-0.167201,0.985920]]
2025-10-27T17:22:57.521Z,1761585777.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257110,0.949023,0.182346],[-0.966376,-0.253161,-0.045021],[0.003437,-0.187790,0.982203]]
2025-10-27T17:22:57.933Z,1761585777.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250298,0.948326,0.195012],[-0.968158,-0.246109,-0.045825],[0.004537,-0.200272,0.979730]]
2025-10-27T17:22:58.346Z,1761585778.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243033,0.948186,0.204640],[-0.970004,-0.238707,-0.045955],[0.005275,-0.209670,0.977758]]
2025-10-27T17:22:58.352Z,1761585778.352 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:22:58.353Z,1761585778.353 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:22:58.354Z,1761585778.354 [DAT](INFO): DAT read: Oct 27 2025 17:22:53 

2025-10-27T17:22:58.741Z,1761585778.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235254,0.948878,0.210440],[-0.971918,-0.230913,-0.045331],[0.005579,-0.215195,0.976555]]
2025-10-27T17:22:59.140Z,1761585779.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227110,0.949825,0.215066],[-0.973855,-0.222703,-0.044838],[0.005308,-0.219627,0.975570]]
2025-10-27T17:22:59.360Z,1761585779.360 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:22:59.361Z,1761585779.361 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:22:59.362Z,1761585779.362 [DAT](INFO): commRate: 600
2025-10-27T17:22:59.542Z,1761585779.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218206,0.951855,0.215310],[-0.975894,-0.213761,-0.044016],[0.004128,-0.219724,0.975553]]
2025-10-27T17:22:59.953Z,1761585779.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209017,0.954608,0.212216],[-0.977910,-0.204442,-0.043532],[0.001830,-0.216627,0.976253]]
2025-10-27T17:23:00.758Z,1761585780.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193187,0.961154,0.197133],[-0.981135,-0.187748,-0.046096],[-0.007295,-0.202319,0.979293]]
2025-10-27T17:23:01.158Z,1761585781.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188658,0.964411,0.185253],[-0.981950,-0.182665,-0.049062],[-0.013477,-0.191165,0.981465]]
2025-10-27T17:23:01.427Z,1761585781.427 [DAT](INFO): entering command mode
2025-10-27T17:23:01.563Z,1761585781.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186700,0.966888,0.173985],[-0.982208,-0.180058,-0.053350],[-0.020256,-0.180850,0.983302]]
2025-10-27T17:23:01.628Z,1761585781.628 [DAT](INFO): DAT read: 

2025-10-27T17:23:01.628Z,1761585781.628 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:01.629Z,1761585781.629 [DAT](INFO): setting verbose to 3
2025-10-27T17:23:01.880Z,1761585781.880 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:01.881Z,1761585781.881 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:23:01.881Z,1761585781.881 [DAT](INFO): set verbose to 3
2025-10-27T17:23:01.881Z,1761585781.881 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:23:01.966Z,1761585781.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186734,0.968898,0.162379],[-0.982027,-0.179477,-0.058404],[-0.027444,-0.170366,0.984999]]
2025-10-27T17:23:01.989Z,1761585781.989 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T17:23:01.989Z,1761585781.989 [NAL9602] Data Fault, FailCount= 1
2025-10-27T17:23:01.989Z,1761585781.989 [NAL9602](ERROR): Data Fault
2025-10-27T17:23:02.016Z,1761585782.016 [marl:NeedComms] Running Loop=1
2025-10-27T17:23:02.016Z,1761585782.016 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T17:23:02.017Z,1761585782.017 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T17:23:02.017Z,1761585782.017 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T17:23:02.017Z,1761585782.017 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T17:23:02.017Z,1761585782.017 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T17:23:02.018Z,1761585782.018 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T17:23:02.018Z,1761585782.018 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T17:23:02.018Z,1761585782.018 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T17:23:02.019Z,1761585782.019 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T17:23:02.019Z,1761585782.019 [marl:NeedComms:A] Running Loop=1
2025-10-27T17:23:02.021Z,1761585782.021 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T17:23:02.021Z,1761585782.021 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T17:23:02.021Z,1761585782.021 [marl:NeedComms:A] Stopped
2025-10-27T17:23:02.118Z,1761585782.118 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T17:23:02.132Z,1761585782.132 [DAT](INFO): DAT read: user:2>

2025-10-27T17:23:02.133Z,1761585782.133 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:23:02.133Z,1761585782.133 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:23:02.133Z,1761585782.133 [DAT](INFO): setting transmit power to 8
2025-10-27T17:23:02.370Z,1761585782.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189021,0.969730,0.154581],[-0.981365,-0.181010,-0.064484],[-0.034551,-0.163889,0.985874]]
2025-10-27T17:23:02.377Z,1761585782.377 [NAL9602](INFO): Powering down
2025-10-27T17:23:02.384Z,1761585782.384 [DAT](INFO): DAT read: user:3>

2025-10-27T17:23:02.385Z,1761585782.385 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:23:02.385Z,1761585782.385 [DAT](INFO): set transmit power to 8
2025-10-27T17:23:02.385Z,1761585782.385 [DAT](INFO): setting local address to 11
2025-10-27T17:23:02.636Z,1761585782.636 [DAT](INFO): DAT read: user:4>

2025-10-27T17:23:02.637Z,1761585782.637 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:23:02.637Z,1761585782.637 [DAT](INFO): set local address to 11
2025-10-27T17:23:02.638Z,1761585782.638 [DAT](INFO): Setting time to: 17:23:2 And date to:10/27/2025
2025-10-27T17:23:02.888Z,1761585782.888 [DAT](INFO): DAT read: user:5>

2025-10-27T17:23:02.889Z,1761585782.889 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:23:02  

2025-10-27T17:23:02.889Z,1761585782.889 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:23:02  

2025-10-27T17:23:02.890Z,1761585782.890 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:02.890Z,1761585782.890 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:02.890Z,1761585782.890 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:03.140Z,1761585783.140 [DAT](INFO): DAT read: user:6>

2025-10-27T17:23:03.141Z,1761585783.141 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:23:03.141Z,1761585783.141 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:23:03.141Z,1761585783.141 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:23:03.142Z,1761585783.142 [DAT](ERROR): Communications Fault
2025-10-27T17:23:03.142Z,1761585783.142 [DAT](INFO): DAT read: user:7>

2025-10-27T17:23:03.143Z,1761585783.143 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:23:03.144Z,1761585783.144 [DAT](INFO): set remote address to 0
2025-10-27T17:23:03.144Z,1761585783.144 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:03.144Z,1761585783.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:03.144Z,1761585783.144 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:03.198Z,1761585783.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199329,0.968459,0.149514],[-0.978914,-0.189835,-0.075438],[-0.044676,-0.161399,0.985878]]
2025-10-27T17:23:03.548Z,1761585783.548 [DAT](INFO): Powering down
2025-10-27T17:23:03.752Z,1761585783.752 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:23:03.753Z,1761585783.753 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T17:23:03.753Z,1761585783.753 [NAL9602] No Fault, FailCount= 1
2025-10-27T17:23:03.777Z,1761585783.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215600,0.964104,0.154985],[-0.975405,-0.205181,-0.080532],[-0.045841,-0.168536,0.984629]]
2025-10-27T17:23:04.190Z,1761585784.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225389,0.961094,0.159680],[-0.973289,-0.214768,-0.081144],[-0.043693,-0.173704,0.983828]]
2025-10-27T17:23:04.446Z,1761585784.446 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:23:04.446Z,1761585784.446 [DAT] No Fault, FailCount= 3
2025-10-27T17:23:04.595Z,1761585784.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235552,0.957661,0.165531],[-0.970918,-0.224380,-0.083502],[-0.042825,-0.180386,0.982663]]
2025-10-27T17:23:04.652Z,1761585784.652 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:23:04.652Z,1761585784.652 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:23:04.652Z,1761585784.652 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateRudder:A] Stopped
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:23:04.653Z,1761585784.653 [marl:UpdateCommandMode] Stopped
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed] Stopped
2025-10-27T17:23:04.654Z,1761585784.654 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:23:04.998Z,1761585784.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243412,0.955042,0.169249],[-0.968743,-0.230779,-0.090989],[-0.047839,-0.186106,0.981364]]
2025-10-27T17:23:05.049Z,1761585785.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:23:05.049Z,1761585785.049 [marl:UpdateRudder:B] Stopped
2025-10-27T17:23:05.049Z,1761585785.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:23:05.049Z,1761585785.049 [marl:UpdateRudder] Stopped
2025-10-27T17:23:05.049Z,1761585785.049 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:23:05.403Z,1761585785.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246187,0.953977,0.171230],[-0.967380,-0.230965,-0.104075],[-0.059737,-0.191266,0.979719]]
2025-10-27T17:23:05.819Z,1761585785.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246503,0.954161,0.169744],[-0.966155,-0.228202,-0.120286],[-0.076037,-0.193649,0.978120]]
2025-10-27T17:23:06.211Z,1761585786.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246323,0.954546,0.167832],[-0.964579,-0.224581,-0.138386],[-0.094403,-0.195975,0.976054]]
2025-10-27T17:23:06.613Z,1761585786.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245824,0.955316,0.164140],[-0.962584,-0.220672,-0.157275],[-0.114026,-0.196660,0.973819]]
2025-10-27T17:23:06.783Z,1761585786.783 [DAT](INFO): Powering up
2025-10-27T17:23:06.784Z,1761585786.784 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:23:07.834Z,1761585787.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243845,0.958084,0.150384],[-0.953922,-0.208990,-0.215306],[-0.174853,-0.195956,0.964898]]
2025-10-27T17:23:08.634Z,1761585788.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237879,0.961633,0.136658],[-0.947320,-0.198631,-0.251259],[-0.214474,-0.189228,0.958224]]
2025-10-27T17:23:09.443Z,1761585789.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226752,0.966033,0.123951],[-0.941512,-0.184844,-0.281759],[-0.249277,-0.180591,0.951445]]
2025-10-27T17:23:09.845Z,1761585789.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220111,0.968168,0.119176],[-0.938889,-0.177123,-0.295153],[-0.264649,-0.176859,0.947988]]
2025-10-27T17:23:10.250Z,1761585790.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214342,0.970121,0.113679],[-0.936083,-0.170783,-0.307543],[-0.278939,-0.172332,0.944719]]
2025-10-27T17:23:10.653Z,1761585790.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209089,0.971877,0.108333],[-0.932927,-0.165038,-0.320014],[-0.293135,-0.167978,0.941199]]
2025-10-27T17:23:11.408Z,1761585791.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:23:11.472Z,1761585791.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203912,0.974357,0.095126],[-0.925269,-0.160066,-0.343883],[-0.319838,-0.158139,0.934182]]
2025-10-27T17:23:11.870Z,1761585791.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204074,0.974975,0.088193],[-0.920872,-0.160615,-0.355244],[-0.332189,-0.153711,0.930604]]
2025-10-27T17:23:12.274Z,1761585792.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205492,0.975299,0.081022],[-0.916416,-0.162709,-0.365661],[-0.343446,-0.149390,0.927215]]
2025-10-27T17:23:12.411Z,1761585792.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:23:12.737Z,1761585792.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207607,0.975312,0.075265],[-0.912285,-0.165273,-0.374728],[-0.353038,-0.146459,0.924075]]
2025-10-27T17:23:13.328Z,1761585793.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212902,0.974869,0.065593],[-0.905529,-0.171652,-0.388012],[-0.367002,-0.142005,0.919317]]
2025-10-27T17:23:13.732Z,1761585793.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214539,0.974650,0.063480],[-0.903031,-0.173170,-0.393124],[-0.372166,-0.141665,0.917292]]
2025-10-27T17:23:14.125Z,1761585794.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213540,0.974720,0.065739],[-0.901073,-0.170513,-0.398739],[-0.377449,-0.144382,0.914705]]
2025-10-27T17:23:14.529Z,1761585794.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210828,0.974873,0.071936],[-0.899753,-0.164763,-0.404102],[-0.382096,-0.149920,0.911881]]
2025-10-27T17:23:15.339Z,1761585795.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201007,0.975628,0.088011],[-0.899039,-0.148054,-0.412079],[-0.389005,-0.161956,0.906888]]
2025-10-27T17:23:15.750Z,1761585795.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194314,0.976293,0.095361],[-0.899554,-0.138578,-0.414245],[-0.391209,-0.166276,0.905156]]
2025-10-27T17:23:16.146Z,1761585796.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186618,0.977154,0.101707],[-0.900553,-0.128768,-0.415239],[-0.392656,-0.169083,0.904009]]
2025-10-27T17:23:16.560Z,1761585796.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179365,0.977982,0.106678],[-0.901779,-0.120102,-0.415176],[-0.393222,-0.170668,0.903465]]
2025-10-27T17:23:17.358Z,1761585797.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169686,0.979472,0.108818],[-0.904065,-0.110761,-0.412794],[-0.392267,-0.168423,0.904301]]
2025-10-27T17:23:17.768Z,1761585797.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167623,0.980169,0.105698],[-0.904834,-0.110397,-0.411203],[-0.391379,-0.164566,0.905395]]
2025-10-27T17:23:17.831Z,1761585797.831 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:23:17.831Z,1761585797.831 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:23:17.831Z,1761585797.831 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateRudder:A] Stopped
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:23:17.832Z,1761585797.832 [marl:UpdateCommandMode] Stopped
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed] Stopped
2025-10-27T17:23:17.833Z,1761585797.833 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:23:18.174Z,1761585798.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166950,0.980745,0.101323],[-0.905111,-0.111691,-0.410243],[-0.391027,-0.160199,0.906330]]
2025-10-27T17:23:18.197Z,1761585798.197 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:23:18.198Z,1761585798.198 [marl:UpdateRudder:B] Stopped
2025-10-27T17:23:18.198Z,1761585798.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:23:18.198Z,1761585798.198 [marl:UpdateRudder] Stopped
2025-10-27T17:23:18.198Z,1761585798.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:23:18.382Z,1761585798.382 [DAT](INFO): DAT read: 

2025-10-27T17:23:18.383Z,1761585798.383 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:23:18.573Z,1761585798.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167613,0.981085,0.096836],[-0.904818,-0.114093,-0.410229],[-0.391421,-0.156379,0.906827]]
2025-10-27T17:23:18.974Z,1761585798.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169661,0.981101,0.093037],[-0.904101,-0.117382,-0.410880],[-0.392194,-0.153825,0.906930]]
2025-10-27T17:23:19.379Z,1761585799.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172647,0.980892,0.089686],[-0.903244,-0.121345,-0.411614],[-0.392866,-0.152072,0.906935]]
2025-10-27T17:23:19.810Z,1761585799.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176134,0.980455,0.087660],[-0.902526,-0.125298,-0.412003],[-0.392967,-0.151683,0.906956]]
2025-10-27T17:23:19.897Z,1761585799.897 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:23:19.898Z,1761585799.898 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:23:19.899Z,1761585799.899 [DAT](INFO): DAT read: Oct 27 2025 17:23:14 

2025-10-27T17:23:20.185Z,1761585800.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178674,0.980051,0.087035],[-0.902425,-0.127987,-0.411399],[-0.392052,-0.152049,0.907291]]
2025-10-27T17:23:20.593Z,1761585800.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178436,0.979977,0.088354],[-0.903091,-0.127462,-0.410097],[-0.390623,-0.152968,0.907752]]
2025-10-27T17:23:20.904Z,1761585800.904 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:23:20.905Z,1761585800.905 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:23:20.906Z,1761585800.906 [DAT](INFO): commRate: 600
2025-10-27T17:23:20.993Z,1761585800.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175040,0.980334,0.091136],[-0.904596,-0.123591,-0.407961],[-0.388674,-0.153850,0.908439]]
2025-10-27T17:23:21.398Z,1761585801.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169115,0.981018,0.094885],[-0.906849,-0.117172,-0.404840],[-0.386038,-0.154510,0.909451]]
2025-10-27T17:23:21.809Z,1761585801.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161167,0.981852,0.099956],[-0.909564,-0.108462,-0.401161],[-0.383039,-0.155570,0.910538]]
2025-10-27T17:23:22.612Z,1761585802.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141906,0.983845,0.109143],[-0.914627,-0.088151,-0.394573],[-0.378578,-0.155817,0.912360]]
2025-10-27T17:23:22.971Z,1761585802.971 [DAT](INFO): entering command mode
2025-10-27T17:23:23.172Z,1761585803.172 [DAT](INFO): DAT read: 

2025-10-27T17:23:23.173Z,1761585803.173 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:23.173Z,1761585803.173 [DAT](INFO): setting verbose to 3
2025-10-27T17:23:23.418Z,1761585803.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130039,0.985831,0.105961],[-0.917956,-0.079309,-0.388674],[-0.374763,-0.147810,0.915262]]
2025-10-27T17:23:23.424Z,1761585803.424 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:23.425Z,1761585803.425 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:23:23.425Z,1761585803.425 [DAT](INFO): set verbose to 3
2025-10-27T17:23:23.425Z,1761585803.425 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:23:23.676Z,1761585803.676 [DAT](INFO): DAT read: user:2>

2025-10-27T17:23:23.677Z,1761585803.677 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:23:23.677Z,1761585803.677 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:23:23.677Z,1761585803.677 [DAT](INFO): setting transmit power to 8
2025-10-27T17:23:23.825Z,1761585803.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128208,0.986375,0.103090],[-0.919115,-0.079127,-0.385963],[-0.372547,-0.144235,0.916736]]
2025-10-27T17:23:23.928Z,1761585803.928 [DAT](INFO): DAT read: user:3>

2025-10-27T17:23:23.929Z,1761585803.929 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:23:23.929Z,1761585803.929 [DAT](INFO): set transmit power to 8
2025-10-27T17:23:23.930Z,1761585803.930 [DAT](INFO): setting local address to 11
2025-10-27T17:23:24.180Z,1761585804.180 [DAT](INFO): DAT read: user:4>

2025-10-27T17:23:24.181Z,1761585804.181 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:23:24.181Z,1761585804.181 [DAT](INFO): set local address to 11
2025-10-27T17:23:24.182Z,1761585804.182 [DAT](INFO): Setting time to: 17:23:24 And date to:10/27/2025
2025-10-27T17:23:24.226Z,1761585804.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128404,0.986472,0.101913],[-0.920078,-0.080148,-0.383448],[-0.370092,-0.143004,0.917922]]
2025-10-27T17:23:24.435Z,1761585804.435 [DAT](INFO): DAT read: user:5>

2025-10-27T17:23:24.436Z,1761585804.436 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:23:24  

2025-10-27T17:23:24.437Z,1761585804.437 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:23:24  

2025-10-27T17:23:24.438Z,1761585804.438 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:24.438Z,1761585804.438 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:24.442Z,1761585804.442 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:24.632Z,1761585804.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129702,0.986262,0.102297],[-0.920903,-0.081572,-0.381160],[-0.367579,-0.143643,0.918832]]
2025-10-27T17:23:24.684Z,1761585804.684 [DAT](INFO): DAT read: user:6>

2025-10-27T17:23:24.685Z,1761585804.685 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:23:24.685Z,1761585804.685 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:23:24.686Z,1761585804.686 [DAT] Communications Fault, FailCount= 4
2025-10-27T17:23:24.686Z,1761585804.686 [DAT](ERROR): Communications Fault
2025-10-27T17:23:24.686Z,1761585804.686 [DAT](INFO): DAT read: user:7>

2025-10-27T17:23:24.687Z,1761585804.687 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:23:24.688Z,1761585804.688 [DAT](INFO): set remote address to 0
2025-10-27T17:23:24.688Z,1761585804.688 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:24.690Z,1761585804.690 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:24.691Z,1761585804.691 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:24.872Z,1761585804.872 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:23:25.033Z,1761585805.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131802,0.985485,0.106993],[-0.921755,-0.082134,-0.378974],[-0.364686,-0.148571,0.919201]]
2025-10-27T17:23:25.095Z,1761585805.095 [DAT](INFO): Powering down
2025-10-27T17:23:25.439Z,1761585805.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133268,0.984311,0.115634],[-0.922678,-0.080629,-0.377048],[-0.361809,-0.156941,0.918947]]
2025-10-27T17:23:26.054Z,1761585806.054 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:23:26.054Z,1761585806.054 [DAT] No Fault, FailCount= 4
2025-10-27T17:23:26.246Z,1761585806.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131219,0.981606,0.138679],[-0.925346,-0.071087,-0.372400],[-0.355691,-0.177192,0.917653]]
2025-10-27T17:23:26.653Z,1761585806.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127319,0.980396,0.150377],[-0.927713,-0.064070,-0.367756],[-0.350912,-0.186329,0.917683]]
2025-10-27T17:23:27.053Z,1761585807.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122243,0.979546,0.159833],[-0.931057,-0.057397,-0.360330],[-0.343786,-0.192862,0.919030]]
2025-10-27T17:23:27.457Z,1761585807.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115821,0.979617,0.164121],[-0.935209,-0.051888,-0.350273],[-0.334617,-0.194057,0.922157]]
2025-10-27T17:23:27.861Z,1761585807.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107252,0.980386,0.165348],[-0.939822,-0.045708,-0.338593],[-0.324394,-0.191712,0.926291]]
2025-10-27T17:23:28.281Z,1761585808.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096735,0.982091,0.161676],[-0.944304,-0.039226,-0.326727],[-0.314534,-0.184277,0.931188]]
2025-10-27T17:23:28.323Z,1761585808.323 [DAT](INFO): Powering up
2025-10-27T17:23:28.323Z,1761585808.323 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:23:28.680Z,1761585808.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085285,0.984201,0.155162],[-0.947960,-0.032207,-0.316757],[-0.306756,-0.174102,0.935729]]
2025-10-27T17:23:29.478Z,1761585809.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066365,0.988891,0.133003],[-0.951540,-0.022609,-0.306692],[-0.300278,-0.146912,0.942470]]
2025-10-27T17:23:29.894Z,1761585809.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062221,0.991167,0.117113],[-0.951556,-0.023510,-0.306576],[-0.301115,-0.130515,0.944614]]
2025-10-27T17:23:30.305Z,1761585810.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061548,0.992602,0.104661],[-0.950744,-0.026387,-0.308851],[-0.303804,-0.118515,0.945334]]
2025-10-27T17:23:30.706Z,1761585810.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063095,0.993350,0.096302],[-0.949489,-0.030027,-0.312360],[-0.307391,-0.111146,0.945070]]
2025-10-27T17:23:30.789Z,1761585810.789 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:23:30.789Z,1761585810.789 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:23:30.789Z,1761585810.789 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:23:30.789Z,1761585810.789 [marl:UpdateRudder:A] Stopped
2025-10-27T17:23:30.789Z,1761585810.789 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode] Stopped
2025-10-27T17:23:30.790Z,1761585810.790 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:23:30.791Z,1761585810.791 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:23:30.791Z,1761585810.791 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:23:30.795Z,1761585810.795 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:23:30.795Z,1761585810.795 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:23:30.795Z,1761585810.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:23:30.796Z,1761585810.796 [marl:UpdateSpeed] Stopped
2025-10-27T17:23:30.796Z,1761585810.796 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:23:31.174Z,1761585811.174 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:23:31.174Z,1761585811.174 [marl:UpdateRudder:B] Stopped
2025-10-27T17:23:31.174Z,1761585811.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:23:31.174Z,1761585811.174 [marl:UpdateRudder] Stopped
2025-10-27T17:23:31.175Z,1761585811.175 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:23:31.514Z,1761585811.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073451,0.992859,0.093998],[-0.946810,-0.039813,-0.319321],[-0.313298,-0.112452,0.942973]]
2025-10-27T17:23:31.919Z,1761585811.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080839,0.991838,0.098598],[-0.946104,-0.045232,-0.320688],[-0.313611,-0.119208,0.942039]]
2025-10-27T17:23:32.754Z,1761585812.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095028,0.988873,0.114454],[-0.947234,-0.054466,-0.315881],[-0.306133,-0.138432,0.941870]]
2025-10-27T17:23:32.760Z,1761585812.760 [NAL9602](INFO): Powering up NAL9602
2025-10-27T17:23:33.534Z,1761585813.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094242,0.985981,0.137698],[-0.951237,-0.048376,-0.304643],[-0.293710,-0.159694,0.942461]]
2025-10-27T17:23:33.938Z,1761585813.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082521,0.985470,0.148457],[-0.953458,-0.034718,-0.299522],[-0.290015,-0.166265,0.942469]]
2025-10-27T17:23:34.342Z,1761585814.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065868,0.987172,0.145442],[-0.955451,-0.020370,-0.294447],[-0.287707,-0.158357,0.944536]]
2025-10-27T17:23:35.609Z,1761585815.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003373,0.998407,0.056317],[-0.958055,0.012912,-0.286293],[-0.286564,-0.054920,0.956486]]
2025-10-27T17:23:36.013Z,1761585816.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014562,0.999529,0.027005],[-0.957873,0.021693,-0.286372],[-0.286823,-0.021697,0.957738]]
2025-10-27T17:23:36.418Z,1761585816.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029950,0.999539,0.005054],[-0.957254,0.030138,-0.287675],[-0.287695,0.003778,0.957715]]
2025-10-27T17:23:37.630Z,1761585817.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075730,0.997104,-0.007018],[-0.952491,0.070256,-0.296353],[-0.295001,0.029128,0.955053]]
2025-10-27T17:23:38.034Z,1761585818.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092137,0.995742,-0.002809],[-0.950305,0.087090,-0.298890],[-0.297372,0.030208,0.954284]]
2025-10-27T17:23:38.439Z,1761585818.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109019,0.994036,0.002848],[-0.947815,0.104813,-0.301099],[-0.299602,0.030127,0.953589]]
2025-10-27T17:23:38.893Z,1761585818.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144000,0.989488,0.013283],[-0.941827,0.141159,-0.305019],[-0.303688,0.031412,0.952254]]
2025-10-27T17:23:39.265Z,1761585819.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162954,0.986446,0.019221],[-0.938165,0.160951,-0.306498],[-0.305438,0.031913,0.951677]]
2025-10-27T17:23:39.656Z,1761585819.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182730,0.982884,0.023433],[-0.934055,0.180992,-0.307869],[-0.306840,0.034369,0.951140]]
2025-10-27T17:23:39.920Z,1761585819.920 [DAT](INFO): DAT read: 

2025-10-27T17:23:39.920Z,1761585819.920 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:23:40.058Z,1761585820.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203075,0.978844,0.025016],[-0.929430,0.200736,-0.309620],[-0.308091,0.039625,0.950531]]
2025-10-27T17:23:40.462Z,1761585820.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222726,0.974514,0.026752],[-0.924582,0.219856,-0.311145],[-0.309097,0.044565,0.949986]]
2025-10-27T17:23:41.274Z,1761585821.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259313,0.965364,0.028791],[-0.914480,0.255014,-0.314157],[-0.310618,0.055136,0.948934]]
2025-10-27T17:23:41.436Z,1761585821.436 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:23:41.437Z,1761585821.437 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:23:41.438Z,1761585821.438 [DAT](INFO): DAT read: Oct 27 2025 17:23:36 

2025-10-27T17:23:41.670Z,1761585821.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275756,0.960756,0.030112],[-0.909687,0.270963,-0.314719],[-0.310528,0.059393,0.948707]]
2025-10-27T17:23:42.074Z,1761585822.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290760,0.956222,0.033131],[-0.905058,0.286105,-0.314664],[-0.310367,0.061506,0.948625]]
2025-10-27T17:23:42.440Z,1761585822.440 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:23:42.441Z,1761585822.441 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:23:42.442Z,1761585822.442 [DAT](INFO): commRate: 600
2025-10-27T17:23:42.478Z,1761585822.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304131,0.951935,0.036391],[-0.900322,0.299706,-0.315590],[-0.311327,0.063217,0.948198]]
2025-10-27T17:23:42.539Z,1761585822.539 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:23:42.896Z,1761585822.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316387,0.947673,0.042615],[-0.894811,0.313052,-0.318296],[-0.314981,0.062572,0.947033]]
2025-10-27T17:23:43.545Z,1761585823.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:23:43.690Z,1761585823.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338080,0.938957,0.063735],[-0.881002,0.339574,-0.329432],[-0.330965,0.055224,0.942026]]
2025-10-27T17:23:43.701Z,1761585823.701 [NAL9602](INFO): NAL9602 initialized
2025-10-27T17:23:43.770Z,1761585823.770 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:23:43.770Z,1761585823.770 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:23:43.770Z,1761585823.770 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:23:43.770Z,1761585823.770 [marl:UpdateRudder:A] Stopped
2025-10-27T17:23:43.770Z,1761585823.770 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:23:43.771Z,1761585823.771 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:23:43.775Z,1761585823.775 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:23:43.775Z,1761585823.775 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:23:43.775Z,1761585823.775 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:23:43.775Z,1761585823.775 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateCommandMode] Stopped
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:23:43.776Z,1761585823.776 [marl:UpdateSpeed] Stopped
2025-10-27T17:23:43.777Z,1761585823.777 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:23:44.094Z,1761585824.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348087,0.934429,0.075350],[-0.873101,0.352408,-0.336903],[-0.341366,0.051483,0.938520]]
2025-10-27T17:23:44.144Z,1761585824.144 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:23:44.144Z,1761585824.144 [marl:UpdateRudder:B] Stopped
2025-10-27T17:23:44.144Z,1761585824.144 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:23:44.144Z,1761585824.144 [marl:UpdateRudder] Stopped
2025-10-27T17:23:44.144Z,1761585824.144 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:23:44.146Z,1761585824.146 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:23:44.511Z,1761585824.511 [DAT](INFO): entering command mode
2025-10-27T17:23:44.708Z,1761585824.708 [DAT](INFO): DAT read: 

2025-10-27T17:23:44.709Z,1761585824.709 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:44.710Z,1761585824.710 [DAT](INFO): setting verbose to 3
2025-10-27T17:23:44.960Z,1761585824.960 [DAT](INFO): DAT read: user:1>

2025-10-27T17:23:44.961Z,1761585824.961 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:23:44.961Z,1761585824.961 [DAT](INFO): set verbose to 3
2025-10-27T17:23:44.961Z,1761585824.961 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:23:45.212Z,1761585825.212 [DAT](INFO): DAT read: user:2>

2025-10-27T17:23:45.213Z,1761585825.213 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:23:45.213Z,1761585825.213 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:23:45.213Z,1761585825.213 [DAT](INFO): setting transmit power to 8
2025-10-27T17:23:45.319Z,1761585825.319 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:23:45.319Z,1761585825.319 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:23:45.356Z,1761585825.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376722,0.921131,0.097970],[-0.850337,0.385830,-0.357858],[-0.367434,0.051506,0.928622]]
2025-10-27T17:23:45.464Z,1761585825.464 [DAT](INFO): DAT read: user:3>

2025-10-27T17:23:45.466Z,1761585825.466 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:23:45.466Z,1761585825.466 [DAT](INFO): set transmit power to 8
2025-10-27T17:23:45.467Z,1761585825.467 [DAT](INFO): setting local address to 11
2025-10-27T17:23:45.717Z,1761585825.717 [DAT](INFO): DAT read: user:4>

2025-10-27T17:23:45.718Z,1761585825.718 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:23:45.718Z,1761585825.718 [DAT](INFO): set local address to 11
2025-10-27T17:23:45.720Z,1761585825.720 [DAT](INFO): Setting time to: 17:23:45 And date to:10/27/2025
2025-10-27T17:23:45.777Z,1761585825.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387477,0.916148,0.102637],[-0.843049,0.397187,-0.362643],[-0.373001,0.053988,0.926259]]
2025-10-27T17:23:45.968Z,1761585825.968 [DAT](INFO): DAT read: user:5>

2025-10-27T17:23:45.970Z,1761585825.970 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:23:45  

2025-10-27T17:23:45.970Z,1761585825.970 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:23:45  

2025-10-27T17:23:45.971Z,1761585825.971 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:45.972Z,1761585825.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:45.973Z,1761585825.973 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:46.220Z,1761585826.220 [DAT](INFO): DAT read: user:6>

2025-10-27T17:23:46.223Z,1761585826.223 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:23:46.225Z,1761585826.225 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:23:46.225Z,1761585826.225 [DAT] Communications Fault, FailCount= 5
2025-10-27T17:23:46.225Z,1761585826.225 [DAT](ERROR): Communications Fault
2025-10-27T17:23:46.228Z,1761585826.228 [DAT](INFO): DAT read: user:7>

2025-10-27T17:23:46.230Z,1761585826.230 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:23:46.230Z,1761585826.230 [DAT](INFO): set remote address to 0
2025-10-27T17:23:46.231Z,1761585826.231 [DAT](INFO): setting remote address to 6
2025-10-27T17:23:46.232Z,1761585826.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:23:46.233Z,1761585826.233 [DAT](INFO): setting remote address to 0
2025-10-27T17:23:46.260Z,1761585826.260 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:23:46.337Z,1761585826.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400994,0.909800,0.107088],[-0.835284,0.411123,-0.365073],[-0.376170,0.056943,0.924799]]
2025-10-27T17:23:46.645Z,1761585826.645 [DAT](INFO): Powering down
2025-10-27T17:23:46.778Z,1761585826.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417525,0.901976,0.110055],[-0.827660,0.427493,-0.363632],[-0.375035,0.060737,0.925019]]
2025-10-27T17:23:47.506Z,1761585827.506 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:23:47.506Z,1761585827.506 [DAT] No Fault, FailCount= 5
2025-10-27T17:23:47.645Z,1761585827.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455679,0.883281,0.110322],[-0.814255,0.463691,-0.349255],[-0.359645,0.069318,0.930511]]
2025-10-27T17:23:48.050Z,1761585828.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475780,0.872527,0.111044],[-0.806305,0.483106,-0.341293],[-0.351434,0.072845,0.933375]]
2025-10-27T17:23:48.461Z,1761585828.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495822,0.860586,0.116413],[-0.795816,0.503924,-0.335764],[-0.347617,0.073835,0.934725]]
2025-10-27T17:23:48.898Z,1761585828.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534801,0.832937,0.142138],[-0.768158,0.549332,-0.328888],[-0.352024,0.066705,0.933611]]
2025-10-27T17:23:49.268Z,1761585829.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548786,0.821159,0.156627],[-0.757444,0.567712,-0.322462],[-0.353712,0.058327,0.933534]]
2025-10-27T17:23:49.670Z,1761585829.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558552,0.811100,0.173597],[-0.749189,0.583144,-0.314102],[-0.356000,0.045385,0.933383]]
2025-10-27T17:23:49.879Z,1761585829.879 [DAT](INFO): Powering up
2025-10-27T17:23:49.880Z,1761585829.880 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:23:50.076Z,1761585830.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564651,0.802720,0.191859],[-0.742597,0.595576,-0.306331],[-0.360165,0.030496,0.932390]]
2025-10-27T17:23:50.477Z,1761585830.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568114,0.796162,0.208261],[-0.737343,0.604835,-0.300831],[-0.365474,0.017347,0.930660]]
2025-10-27T17:23:50.894Z,1761585830.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571498,0.790478,0.220306],[-0.732498,0.612431,-0.297278],[-0.369914,0.008520,0.929027]]
2025-10-27T17:23:51.687Z,1761585831.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583154,0.779856,0.227500],[-0.722917,0.625928,-0.292582],[-0.370570,0.006157,0.928784]]
2025-10-27T17:23:52.089Z,1761585832.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591311,0.774110,0.226063],[-0.717951,0.632987,-0.289610],[-0.367285,0.008947,0.930066]]
2025-10-27T17:23:52.494Z,1761585832.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601810,0.766926,0.222819],[-0.710788,0.641555,-0.288422],[-0.364149,0.015199,0.931217]]
2025-10-27T17:23:53.302Z,1761585833.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634286,0.742747,0.214495],[-0.684581,0.668524,-0.290561],[-0.359208,0.037460,0.932505]]
2025-10-27T17:23:53.706Z,1761585833.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652496,0.728750,0.207781],[-0.671032,0.683043,-0.288387],[-0.352086,0.048744,0.934698]]
2025-10-27T17:23:54.109Z,1761585834.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667336,0.716887,0.201830],[-0.662465,0.695213,-0.278961],[-0.340299,0.052456,0.938853]]
2025-10-27T17:23:54.514Z,1761585834.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678372,0.706502,0.201660],[-0.657490,0.706247,-0.262530],[-0.327900,0.045504,0.943616]]
2025-10-27T17:23:54.936Z,1761585834.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688421,0.693726,0.211708],[-0.650922,0.719674,-0.241598],[-0.319963,0.028516,0.947001]]
2025-10-27T17:23:55.322Z,1761585835.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699801,0.676681,0.228868],[-0.640166,0.736242,-0.219395],[-0.316963,0.007019,0.948412]]
2025-10-27T17:23:55.749Z,1761585835.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712823,0.657156,0.245010],[-0.626901,0.753646,-0.197516],[-0.314449,-0.012803,0.949188]]
2025-10-27T17:23:56.133Z,1761585836.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722743,0.642220,0.255333],[-0.617441,0.765996,-0.178931],[-0.310497,-0.028332,0.950152]]
2025-10-27T17:23:56.566Z,1761585836.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728108,0.631196,0.267301],[-0.610343,0.774482,-0.166310],[-0.311994,-0.042053,0.949153]]
2025-10-27T17:23:56.969Z,1761585836.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734714,0.615681,0.284837],[-0.597844,0.786080,-0.157039],[-0.320591,-0.054910,0.945625]]
2025-10-27T17:23:57.038Z,1761585837.038 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:23:57.038Z,1761585837.038 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:23:57.038Z,1761585837.038 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:23:57.039Z,1761585837.039 [marl:UpdateRudder:A] Stopped
2025-10-27T17:23:57.039Z,1761585837.039 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:23:57.039Z,1761585837.039 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:23:57.039Z,1761585837.039 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:23:57.039Z,1761585837.039 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateCommandMode] Stopped
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:23:57.040Z,1761585837.040 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:23:57.041Z,1761585837.041 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:23:57.041Z,1761585837.041 [marl:UpdateSpeed] Stopped
2025-10-27T17:23:57.041Z,1761585837.041 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:23:57.373Z,1761585837.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745966,0.596206,0.296771],[-0.578250,0.800903,-0.155504],[-0.330397,-0.055607,0.942203]]
2025-10-27T17:23:57.441Z,1761585837.441 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:23:57.441Z,1761585837.441 [marl:UpdateRudder:B] Stopped
2025-10-27T17:23:57.441Z,1761585837.441 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:23:57.441Z,1761585837.441 [marl:UpdateRudder] Stopped
2025-10-27T17:23:57.441Z,1761585837.441 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:23:57.781Z,1761585837.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756862,0.582614,0.296179],[-0.558366,0.811930,-0.170288],[-0.339688,-0.036492,0.939830]]
2025-10-27T17:23:58.181Z,1761585838.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764894,0.574420,0.291512],[-0.541583,0.818484,-0.191759],[-0.348748,-0.011203,0.937149]]
2025-10-27T17:23:58.586Z,1761585838.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772865,0.565271,0.288355],[-0.527425,0.824889,-0.203422],[-0.352849,0.005132,0.935666]]
2025-10-27T17:23:59.422Z,1761585839.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793549,0.549247,0.261930],[-0.519625,0.835644,-0.178012],[-0.316653,0.005156,0.948528]]
2025-10-27T17:23:59.826Z,1761585839.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806976,0.535347,0.249386],[-0.512752,0.844625,-0.153929],[-0.293043,-0.003656,0.956092]]
2025-10-27T17:24:00.240Z,1761585840.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810120,0.519870,0.271000],[-0.503103,0.853791,-0.133898],[-0.300986,-0.027868,0.953221]]
2025-10-27T17:24:00.633Z,1761585840.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807603,0.500098,0.312538],[-0.494785,0.862970,-0.102321],[-0.320881,-0.072004,0.944378]]
2025-10-27T17:24:01.472Z,1761585841.472 [DAT](INFO): DAT read: 

2025-10-27T17:24:01.472Z,1761585841.472 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:24:01.504Z,1761585841.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802574,0.478755,0.355905],[-0.502418,0.864124,-0.029436],[-0.321639,-0.155189,0.934058]]
2025-10-27T17:24:01.553Z,1761585841.553 [marl:NeedComms:C] Running Loop=1
2025-10-27T17:24:01.987Z,1761585841.987 [Radio_Surface](INFO): Powering up
2025-10-27T17:24:02.009Z,1761585842.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802055,0.468735,0.370129],[-0.495094,0.868422,-0.026928],[-0.334050,-0.161651,0.928590]]
2025-10-27T17:24:02.457Z,1761585842.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806505,0.471260,0.357019],[-0.492790,0.869465,-0.034471],[-0.326660,-0.148135,0.933461]]
2025-10-27T17:24:02.984Z,1761585842.984 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:24:02.985Z,1761585842.985 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:24:02.986Z,1761585842.986 [DAT](INFO): DAT read: Oct 27 2025 17:23:57 

2025-10-27T17:24:03.666Z,1761585843.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840694,0.473808,0.262182],[-0.495267,0.868544,0.018479],[-0.218961,-0.145385,0.964842]]
2025-10-27T17:24:03.992Z,1761585843.992 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:24:03.993Z,1761585843.993 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:24:03.994Z,1761585843.994 [DAT](INFO): commRate: 600
2025-10-27T17:24:04.070Z,1761585844.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838434,0.482443,0.253531],[-0.512244,0.856429,0.064309],[-0.186106,-0.183788,0.965187]]
2025-10-27T17:24:04.479Z,1761585844.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844585,0.486863,0.222802],[-0.512898,0.855105,0.075702],[-0.153663,-0.178212,0.971920]]
2025-10-27T17:24:05.288Z,1761585845.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857043,0.514754,0.022480],[-0.515226,0.855834,0.045712],[0.004292,-0.050759,0.998702]]
2025-10-27T17:24:05.692Z,1761585845.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855937,0.510752,0.080653],[-0.516450,0.852131,0.084574],[-0.025530,-0.114043,0.993148]]
2025-10-27T17:24:06.059Z,1761585846.059 [DAT](INFO): entering command mode
2025-10-27T17:24:06.260Z,1761585846.260 [DAT](INFO): DAT read: 

2025-10-27T17:24:06.261Z,1761585846.261 [DAT](INFO): DAT read: user:1>

2025-10-27T17:24:06.261Z,1761585846.261 [DAT](INFO): setting verbose to 3
2025-10-27T17:24:06.501Z,1761585846.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841190,0.514383,0.166761],[-0.534905,0.836735,0.117262],[-0.079217,-0.187841,0.979000]]
2025-10-27T17:24:06.512Z,1761585846.512 [DAT](INFO): DAT read: user:1>

2025-10-27T17:24:06.513Z,1761585846.513 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:24:06.513Z,1761585846.513 [DAT](INFO): set verbose to 3
2025-10-27T17:24:06.513Z,1761585846.513 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:24:06.764Z,1761585846.764 [DAT](INFO): DAT read: user:2>

2025-10-27T17:24:06.765Z,1761585846.765 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:24:06.765Z,1761585846.765 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:24:06.765Z,1761585846.765 [DAT](INFO): setting transmit power to 8
2025-10-27T17:24:06.898Z,1761585846.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837409,0.529799,0.134382],[-0.542647,0.835297,0.088395],[-0.065418,-0.146945,0.986979]]
2025-10-27T17:24:07.017Z,1761585847.017 [DAT](INFO): DAT read: user:3>

2025-10-27T17:24:07.018Z,1761585847.018 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:24:07.019Z,1761585847.019 [DAT](INFO): set transmit power to 8
2025-10-27T17:24:07.019Z,1761585847.019 [DAT](INFO): setting local address to 11
2025-10-27T17:24:07.239Z,1761585847.239 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T17:24:07.240Z,1761585847.240 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T17:24:07.268Z,1761585847.268 [DAT](INFO): DAT read: user:4>

2025-10-27T17:24:07.269Z,1761585847.269 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:24:07.269Z,1761585847.269 [DAT](INFO): set local address to 11
2025-10-27T17:24:07.270Z,1761585847.270 [DAT](INFO): Setting time to: 17:24:7 And date to:10/27/2025
2025-10-27T17:24:07.306Z,1761585847.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849455,0.521063,0.083181],[-0.525932,0.848835,0.053612],[-0.042672,-0.089288,0.995091]]
2025-10-27T17:24:07.520Z,1761585847.520 [DAT](INFO): DAT read: user:5>

2025-10-27T17:24:07.521Z,1761585847.521 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:24:07  

2025-10-27T17:24:07.521Z,1761585847.521 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:24:07  

2025-10-27T17:24:07.522Z,1761585847.522 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:07.522Z,1761585847.522 [DAT](INFO): setting remote address to 0
2025-10-27T17:24:07.754Z,1761585847.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854895,0.515705,0.056586],[-0.518299,0.853768,0.049459],[-0.022805,-0.071610,0.997172]]
2025-10-27T17:24:07.772Z,1761585847.772 [DAT](INFO): DAT read: user:6>

2025-10-27T17:24:07.773Z,1761585847.773 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:24:07.773Z,1761585847.773 [DAT](INFO): set remote address to 0
2025-10-27T17:24:07.773Z,1761585847.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:07.774Z,1761585847.774 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:24:08.024Z,1761585848.024 [DAT](INFO): DAT read: user:7>

2025-10-27T17:24:08.024Z,1761585848.024 [DAT](INFO): DAT read: Tx time:17:24:07.6478

2025-10-27T17:24:08.025Z,1761585848.025 [DAT](INFO): Ping request sent.
2025-10-27T17:24:08.025Z,1761585848.025 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:24:08.025Z,1761585848.025 [DAT](INFO): publishing transmit ping time
2025-10-27T17:24:08.026Z,1761585848.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942
2025-10-27T17:24:08.109Z,1761585848.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838428,0.543583,0.039457],[-0.544914,0.834701,0.079640],[0.010356,-0.088273,0.996042]]
2025-10-27T17:24:08.277Z,1761585848.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251809
2025-10-27T17:24:08.513Z,1761585848.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835169,0.547609,0.051161],[-0.549721,0.828207,0.108994],[0.017315,-0.119153,0.992725]]
2025-10-27T17:24:08.528Z,1761585848.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503176
2025-10-27T17:24:08.780Z,1761585848.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051
2025-10-27T17:24:08.920Z,1761585848.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849202,0.524548,0.060872],[-0.527770,0.839190,0.131222],[0.017749,-0.143560,0.989482]]
2025-10-27T17:24:09.034Z,1761585849.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008771
2025-10-27T17:24:09.284Z,1761585849.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259190
2025-10-27T17:24:09.322Z,1761585849.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849305,0.527261,0.026026],[-0.525671,0.840156,0.133447],[0.048495,-0.127018,0.990714]]
2025-10-27T17:24:09.536Z,1761585849.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511286
2025-10-27T17:24:09.733Z,1761585849.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838875,0.542182,-0.048245],[-0.527206,0.831348,0.175823],[0.135437,-0.122058,0.983239]]
2025-10-27T17:24:09.789Z,1761585849.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763754
2025-10-27T17:24:10.040Z,1761585850.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015107
2025-10-27T17:24:10.130Z,1761585850.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844459,0.532655,-0.056290],[-0.519212,0.839869,0.158239],[0.131563,-0.104400,0.985795]]
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateRudder:A] Stopped
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:24:10.229Z,1761585850.229 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode] Stopped
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:24:10.230Z,1761585850.230 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:24:10.231Z,1761585850.231 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:24:10.231Z,1761585850.231 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:24:10.231Z,1761585850.231 [marl:UpdateSpeed] Stopped
2025-10-27T17:24:10.231Z,1761585850.231 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:24:10.294Z,1761585850.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268894
2025-10-27T17:24:10.542Z,1761585850.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840959,0.541082,-0.004214],[-0.537398,0.836092,0.110244],[0.063174,-0.090446,0.993896]]
2025-10-27T17:24:10.544Z,1761585850.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519149
2025-10-27T17:24:10.609Z,1761585850.609 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:24:10.609Z,1761585850.609 [marl:UpdateRudder:B] Stopped
2025-10-27T17:24:10.609Z,1761585850.609 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:24:10.610Z,1761585850.610 [marl:UpdateRudder] Stopped
2025-10-27T17:24:10.610Z,1761585850.610 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:24:10.796Z,1761585850.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771108
2025-10-27T17:24:10.938Z,1761585850.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834931,0.550353,0.001083],[-0.548129,0.831378,0.091461],[0.049435,-0.076957,0.995808]]
2025-10-27T17:24:11.048Z,1761585851.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023132
2025-10-27T17:24:11.300Z,1761585851.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275053
2025-10-27T17:24:11.342Z,1761585851.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837581,0.545137,-0.035820],[-0.538190,0.834617,0.117328],[0.093856,-0.078993,0.992447]]
2025-10-27T17:24:11.393Z,1761585851.393 [marl:SendObservationData] Running Loop=1
2025-10-27T17:24:11.394Z,1761585851.394 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:24:11.394Z,1761585851.394 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:24:11.394Z,1761585851.394 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:24:11.396Z,1761585851.396 [marl:SendObservationData:A](INFO): Got test_good :  41da3fe9800000004051400000000000404263cfd18eac9fc05e772ce34475e6402f9aa7600000004082ef3340000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:24:11.396Z,1761585851.396 [marl:SendObservationData:A] Stopped
2025-10-27T17:24:11.396Z,1761585851.396 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:24:11.552Z,1761585851.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527131
2025-10-27T17:24:11.752Z,1761585851.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830604,0.551610,-0.076308],[-0.538926,0.830766,0.139234],[0.140197,-0.074524,0.987315]]
2025-10-27T17:24:11.802Z,1761585851.802 [marl:SendObservationData:B] Stopped
2025-10-27T17:24:11.802Z,1761585851.802 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:24:11.804Z,1761585851.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779140
2025-10-27T17:24:12.056Z,1761585852.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031050
2025-10-27T17:24:12.150Z,1761585852.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822250,0.557605,-0.113937],[-0.540848,0.827897,0.148563],[0.177167,-0.060534,0.982317]]
2025-10-27T17:24:12.209Z,1761585852.209 [marl:SendObservationData:C] Stopped
2025-10-27T17:24:12.209Z,1761585852.209 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:24:12.308Z,1761585852.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283586
2025-10-27T17:24:12.560Z,1761585852.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535157
2025-10-27T17:24:12.562Z,1761585852.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819126,0.562165,-0.114034],[-0.539596,0.822611,0.179294],[0.194598,-0.085332,0.977164]]
2025-10-27T17:24:12.588Z,1761585852.588 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008935 min 
2025-10-27T17:24:12.588Z,1761585852.588 [marl:SendObservationData:E] Stopped
2025-10-27T17:24:12.589Z,1761585852.589 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:24:12.589Z,1761585852.589 [marl:SendObservationData] Stopped
2025-10-27T17:24:12.589Z,1761585852.589 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:24:12.589Z,1761585852.589 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:24:12.812Z,1761585852.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787016
2025-10-27T17:24:12.957Z,1761585852.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831854,0.547408,-0.091448],[-0.523525,0.828657,0.198112],[0.184228,-0.116925,0.975904]]
2025-10-27T17:24:13.065Z,1761585853.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040628
2025-10-27T17:24:13.316Z,1761585853.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291023
2025-10-27T17:24:13.362Z,1761585853.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843715,0.532141,-0.070506],[-0.512308,0.837471,0.190217],[0.160269,-0.124368,0.979207]]
2025-10-27T17:24:13.568Z,1761585853.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543105
2025-10-27T17:24:13.667Z,1761585853.667 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:24:13.820Z,1761585853.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795253
2025-10-27T17:24:14.072Z,1761585854.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047023
2025-10-27T17:24:14.171Z,1761585854.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827264,0.552694,-0.100815],[-0.535105,0.829817,0.158324],[0.171163,-0.077030,0.982227]]
2025-10-27T17:24:14.325Z,1761585854.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300352
2025-10-27T17:24:14.574Z,1761585854.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849008,0.520246,-0.092361],[-0.503134,0.849381,0.159400],[0.161377,-0.088861,0.982884]]
2025-10-27T17:24:14.576Z,1761585854.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551142
2025-10-27T17:24:14.671Z,1761585854.671 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T17:24:14.671Z,1761585854.671 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:24:14.831Z,1761585854.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805335
2025-10-27T17:24:14.978Z,1761585854.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849701,0.513288,-0.120600],[-0.493716,0.854829,0.159723],[0.185077,-0.076175,0.979767]]
2025-10-27T17:24:15.080Z,1761585855.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055108
2025-10-27T17:24:15.332Z,1761585855.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307117
2025-10-27T17:24:15.387Z,1761585855.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841224,0.509701,-0.180410],[-0.482376,0.858219,0.175426],[0.244246,-0.060547,0.967821]]
2025-10-27T17:24:15.584Z,1761585855.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559228
2025-10-27T17:24:15.787Z,1761585855.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838953,0.503922,-0.205474],[-0.471243,0.861549,0.188847],[0.272190,-0.061606,0.960269]]
2025-10-27T17:24:15.836Z,1761585855.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811449
2025-10-27T17:24:16.091Z,1761585856.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065899
2025-10-27T17:24:16.341Z,1761585856.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315442
2025-10-27T17:24:16.592Z,1761585856.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567054
2025-10-27T17:24:16.596Z,1761585856.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834628,0.541680,-0.099890],[-0.515976,0.832347,0.202402],[0.192780,-0.117390,0.974195]]
2025-10-27T17:24:16.846Z,1761585856.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821076
2025-10-27T17:24:16.998Z,1761585856.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839445,0.536593,-0.086028],[-0.503177,0.827244,0.249961],[0.205293,-0.166541,0.964427]]
2025-10-27T17:24:17.096Z,1761585857.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070954
2025-10-27T17:24:17.348Z,1761585857.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323073
2025-10-27T17:24:17.410Z,1761585857.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855600,0.513775,-0.063115],[-0.484731,0.838011,0.250546],[0.181615,-0.183774,0.966045]]
2025-10-27T17:24:17.604Z,1761585857.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579330
2025-10-27T17:24:17.856Z,1761585857.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831394
2025-10-27T17:24:18.108Z,1761585858.108 [DAT](INFO): Reached modem response timeout
2025-10-27T17:24:18.213Z,1761585858.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882861,0.442429,-0.157521],[-0.432558,0.896679,0.094133],[0.182893,-0.014969,0.983019]]
2025-10-27T17:24:18.360Z,1761585858.360 [DAT](INFO): setting remote address to 6
2025-10-27T17:24:18.611Z,1761585858.611 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:18.615Z,1761585858.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870198,0.417488,-0.261648],[-0.421962,0.905654,0.041695],[0.254370,0.074122,0.964262]]
2025-10-27T17:24:18.865Z,1761585858.865 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:19.022Z,1761585859.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854399,0.413678,-0.314440],[-0.429795,0.902710,0.019764],[0.292024,0.118258,0.949071]]
2025-10-27T17:24:19.116Z,1761585859.116 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:19.367Z,1761585859.367 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:19.423Z,1761585859.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847639,0.440660,-0.295511],[-0.450680,0.891907,0.037272],[0.279992,0.101587,0.954612]]
2025-10-27T17:24:19.620Z,1761585859.620 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:19.825Z,1761585859.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844482,0.485663,-0.225790],[-0.477205,0.873699,0.094479],[0.243158,0.027962,0.969584]]
2025-10-27T17:24:19.872Z,1761585859.872 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:20.124Z,1761585860.124 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:24:20.234Z,1761585860.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845596,0.509913,-0.157974],[-0.480184,0.855848,0.192220],[0.233217,-0.086684,0.968554]]
2025-10-27T17:24:20.377Z,1761585860.377 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:24:20.378Z,1761585860.378 [DAT](INFO): response not received
2025-10-27T17:24:20.378Z,1761585860.378 [DAT](INFO): DAT read: user:8>

2025-10-27T17:24:20.379Z,1761585860.379 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:24:20.379Z,1761585860.379 [DAT](INFO): set remote address to 6
2025-10-27T17:24:20.380Z,1761585860.380 [DAT](INFO): entering online mode
2025-10-27T17:24:20.628Z,1761585860.628 [DAT](INFO): DAT read: user:9>

2025-10-27T17:24:20.628Z,1761585860.628 [DAT](INFO): DAT read: 

2025-10-27T17:24:20.629Z,1761585860.629 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:24:20.630Z,1761585860.630 [DAT](INFO): commRate: 600
2025-10-27T17:24:20.630Z,1761585860.630 [DAT](INFO): online mode acknowledged
2025-10-27T17:24:20.630Z,1761585860.630 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:24:20.653Z,1761585860.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847897,0.518878,-0.108795],[-0.470686,0.831193,0.295927],[0.243979,-0.199707,0.948995]]
2025-10-27T17:24:21.042Z,1761585861.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841814,0.530364,-0.100321],[-0.481004,0.821428,0.306417],[0.244918,-0.209691,0.946596]]
2025-10-27T17:24:21.441Z,1761585861.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846939,0.517657,-0.121348],[-0.478691,0.841723,0.249712],[0.231407,-0.153403,0.960686]]
2025-10-27T17:24:21.939Z,1761585861.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860981,0.497383,-0.106407],[-0.466426,0.855501,0.224866],[0.202876,-0.143974,0.968562]]
2025-10-27T17:24:22.250Z,1761585862.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859665,0.490677,-0.142169],[-0.464951,0.866804,0.180199],[0.211652,-0.088809,0.973302]]
2025-10-27T17:24:22.665Z,1761585862.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860800,0.466820,-0.202736],[-0.442351,0.883245,0.155575],[0.251691,-0.044238,0.966796]]
2025-10-27T17:24:23.061Z,1761585863.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863224,0.444055,-0.240122],[-0.421124,0.895731,0.142551],[0.278385,-0.021932,0.960219]]
2025-10-27T17:24:23.158Z,1761585863.158 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:24:23.158Z,1761585863.158 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:24:23.159Z,1761585863.159 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:24:23.159Z,1761585863.159 [marl:UpdateRudder:A] Stopped
2025-10-27T17:24:23.159Z,1761585863.159 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:24:23.159Z,1761585863.159 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode] Stopped
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:24:23.160Z,1761585863.160 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:24:23.161Z,1761585863.161 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:24:23.161Z,1761585863.161 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:24:23.161Z,1761585863.161 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:24:23.161Z,1761585863.161 [marl:UpdateSpeed] Stopped
2025-10-27T17:24:23.161Z,1761585863.161 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:24:23.461Z,1761585863.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854598,0.439813,-0.276092],[-0.421717,0.898040,0.125216],[0.303013,0.009424,0.952940]]
2025-10-27T17:24:23.521Z,1761585863.521 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:24:23.521Z,1761585863.521 [marl:UpdateRudder:B] Stopped
2025-10-27T17:24:23.522Z,1761585863.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:24:23.522Z,1761585863.522 [marl:UpdateRudder] Stopped
2025-10-27T17:24:23.522Z,1761585863.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:24:23.866Z,1761585863.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841390,0.446909,-0.303866],[-0.432485,0.893980,0.117286],[0.324066,0.032734,0.945468]]
2025-10-27T17:24:23.940Z,1761585863.940 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:24:23.5966

2025-10-27T17:24:23.941Z,1761585863.941 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:24:24.270Z,1761585864.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834191,0.454014,-0.313044],[-0.441868,0.889912,0.113179],[0.329967,0.043911,0.942971]]
2025-10-27T17:24:25.078Z,1761585865.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830646,0.493114,-0.258586],[-0.450131,0.868059,0.209417],[0.327734,-0.057554,0.943015]]
2025-10-27T17:24:25.888Z,1761585865.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832251,0.522269,-0.185995],[-0.460311,0.837939,0.293211],[0.308987,-0.158409,0.937781]]
2025-10-27T17:24:26.289Z,1761585866.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836990,0.517877,-0.176778],[-0.459998,0.840835,0.285303],[0.296393,-0.157478,0.941994]]
2025-10-27T17:24:26.697Z,1761585866.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838765,0.508404,-0.194932],[-0.457042,0.851973,0.255452],[0.295949,-0.125172,0.946967]]
2025-10-27T17:24:27.103Z,1761585867.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844287,0.486964,-0.223707],[-0.441108,0.868558,0.225897],[0.304307,-0.092043,0.948117]]
2025-10-27T17:24:27.501Z,1761585867.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850404,0.466737,-0.242837],[-0.422261,0.880806,0.214187],[0.313861,-0.079605,0.946126]]
2025-10-27T17:24:27.906Z,1761585867.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848834,0.450033,-0.277400],[-0.408441,0.891416,0.196351],[0.335644,-0.053368,0.940476]]
2025-10-27T17:24:28.310Z,1761585868.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840923,0.437316,-0.318752],[-0.397165,0.898831,0.185373],[0.367571,-0.029288,0.929534]]
2025-10-27T17:24:28.715Z,1761585868.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828310,0.433246,-0.355247],[-0.399989,0.901266,0.166519],[0.392316,0.004166,0.919821]]
2025-10-27T17:24:29.117Z,1761585869.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820991,0.442167,-0.361196],[-0.412803,0.896749,0.159485],[0.394421,0.018167,0.918750]]
2025-10-27T17:24:29.522Z,1761585869.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824845,0.460189,-0.328416],[-0.421174,0.887692,0.186055],[0.377152,-0.015146,0.926027]]
2025-10-27T17:24:29.932Z,1761585869.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830144,0.473168,-0.294913],[-0.421777,0.878884,0.222860],[0.364645,-0.060618,0.929171]]
2025-10-27T17:24:30.742Z,1761585870.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841176,0.469331,-0.268611],[-0.399480,0.874115,0.276295],[0.364471,-0.125107,0.922773]]
2025-10-27T17:24:31.137Z,1761585871.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855041,0.437169,-0.278906],[-0.373366,0.892254,0.253931],[0.359866,-0.112987,0.926137]]
2025-10-27T17:24:31.543Z,1761585871.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858725,0.394407,-0.327162],[-0.349322,0.917663,0.189389],[0.374921,-0.048348,0.925795]]
2025-10-27T17:24:31.946Z,1761585871.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843878,0.356845,-0.400664],[-0.333251,0.933856,0.129833],[0.420493,0.023959,0.906979]]
2025-10-27T17:24:32.349Z,1761585872.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823562,0.338071,-0.455470],[-0.326566,0.939145,0.106594],[0.463788,0.060954,0.883847]]
2025-10-27T17:24:32.778Z,1761585872.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808046,0.354973,-0.470166],[-0.342394,0.932427,0.115526],[0.479404,0.067632,0.874984]]
2025-10-27T17:24:33.168Z,1761585873.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797151,0.392484,-0.458810],[-0.372728,0.917704,0.137450],[0.474999,0.061443,0.877839]]
2025-10-27T17:24:33.563Z,1761585873.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794939,0.437138,-0.420692],[-0.385069,0.899391,0.206925],[0.468821,-0.002497,0.883290]]
2025-10-27T17:24:34.020Z,1761585874.020 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:24:34.272Z,1761585874.272 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:24:34.272Z,1761585874.272 [DAT](INFO): #Outgoing data=2
2025-10-27T17:24:34.272Z,1761585874.272 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:24:34.369Z,1761585874.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815261,0.502235,-0.288288],[-0.388622,0.843574,0.370616],[0.429328,-0.190113,0.882912]]
2025-10-27T17:24:34.524Z,1761585874.524 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:24:34.774Z,1761585874.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808859,0.517475,-0.279224],[-0.415008,0.838820,0.352349],[0.416551,-0.169121,0.893243]]
2025-10-27T17:24:35.582Z,1761585875.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832581,0.479271,-0.277685],[-0.413702,0.871411,0.263616],[0.368321,-0.104602,0.923795]]
2025-10-27T17:24:35.985Z,1761585875.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849656,0.436910,-0.295287],[-0.388447,0.897253,0.209873],[0.356643,-0.063616,0.932072]]
2025-10-27T17:24:36.026Z,1761585876.026 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:24:36.026Z,1761585876.026 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:24:36.026Z,1761585876.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:24:36.027Z,1761585876.027 [marl:UpdateRudder:A] Stopped
2025-10-27T17:24:36.027Z,1761585876.027 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:24:36.031Z,1761585876.031 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:24:36.031Z,1761585876.031 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:24:36.031Z,1761585876.031 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:24:36.031Z,1761585876.031 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateCommandMode] Stopped
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:24:36.032Z,1761585876.032 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:24:36.033Z,1761585876.033 [marl:UpdateSpeed] Stopped
2025-10-27T17:24:36.033Z,1761585876.033 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:24:36.443Z,1761585876.443 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:24:36.443Z,1761585876.443 [marl:UpdateRudder:B] Stopped
2025-10-27T17:24:36.443Z,1761585876.443 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:24:36.443Z,1761585876.443 [marl:UpdateRudder] Stopped
2025-10-27T17:24:36.443Z,1761585876.443 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:24:36.795Z,1761585876.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841164,0.373954,-0.390643],[-0.346657,0.927298,0.141233],[0.415057,0.016619,0.909643]]
2025-10-27T17:24:37.198Z,1761585877.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827029,0.365826,-0.426842],[-0.344178,0.929852,0.130068],[0.444481,0.039340,0.894924]]
2025-10-27T17:24:37.602Z,1761585877.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817998,0.369244,-0.441065],[-0.347763,0.928227,0.132120],[0.458193,0.045312,0.887697]]
2025-10-27T17:24:37.817Z,1761585877.817 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:24:37.4968

2025-10-27T17:24:37.817Z,1761585877.817 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:24:38.006Z,1761585878.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811780,0.382964,-0.440853],[-0.354026,0.923126,0.150009],[0.464412,0.034299,0.884955]]
2025-10-27T17:24:38.411Z,1761585878.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813946,0.395803,-0.425243],[-0.355004,0.918298,0.175219],[0.459852,0.008344,0.887956]]
2025-10-27T17:24:38.833Z,1761585878.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822475,0.405494,-0.398886],[-0.347051,0.913362,0.212898],[0.450656,-0.036669,0.891944]]
2025-10-27T17:24:39.218Z,1761585879.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822308,0.413694,-0.390726],[-0.335470,0.907061,0.254362],[0.459640,-0.078087,0.884665]]
2025-10-27T17:24:39.622Z,1761585879.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818773,0.419295,-0.392176],[-0.323477,0.901265,0.288243],[0.474313,-0.109145,0.873564]]
2025-10-27T17:24:40.028Z,1761585880.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819915,0.420114,-0.388900],[-0.323167,0.900385,0.291324],[0.472549,-0.113182,0.874007]]
2025-10-27T17:24:40.430Z,1761585880.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824762,0.403730,-0.395942],[-0.321828,0.910857,0.258392],[0.464967,-0.085687,0.881172]]
2025-10-27T17:24:40.882Z,1761585880.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831317,0.379623,-0.405954],[-0.306138,0.922366,0.235627],[0.463888,-0.071603,0.882996]]
2025-10-27T17:24:41.238Z,1761585881.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837608,0.346646,-0.422197],[-0.286314,0.936788,0.201128],[0.465229,-0.047585,0.883910]]
2025-10-27T17:24:41.654Z,1761585881.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834985,0.321184,-0.446811],[-0.292038,0.946848,0.134880],[0.466384,0.017863,0.884402]]
2025-10-27T17:24:42.045Z,1761585882.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823845,0.304465,-0.478101],[-0.300726,0.949768,0.086635],[0.480462,0.072404,0.874022]]
2025-10-27T17:24:42.450Z,1761585882.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820631,0.308440,-0.481072],[-0.277909,0.950981,0.135654],[0.499331,0.022372,0.866122]]
2025-10-27T17:24:42.885Z,1761585882.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827254,0.341441,-0.446171],[-0.260931,0.936792,0.233101],[0.497560,-0.076414,0.864057]]
2025-10-27T17:24:43.261Z,1761585883.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831084,0.382768,-0.403470],[-0.287235,0.916645,0.277954],[0.476230,-0.115112,0.871754]]
2025-10-27T17:24:43.667Z,1761585883.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829972,0.407583,-0.380819],[-0.321615,0.907468,0.270306],[0.455753,-0.101870,0.884258]]
2025-10-27T17:24:44.066Z,1761585884.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845595,0.389917,-0.364600],[-0.289128,0.908669,0.301208],[0.448747,-0.149284,0.881102]]
2025-10-27T17:24:44.471Z,1761585884.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871327,0.342849,-0.351061],[-0.236199,0.920130,0.312363],[0.430115,-0.189250,0.882715]]
2025-10-27T17:24:44.535Z,1761585884.535 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:24:44.620Z,1761585884.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:44.672Z,1761585884.672 [DAT](INFO): entering command mode
2025-10-27T17:24:44.795Z,1761585884.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:24:44.874Z,1761585884.874 [DAT](INFO): DAT read: 

2025-10-27T17:24:44.876Z,1761585884.876 [DAT](INFO): DAT read: usr:10>

2025-10-27T17:24:44.877Z,1761585884.877 [DAT](INFO): unknown deviceResponse_: usr:10>

2025-10-27T17:24:44.878Z,1761585884.878 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:44.878Z,1761585884.878 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:44.894Z,1761585884.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881233,0.317288,-0.350366],[-0.229672,0.935268,0.269303],[0.413133,-0.156849,0.897061]]
2025-10-27T17:24:45.124Z,1761585885.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:45.124Z,1761585885.124 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:45.281Z,1761585885.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875728,0.277836,-0.394851],[-0.226682,0.958691,0.171832],[0.426281,-0.060972,0.902533]]
2025-10-27T17:24:45.376Z,1761585885.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:45.384Z,1761585885.384 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:45.429Z,1761585885.429 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:24:45.429Z,1761585885.429 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:24:45.629Z,1761585885.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:45.629Z,1761585885.629 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:45.800Z,1761585885.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:24:45.880Z,1761585885.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:45.880Z,1761585885.880 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:46.087Z,1761585886.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877155,0.192872,-0.439772],[-0.205019,0.978549,0.020241],[0.434243,0.072407,0.897881]]
2025-10-27T17:24:46.156Z,1761585886.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:46.156Z,1761585886.156 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:46.404Z,1761585886.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:46.404Z,1761585886.404 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:46.489Z,1761585886.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881834,0.196824,-0.428519],[-0.214126,0.976773,0.008002],[0.420141,0.084700,0.903497]]
2025-10-27T17:24:46.657Z,1761585886.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:46.657Z,1761585886.657 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:46.895Z,1761585886.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893322,0.210898,-0.396860],[-0.202463,0.977224,0.063572],[0.401228,0.023559,0.915675]]
2025-10-27T17:24:46.908Z,1761585886.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:46.908Z,1761585886.908 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:47.160Z,1761585887.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:47.160Z,1761585887.160 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:47.302Z,1761585887.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910434,0.223371,-0.348159],[-0.187004,0.973005,0.135242],[0.368970,-0.058022,0.927629]]
2025-10-27T17:24:47.412Z,1761585887.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:47.412Z,1761585887.412 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:47.664Z,1761585887.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:47.664Z,1761585887.664 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:47.707Z,1761585887.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915595,0.254200,-0.311556],[-0.189795,0.956287,0.222472],[0.354490,-0.144562,0.923818]]
2025-10-27T17:24:47.916Z,1761585887.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:47.916Z,1761585887.916 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:48.105Z,1761585888.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913279,0.276746,-0.298887],[-0.202013,0.944892,0.257625],[0.353712,-0.174905,0.918856]]
2025-10-27T17:24:48.168Z,1761585888.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:48.168Z,1761585888.168 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:48.420Z,1761585888.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:48.420Z,1761585888.420 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:48.509Z,1761585888.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912008,0.295087,-0.284895],[-0.231751,0.943795,0.235676],[0.338428,-0.148913,0.929135]]
2025-10-27T17:24:48.672Z,1761585888.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:48.672Z,1761585888.672 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:48.928Z,1761585888.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:48.928Z,1761585888.928 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:48.974Z,1761585888.974 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:24:48.974Z,1761585888.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:24:48.974Z,1761585888.974 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:24:48.975Z,1761585888.975 [marl:UpdateRudder:A] Stopped
2025-10-27T17:24:48.975Z,1761585888.975 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:24:48.975Z,1761585888.975 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode] Stopped
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:24:48.976Z,1761585888.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:24:48.977Z,1761585888.977 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:24:48.977Z,1761585888.977 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:24:48.977Z,1761585888.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:24:48.977Z,1761585888.977 [marl:UpdateSpeed] Stopped
2025-10-27T17:24:48.977Z,1761585888.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:24:49.180Z,1761585889.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:49.180Z,1761585889.180 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:49.326Z,1761585889.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948603,0.234332,-0.212698],[-0.210604,0.969101,0.128407],[0.236216,-0.077013,0.968644]]
2025-10-27T17:24:49.400Z,1761585889.400 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:24:49.400Z,1761585889.400 [marl:UpdateRudder:B] Stopped
2025-10-27T17:24:49.400Z,1761585889.400 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:24:49.401Z,1761585889.401 [marl:UpdateRudder] Stopped
2025-10-27T17:24:49.401Z,1761585889.401 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:24:49.437Z,1761585889.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:49.437Z,1761585889.437 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:49.688Z,1761585889.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:49.688Z,1761585889.688 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:49.730Z,1761585889.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957378,0.194623,-0.213423],[-0.178033,0.979470,0.094565],[0.227446,-0.052538,0.972372]]
2025-10-27T17:24:49.940Z,1761585889.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:49.940Z,1761585889.940 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:50.192Z,1761585890.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:50.192Z,1761585890.192 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:50.444Z,1761585890.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:50.444Z,1761585890.444 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:50.537Z,1761585890.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955219,0.221475,-0.196228],[-0.199219,0.971699,0.126939],[0.218788,-0.082162,0.972307]]
2025-10-27T17:24:50.696Z,1761585890.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:50.696Z,1761585890.696 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:50.938Z,1761585890.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969715,0.189715,-0.153822],[-0.160105,0.969371,0.186240],[0.184443,-0.155972,0.970388]]
2025-10-27T17:24:50.948Z,1761585890.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:50.948Z,1761585890.948 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:51.200Z,1761585891.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:51.200Z,1761585891.200 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:51.345Z,1761585891.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977381,0.182703,-0.106520],[-0.165169,0.973997,0.155075],[0.132083,-0.133973,0.982143]]
2025-10-27T17:24:51.452Z,1761585891.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:51.452Z,1761585891.452 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:51.704Z,1761585891.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:51.704Z,1761585891.704 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:51.752Z,1761585891.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980044,0.173373,-0.097235],[-0.164530,0.982012,0.092642],[0.111548,-0.074795,0.990940]]
2025-10-27T17:24:51.956Z,1761585891.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:51.956Z,1761585891.956 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:52.208Z,1761585892.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:52.208Z,1761585892.208 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:52.460Z,1761585892.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:52.460Z,1761585892.460 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:52.555Z,1761585892.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983425,0.169311,-0.064882],[-0.166089,0.984726,0.052237],[0.072735,-0.040595,0.996525]]
2025-10-27T17:24:52.712Z,1761585892.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:52.712Z,1761585892.712 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:52.957Z,1761585892.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984054,0.159339,-0.079049],[-0.157210,0.987030,0.032504],[0.083202,-0.019558,0.996341]]
2025-10-27T17:24:52.964Z,1761585892.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:52.964Z,1761585892.964 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:53.216Z,1761585893.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:53.216Z,1761585893.216 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:53.361Z,1761585893.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994300,0.097717,-0.042646],[-0.097391,0.995199,0.009663],[0.043385,-0.005454,0.999044]]
2025-10-27T17:24:53.468Z,1761585893.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:53.468Z,1761585893.468 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:53.721Z,1761585893.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:53.721Z,1761585893.721 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:53.772Z,1761585893.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993687,0.109430,-0.024715],[-0.107911,0.992573,0.056159],[0.030677,-0.053137,0.998116]]
2025-10-27T17:24:53.972Z,1761585893.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:53.972Z,1761585893.972 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:54.171Z,1761585894.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988673,0.145510,-0.036789],[-0.137901,0.977432,0.160031],[0.059244,-0.153145,0.986426]]
2025-10-27T17:24:54.224Z,1761585894.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:54.224Z,1761585894.224 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:54.476Z,1761585894.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:54.476Z,1761585894.476 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:54.574Z,1761585894.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985985,0.166776,0.004504],[-0.164453,0.967001,0.194587],[0.028097,-0.192601,0.980875]]
2025-10-27T17:24:54.728Z,1761585894.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:54.728Z,1761585894.728 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:54.977Z,1761585894.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985329,0.167874,0.030734],[-0.170664,0.969327,0.176860],[-0.000101,-0.179511,0.983756]]
2025-10-27T17:24:54.980Z,1761585894.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:54.980Z,1761585894.980 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:55.232Z,1761585895.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:55.232Z,1761585895.232 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:55.385Z,1761585895.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991944,0.125336,0.018384],[-0.126677,0.981209,0.145538],[0.000203,-0.146695,0.989182]]
2025-10-27T17:24:55.484Z,1761585895.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:55.484Z,1761585895.484 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:55.736Z,1761585895.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:55.736Z,1761585895.736 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:55.789Z,1761585895.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994763,0.100576,0.018181],[-0.101944,0.989115,0.106105],[-0.007311,-0.107403,0.994189]]
2025-10-27T17:24:55.988Z,1761585895.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:55.988Z,1761585895.988 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:56.193Z,1761585896.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992512,0.122052,0.004830],[-0.122079,0.989857,0.072662],[0.004087,-0.072707,0.997345]]
2025-10-27T17:24:56.240Z,1761585896.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:56.240Z,1761585896.240 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:56.492Z,1761585896.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:56.492Z,1761585896.492 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:56.593Z,1761585896.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993569,0.111765,-0.018125],[-0.109532,0.989318,0.096186],[0.028682,-0.093582,0.995198]]
2025-10-27T17:24:56.744Z,1761585896.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:56.745Z,1761585896.745 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:56.996Z,1761585896.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:56.996Z,1761585896.996 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:57.000Z,1761585897.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997198,0.073939,-0.011355],[-0.072588,0.993108,0.092021],[0.018081,-0.090938,0.995692]]
2025-10-27T17:24:57.248Z,1761585897.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:57.248Z,1761585897.248 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:57.407Z,1761585897.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995800,0.091222,-0.007785],[-0.090903,0.995260,0.034549],[0.010900,-0.033696,0.999373]]
2025-10-27T17:24:57.500Z,1761585897.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:57.500Z,1761585897.500 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:57.752Z,1761585897.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:57.752Z,1761585897.752 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:57.810Z,1761585897.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993393,0.106266,-0.043340],[-0.105241,0.994125,0.025295],[0.045773,-0.020567,0.998740]]
2025-10-27T17:24:58.004Z,1761585898.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:58.004Z,1761585898.004 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:58.214Z,1761585898.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994962,0.053617,-0.084708],[-0.050427,0.997952,0.039362],[0.086645,-0.034892,0.995628]]
2025-10-27T17:24:58.256Z,1761585898.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:58.256Z,1761585898.256 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:58.508Z,1761585898.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:58.508Z,1761585898.508 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:58.621Z,1761585898.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995691,0.029735,-0.087837],[-0.024287,0.997753,0.062448],[0.089496,-0.060046,0.994175]]
2025-10-27T17:24:58.760Z,1761585898.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:58.760Z,1761585898.760 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:59.012Z,1761585899.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:59.012Z,1761585899.012 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:59.021Z,1761585899.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994883,0.079281,-0.062625],[-0.071380,0.990246,0.119656],[0.071501,-0.114573,0.990838]]
2025-10-27T17:24:59.264Z,1761585899.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:59.264Z,1761585899.264 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:59.425Z,1761585899.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991832,0.110089,-0.064420],[-0.097922,0.980823,0.168513],[0.081736,-0.160829,0.983592]]
2025-10-27T17:24:59.516Z,1761585899.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:59.516Z,1761585899.516 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:59.768Z,1761585899.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:24:59.768Z,1761585899.768 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-27T17:24:59.769Z,1761585899.769 [DAT](FAULT): failed to enter command mode
2025-10-27T17:24:59.827Z,1761585899.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990826,0.099745,-0.091185],[-0.083331,0.982117,0.168828],[0.106394,-0.159681,0.981419]]
2025-10-27T17:25:00.020Z,1761585900.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:25:00.071Z,1761585900.071 [DAT](INFO): entering command mode
2025-10-27T17:25:00.230Z,1761585900.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994070,0.062304,-0.089130],[-0.050892,0.990847,0.125025],[0.096104,-0.119748,0.988142]]
2025-10-27T17:25:00.272Z,1761585900.272 [DAT](INFO): DAT read: user:10>

2025-10-27T17:25:00.273Z,1761585900.273 [DAT](INFO): DAT read: Command '+++' not found

2025-10-27T17:25:00.273Z,1761585900.273 [DAT](INFO): DAT read: Error

2025-10-27T17:25:00.274Z,1761585900.274 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:25:00.274Z,1761585900.274 [DAT](INFO): setting remote address to 0
2025-10-27T17:25:00.524Z,1761585900.524 [DAT](INFO): DAT read: user:11>

2025-10-27T17:25:00.525Z,1761585900.525 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:25:00.525Z,1761585900.525 [DAT](INFO): set remote address to 0
2025-10-27T17:25:00.525Z,1761585900.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:25:00.526Z,1761585900.526 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:25:00.639Z,1761585900.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996906,0.060698,-0.049933],[-0.055523,0.993517,0.099201],[0.055630,-0.096122,0.993814]]
2025-10-27T17:25:00.776Z,1761585900.776 [DAT](INFO): DAT read: user:12>

2025-10-27T17:25:00.777Z,1761585900.777 [DAT](INFO): DAT read: Tx time:17:25:00.3996

2025-10-27T17:25:00.777Z,1761585900.777 [DAT](INFO): Ping request sent.
2025-10-27T17:25:00.777Z,1761585900.777 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:25:00.777Z,1761585900.777 [DAT](INFO): publishing transmit ping time
2025-10-27T17:25:00.778Z,1761585900.778 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-27T17:25:00.778Z,1761585900.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001084
2025-10-27T17:25:01.028Z,1761585901.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250802
2025-10-27T17:25:01.046Z,1761585901.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996047,0.084880,-0.026195],[-0.081249,0.989730,0.117610],[0.035909,-0.115017,0.992714]]
2025-10-27T17:25:01.280Z,1761585901.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503422
2025-10-27T17:25:01.441Z,1761585901.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997979,0.062127,-0.013310],[-0.059537,0.987555,0.145572],[0.022188,-0.144485,0.989258]]
2025-10-27T17:25:01.533Z,1761585901.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755680
2025-10-27T17:25:01.784Z,1761585901.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816
2025-10-27T17:25:01.900Z,1761585901.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998943,0.045957,0.000235],[-0.045537,0.989092,0.140085],[0.006205,-0.139947,0.990139]]
2025-10-27T17:25:02.036Z,1761585902.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258955
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateRudder:A] Stopped
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:25:02.048Z,1761585902.048 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode] Stopped
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:25:02.049Z,1761585902.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:25:02.050Z,1761585902.050 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:25:02.050Z,1761585902.050 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:25:02.050Z,1761585902.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:25:02.050Z,1761585902.050 [marl:UpdateSpeed] Stopped
2025-10-27T17:25:02.050Z,1761585902.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:25:02.253Z,1761585902.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998342,0.057555,0.001297],[-0.057443,0.994408,0.088618],[0.003811,-0.088546,0.996065]]
2025-10-27T17:25:02.288Z,1761585902.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510956
2025-10-27T17:25:02.317Z,1761585902.317 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:25:02.317Z,1761585902.317 [marl:UpdateRudder:B] Stopped
2025-10-27T17:25:02.317Z,1761585902.317 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:25:02.317Z,1761585902.317 [marl:UpdateRudder] Stopped
2025-10-27T17:25:02.317Z,1761585902.317 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:25:02.541Z,1761585902.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763656
2025-10-27T17:25:02.655Z,1761585902.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996746,0.079553,-0.012982],[-0.078789,0.995565,0.051400],[0.017014,-0.050209,0.998594]]
2025-10-27T17:25:02.792Z,1761585902.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014883
2025-10-27T17:25:03.044Z,1761585903.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266838
2025-10-27T17:25:03.060Z,1761585903.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995078,0.079095,-0.059697],[-0.078637,0.996853,0.009992],[0.060299,-0.005248,0.998167]]
2025-10-27T17:25:03.296Z,1761585903.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518832
2025-10-27T17:25:03.462Z,1761585903.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998060,0.048666,-0.038826],[-0.049985,0.998180,-0.033745],[0.037113,0.035620,0.998676]]
2025-10-27T17:25:03.548Z,1761585903.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771274
2025-10-27T17:25:03.800Z,1761585903.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022896
2025-10-27T17:25:03.867Z,1761585903.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997729,0.063156,0.023397],[-0.062727,0.997857,-0.018642],[-0.024524,0.017132,0.999552]]
2025-10-27T17:25:04.052Z,1761585904.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274833
2025-10-27T17:25:04.269Z,1761585904.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996676,0.079122,-0.019422],[-0.077719,0.994877,0.064649],[0.024437,-0.062924,0.997719]]
2025-10-27T17:25:04.304Z,1761585904.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526948
2025-10-27T17:25:04.556Z,1761585904.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778892
2025-10-27T17:25:04.674Z,1761585904.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996873,0.040765,-0.067688],[-0.031886,0.991335,0.127428],[0.072296,-0.124871,0.989536]]
2025-10-27T17:25:04.808Z,1761585904.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031050
2025-10-27T17:25:05.060Z,1761585905.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282875
2025-10-27T17:25:05.078Z,1761585905.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999317,0.021118,-0.030322],[-0.015859,0.986289,0.164262],[0.033375,-0.163669,0.985951]]
2025-10-27T17:25:05.312Z,1761585905.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534895
2025-10-27T17:25:05.485Z,1761585905.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999051,0.043512,0.001728],[-0.042951,0.978081,0.203746],[0.007175,-0.203627,0.979022]]
2025-10-27T17:25:05.564Z,1761585905.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786900
2025-10-27T17:25:05.817Z,1761585905.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039479
2025-10-27T17:25:05.886Z,1761585905.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998064,0.059199,-0.019047],[-0.053986,0.976822,0.207133],[0.030867,-0.205703,0.978127]]
2025-10-27T17:25:06.068Z,1761585906.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290893
2025-10-27T17:25:06.290Z,1761585906.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998158,0.031869,-0.051617],[-0.023022,0.986238,0.163723],[0.056124,-0.162233,0.985155]]
2025-10-27T17:25:06.320Z,1761585906.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542915
2025-10-27T17:25:06.572Z,1761585906.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794878
2025-10-27T17:25:06.693Z,1761585906.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999218,0.005312,-0.039173],[-0.002095,0.996654,0.081710],[0.039476,-0.081564,0.995886]]
2025-10-27T17:25:06.827Z,1761585906.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049147
2025-10-27T17:25:07.076Z,1761585907.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298967
2025-10-27T17:25:07.113Z,1761585907.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997597,0.062080,-0.030761],[-0.061262,0.997760,0.026880],[0.032360,-0.024931,0.999165]]
2025-10-27T17:25:07.328Z,1761585907.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550849
2025-10-27T17:25:07.501Z,1761585907.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990755,0.110994,-0.078009],[-0.106959,0.992788,0.054140],[0.083456,-0.045295,0.995481]]
2025-10-27T17:25:07.581Z,1761585907.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803988
2025-10-27T17:25:07.834Z,1761585907.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056717
2025-10-27T17:25:07.906Z,1761585907.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998010,0.063059,0.000510],[-0.062415,0.986607,0.150700],[0.009000,-0.150431,0.988580]]
2025-10-27T17:25:08.084Z,1761585908.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306868
2025-10-27T17:25:08.312Z,1761585908.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997948,0.023313,0.059628],[-0.039515,0.957074,0.287137],[-0.050374,-0.288904,0.956032]]
2025-10-27T17:25:08.336Z,1761585908.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558827
2025-10-27T17:25:08.589Z,1761585908.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811716
2025-10-27T17:25:08.714Z,1761585908.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999623,0.025429,0.010343],[-0.027446,0.933504,0.357515],[-0.000564,-0.357664,0.933850]]
2025-10-27T17:25:08.844Z,1761585908.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066583
2025-10-27T17:25:09.093Z,1761585909.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316167
2025-10-27T17:25:09.125Z,1761585909.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999334,0.027309,-0.024211],[-0.020269,0.966978,0.254052],[0.030349,-0.253392,0.966887]]
2025-10-27T17:25:09.347Z,1761585909.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570178
2025-10-27T17:25:09.526Z,1761585909.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999496,0.030772,-0.007805],[-0.030383,0.998484,0.045900],[0.009206,-0.045640,0.998916]]
2025-10-27T17:25:09.597Z,1761585909.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819506
2025-10-27T17:25:09.848Z,1761585909.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070866
2025-10-27T17:25:09.925Z,1761585909.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999844,0.015618,-0.008194],[-0.016337,0.995194,-0.096554],[0.006646,0.096673,0.995294]]
2025-10-27T17:25:10.101Z,1761585910.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323709
2025-10-27T17:25:10.329Z,1761585910.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999002,0.014909,-0.042106],[-0.021072,0.988468,-0.149955],[0.039384,0.150693,0.987796]]
2025-10-27T17:25:10.352Z,1761585910.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574987
2025-10-27T17:25:10.605Z,1761585910.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827276
2025-10-27T17:25:10.739Z,1761585910.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998495,0.032739,-0.044000],[-0.036422,0.995655,-0.085696],[0.041003,0.087169,0.995349]]
2025-10-27T17:25:10.858Z,1761585910.858 [DAT](INFO): Reached modem response timeout
2025-10-27T17:25:11.137Z,1761585911.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999468,-0.002453,-0.032514],[0.004415,0.998165,0.060389],[0.032306,-0.060501,0.997645]]
2025-10-27T17:25:11.545Z,1761585911.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999069,-0.040704,-0.014261],[0.042871,0.973408,0.225029],[0.004722,-0.225431,0.974248]]
2025-10-27T17:25:11.947Z,1761585911.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998567,-0.024369,-0.047639],[0.039815,0.933172,0.357217],[0.035751,-0.358602,0.932806]]
2025-10-27T17:25:12.349Z,1761585912.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996713,-0.026546,-0.076542],[0.053598,0.924541,0.377293],[0.060751,-0.380156,0.922925]]
2025-10-27T17:25:12.758Z,1761585912.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998080,-0.010995,-0.060959],[0.030063,0.946427,0.321517],[0.054158,-0.322732,0.944940]]
2025-10-27T17:25:13.132Z,1761585913.132 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:25:13.132Z,1761585913.132 [DAT](INFO): response not received
2025-10-27T17:25:13.132Z,1761585913.132 [DAT](ERROR): No response from remote modem.
2025-10-27T17:25:13.174Z,1761585913.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998250,-0.016938,-0.056666],[0.027806,0.980029,0.196902],[0.052199,-0.198133,0.978784]]
2025-10-27T17:25:13.562Z,1761585913.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998719,-0.047398,-0.017693],[0.047601,0.998804,0.011182],[0.017142,-0.012009,0.999781]]
2025-10-27T17:25:13.966Z,1761585913.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998528,-0.052911,-0.011920],[0.051369,0.993126,-0.105174],[0.017403,0.104407,0.994382]]
2025-10-27T17:25:14.370Z,1761585914.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998311,-0.050707,-0.028365],[0.047847,0.994445,-0.093757],[0.032961,0.092242,0.995191]]
2025-10-27T17:25:14.774Z,1761585914.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997293,-0.071553,-0.016917],[0.072259,0.996340,0.045663],[0.013587,-0.046762,0.998814]]
2025-10-27T17:25:14.802Z,1761585914.802 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateRudder:A] Stopped
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:25:14.803Z,1761585914.803 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateCommandMode] Stopped
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:25:14.804Z,1761585914.804 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:25:14.805Z,1761585914.805 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:25:14.805Z,1761585914.805 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:25:14.805Z,1761585914.805 [marl:UpdateSpeed] Stopped
2025-10-27T17:25:14.805Z,1761585914.805 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:25:15.178Z,1761585915.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993854,-0.103176,-0.040107],[0.109177,0.973444,0.201212],[0.018282,-0.204355,0.978726]]
2025-10-27T17:25:15.248Z,1761585915.248 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:25:15.248Z,1761585915.248 [marl:UpdateRudder:B] Stopped
2025-10-27T17:25:15.248Z,1761585915.248 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:25:15.248Z,1761585915.248 [marl:UpdateRudder] Stopped
2025-10-27T17:25:15.248Z,1761585915.248 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:25:15.589Z,1761585915.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992815,-0.081719,-0.087409],[0.103066,0.955122,0.277705],[0.060792,-0.284718,0.956682]]
2025-10-27T17:25:15.927Z,1761585915.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:25:15.986Z,1761585915.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994284,-0.059661,-0.088543],[0.080542,0.963526,0.255205],[0.070088,-0.260878,0.962824]]
2025-10-27T17:25:16.391Z,1761585916.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995295,-0.086874,-0.042909],[0.093352,0.978396,0.184465],[0.025957,-0.187603,0.981902]]
2025-10-27T17:25:16.794Z,1761585916.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994211,-0.102599,-0.031901],[0.104922,0.991044,0.082601],[0.023140,-0.085470,0.996072]]
2025-10-27T17:25:16.932Z,1761585916.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:25:17.198Z,1761585917.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991724,-0.110182,-0.065909],[0.109277,0.993863,-0.017186],[0.067398,0.009841,0.997678]]
2025-10-27T17:25:17.609Z,1761585917.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987033,-0.143662,-0.071601],[0.132693,0.981270,-0.139645],[0.090322,0.128334,0.987610]]
2025-10-27T17:25:18.007Z,1761585918.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988665,-0.145314,-0.037762],[0.137547,0.977452,-0.160216],[0.060193,0.153206,0.986359]]
2025-10-27T17:25:18.828Z,1761585918.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986691,-0.160635,-0.025245],[0.162301,0.982402,0.092435],[0.009953,-0.095302,0.995399]]
2025-10-27T17:25:19.217Z,1761585919.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983500,-0.149180,-0.102339],[0.169540,0.957415,0.233694],[0.063118,-0.247189,0.966909]]
2025-10-27T17:25:19.623Z,1761585919.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982425,-0.082535,-0.167419],[0.132840,0.939255,0.316471],[0.131130,-0.333149,0.933711]]
2025-10-27T17:25:20.025Z,1761585920.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978315,-0.101740,-0.180412],[0.150102,0.948463,0.279085],[0.142720,-0.300113,0.943167]]
2025-10-27T17:25:20.430Z,1761585920.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987184,-0.150951,-0.051783],[0.157808,0.971668,0.175950],[0.023757,-0.181867,0.983036]]
2025-10-27T17:25:20.875Z,1761585920.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991346,-0.130173,0.016966],[0.128030,0.987296,0.094099],[-0.028999,-0.091113,0.995418]]
2025-10-27T17:25:21.239Z,1761585921.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990849,-0.132986,-0.023101],[0.134240,0.988765,0.065756],[0.014097,-0.068255,0.997568]]
2025-10-27T17:25:21.641Z,1761585921.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987827,-0.154293,-0.019780],[0.155520,0.982301,0.104391],[0.003323,-0.106196,0.994340]]
2025-10-27T17:25:22.046Z,1761585922.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984452,-0.175150,0.013265],[0.172366,0.977817,0.119015],[-0.033816,-0.114878,0.992804]]
2025-10-27T17:25:22.884Z,1761585922.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984742,-0.171091,-0.031796],[0.171637,0.985041,0.015313],[0.028700,-0.020537,0.999377]]
2025-10-27T17:25:23.257Z,1761585923.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984295,-0.174864,-0.024203],[0.174423,0.984482,-0.019295],[0.027201,0.014770,0.999521]]
2025-10-27T17:25:23.661Z,1761585923.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986736,-0.151743,-0.057681],[0.151543,0.988419,-0.007855],[0.058205,-0.000990,0.998304]]
2025-10-27T17:25:24.073Z,1761585924.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978319,-0.177419,-0.106835],[0.178950,0.983846,0.004846],[0.104249,-0.023859,0.994265]]
2025-10-27T17:25:24.470Z,1761585924.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973148,-0.217652,-0.074900],[0.220548,0.974826,0.032756],[0.065885,-0.048395,0.996653]]
2025-10-27T17:25:25.277Z,1761585925.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978245,-0.188605,-0.086405],[0.198061,0.972999,0.118510],[0.061720,-0.133045,0.989186]]
2025-10-27T17:25:25.683Z,1761585925.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977189,-0.196606,-0.080297],[0.211182,0.939541,0.269564],[0.022444,-0.280372,0.959629]]
2025-10-27T17:25:26.490Z,1761585926.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979021,-0.158403,-0.128164],[0.190875,0.933088,0.304818],[0.071304,-0.322886,0.943748]]
2025-10-27T17:25:26.895Z,1761585926.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977106,-0.198641,-0.076197],[0.210827,0.952123,0.221389],[0.028572,-0.232385,0.972204]]
2025-10-27T17:25:27.300Z,1761585927.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976414,-0.215445,-0.014132],[0.215684,0.970335,0.109223],[-0.009819,-0.109695,0.993917]]
2025-10-27T17:25:27.701Z,1761585927.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980092,-0.197877,-0.016287],[0.198101,0.980088,0.013513],[0.013289,-0.016470,0.999776]]
2025-10-27T17:25:27.754Z,1761585927.754 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:25:27.754Z,1761585927.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:25:27.755Z,1761585927.755 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:25:27.755Z,1761585927.755 [marl:UpdateRudder:A] Stopped
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode] Stopped
2025-10-27T17:25:27.756Z,1761585927.756 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed] Stopped
2025-10-27T17:25:27.757Z,1761585927.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:25:28.105Z,1761585928.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980100,-0.193753,-0.043163],[0.191235,0.979923,-0.056393],[0.053223,0.047016,0.997475]]
2025-10-27T17:25:28.160Z,1761585928.160 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:25:28.160Z,1761585928.160 [marl:UpdateRudder:B] Stopped
2025-10-27T17:25:28.160Z,1761585928.160 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:25:28.160Z,1761585928.160 [marl:UpdateRudder] Stopped
2025-10-27T17:25:28.160Z,1761585928.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:25:28.516Z,1761585928.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978892,-0.195668,-0.059025],[0.189351,0.976968,-0.098381],[0.076915,0.085128,0.993397]]
2025-10-27T17:25:28.913Z,1761585928.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976103,-0.208327,-0.061834],[0.206934,0.977948,-0.028212],[0.066348,0.014743,0.997688]]
2025-10-27T17:25:29.317Z,1761585929.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973364,-0.217740,-0.071780],[0.224037,0.969831,0.096104],[0.048689,-0.109625,0.992780]]
2025-10-27T17:25:29.724Z,1761585929.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967702,-0.223580,-0.116467],[0.240934,0.956189,0.166293],[0.074185,-0.188983,0.979174]]
2025-10-27T17:25:30.128Z,1761585930.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962316,-0.241421,-0.125155],[0.259637,0.952541,0.158916],[0.080849,-0.185422,0.979327]]
2025-10-27T17:25:30.531Z,1761585930.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967573,-0.240548,-0.077065],[0.248427,0.961421,0.118127],[0.045677,-0.133441,0.990004]]
2025-10-27T17:25:30.933Z,1761585930.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969468,-0.238079,-0.058731],[0.240354,0.970046,0.035225],[0.048586,-0.048266,0.997652]]
2025-10-27T17:25:31.341Z,1761585931.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964898,-0.259749,-0.038768],[0.257185,0.964448,-0.060795],[0.053181,0.048691,0.997397]]
2025-10-27T17:25:31.750Z,1761585931.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963855,-0.264888,-0.028604],[0.261440,0.961020,-0.089938],[0.051313,0.079209,0.995537]]
2025-10-27T17:25:32.146Z,1761585932.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961712,-0.265715,-0.067118],[0.265017,0.964051,-0.019253],[0.069821,0.000729,0.997559]]
2025-10-27T17:25:32.164Z,1761585932.164 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172528.00,A,3646.69999,N,12151.80670,W,0.389,292.64,271025,,,A*73
2025-10-27T17:25:32.172Z,1761585932.172 [NAL9602](INFO): GPS fix at 20251027T172528: (36.778333, -121.863445)
2025-10-27T17:25:32.185Z,1761585932.185 [UniversalFixResidualReporter](INFO): Fix residual: 0.8 %DT, over the last 638.5 m. Residual distance 4.9 m at bearing -19.9 degrees. Fix at (36.7783, -121.8634) with 82.5 m made good.
2025-10-27T17:25:32.196Z,1761585932.196 [marl:NeedComms:C] Stopped
2025-10-27T17:25:32.196Z,1761585932.196 [marl:NeedComms:D] Running Loop=1
2025-10-27T17:25:32.197Z,1761585932.197 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585920.00. Resetting abort timer.
2025-10-27T17:25:32.557Z,1761585932.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954839,-0.283153,-0.090035],[0.290085,0.953955,0.076299],[0.064285,-0.098971,0.993012]]
2025-10-27T17:25:33.020Z,1761585933.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950844,-0.273400,-0.145428],[0.300245,0.928906,0.216762],[0.075827,-0.249771,0.965331]]
2025-10-27T17:25:33.423Z,1761585933.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966295,-0.238482,-0.096954],[0.251628,0.954502,0.160031],[0.054378,-0.179033,0.982339]]
2025-10-27T17:25:33.826Z,1761585933.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971677,-0.228929,-0.058615],[0.233285,0.968832,0.083321],[0.037713,-0.094635,0.994797]]
2025-10-27T17:25:34.230Z,1761585934.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960506,-0.272456,-0.056529],[0.276705,0.956665,0.090703],[0.029367,-0.102763,0.994272]]
2025-10-27T17:25:34.635Z,1761585934.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945412,-0.321234,-0.054817],[0.325476,0.939136,0.109947],[0.016162,-0.121787,0.992425]]
2025-10-27T17:25:35.037Z,1761585935.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946139,-0.321867,-0.034960],[0.323433,0.934803,0.146747],[-0.014552,-0.150150,0.988556]]
2025-10-27T17:25:35.441Z,1761585935.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950459,-0.305908,-0.055204],[0.310738,0.930284,0.194969],[-0.008287,-0.202464,0.979255]]
2025-10-27T17:25:35.846Z,1761585935.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947672,-0.308243,-0.083085],[0.318379,0.931682,0.174936],[0.023486,-0.192234,0.981068]]
2025-10-27T17:25:36.249Z,1761585936.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937051,-0.346081,-0.046500],[0.349144,0.930776,0.108417],[0.005760,-0.117827,0.993017]]
2025-10-27T17:25:36.653Z,1761585936.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925507,-0.377754,-0.027188],[0.378236,0.925582,0.015369],[0.019359,-0.024508,0.999512]]
2025-10-27T17:25:37.070Z,1761585937.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914518,-0.401689,-0.047984],[0.398280,0.914793,-0.067282],[0.070922,0.042419,0.996579]]
2025-10-27T17:25:37.461Z,1761585937.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911413,-0.406805,-0.061931],[0.401512,0.912125,-0.082564],[0.090076,0.050384,0.994660]]
2025-10-27T17:25:37.866Z,1761585937.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915500,-0.397285,-0.063435],[0.393779,0.917173,-0.061080],[0.082447,0.030939,0.996115]]
2025-10-27T17:25:38.271Z,1761585938.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926655,-0.363746,-0.094870],[0.358086,0.930932,-0.071689],[0.114394,0.032459,0.992905]]
2025-10-27T17:25:38.673Z,1761585938.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912337,-0.376104,-0.161825],[0.379189,0.925234,-0.012579],[0.154457,-0.049886,0.986739]]
2025-10-27T17:25:39.080Z,1761585939.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892618,-0.400834,-0.206316],[0.425566,0.900213,0.092251],[0.148751,-0.170146,0.974127]]
2025-10-27T17:25:39.482Z,1761585939.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874852,-0.425327,-0.231800],[0.461978,0.876514,0.135276],[0.145639,-0.225432,0.963312]]
2025-10-27T17:25:39.887Z,1761585939.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876353,-0.428451,-0.220080],[0.451910,0.889479,0.067856],[0.166683,-0.158922,0.973119]]
2025-10-27T17:25:40.289Z,1761585940.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871657,-0.421347,-0.250361],[0.446393,0.893405,0.050597],[0.202355,-0.155863,0.966829]]
2025-10-27T17:25:40.693Z,1761585940.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859520,-0.458395,-0.226049],[0.478727,0.876962,0.041939],[0.179012,-0.144263,0.973213]]
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateRudder:A] Stopped
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:25:40.754Z,1761585940.754 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:25:40.755Z,1761585940.755 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:25:40.759Z,1761585940.759 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:25:40.759Z,1761585940.759 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:25:40.759Z,1761585940.759 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:25:40.759Z,1761585940.759 [marl:UpdateCommandMode] Stopped
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed] Stopped
2025-10-27T17:25:40.760Z,1761585940.760 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:25:41.098Z,1761585941.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863967,-0.489467,-0.118245],[0.493529,0.869709,0.005909],[0.099947,-0.063463,0.992967]]
2025-10-27T17:25:41.154Z,1761585941.154 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:25:41.154Z,1761585941.154 [marl:UpdateRudder:B] Stopped
2025-10-27T17:25:41.154Z,1761585941.154 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:25:41.155Z,1761585941.155 [marl:UpdateRudder] Stopped
2025-10-27T17:25:41.155Z,1761585941.155 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:25:41.501Z,1761585941.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866320,-0.495143,-0.065747],[0.494442,0.868770,-0.027681],[0.070825,-0.008527,0.997452]]
2025-10-27T17:25:42.112Z,1761585942.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849471,-0.514702,-0.116110],[0.509223,0.857357,-0.075038],[0.138170,0.004616,0.990398]]
2025-10-27T17:25:44.140Z,1761585944.140 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321140176,35.0, +0.0,1503.8,  0
2025-10-27T17:25:44.265Z,1761585944.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832750,-0.537045,-0.134575],[0.547266,0.835266,0.053209],[0.083830,-0.117958,0.989474]]
2025-10-27T17:25:44.662Z,1761585944.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819142,-0.562272,-0.113387],[0.566708,0.823874,0.008586],[0.088588,-0.071291,0.993514]]
2025-10-27T17:25:44.687Z,1761585944.687 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:25:44.904Z,1761585944.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:25:44.904Z,1761585944.904 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:25:45.066Z,1761585945.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821214,-0.563213,-0.091640],[0.568624,0.821139,0.048951],[0.047679,-0.092308,0.994588]]
2025-10-27T17:25:45.156Z,1761585945.156 [DAT](INFO): DAT read: user:13>

2025-10-27T17:25:45.158Z,1761585945.158 [DAT](INFO): DAT read: Tx time:17:25:44.7981

2025-10-27T17:25:45.158Z,1761585945.158 [DAT](INFO): Ping request sent.
2025-10-27T17:25:45.158Z,1761585945.158 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:25:45.158Z,1761585945.158 [DAT](INFO): publishing transmit ping time
2025-10-27T17:25:45.160Z,1761585945.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001350
2025-10-27T17:25:45.408Z,1761585945.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249943
2025-10-27T17:25:45.466Z,1761585945.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807080,-0.581764,-0.100853],[0.589717,0.802703,0.088894],[0.029240,-0.131219,0.990922]]
2025-10-27T17:25:45.573Z,1761585945.573 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:25:45.573Z,1761585945.573 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:25:45.660Z,1761585945.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501857
2025-10-27T17:25:45.870Z,1761585945.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793323,-0.601063,-0.096751],[0.608747,0.785273,0.113014],[0.008047,-0.148554,0.988872]]
2025-10-27T17:25:45.912Z,1761585945.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754019
2025-10-27T17:25:46.164Z,1761585946.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005918
2025-10-27T17:25:46.278Z,1761585946.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802282,-0.592421,-0.073360],[0.596875,0.794216,0.113852],[-0.009185,-0.135128,0.990786]]
2025-10-27T17:25:46.416Z,1761585946.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257859
2025-10-27T17:25:46.672Z,1761585946.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513869
2025-10-27T17:25:46.679Z,1761585946.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819523,-0.568361,-0.073128],[0.572662,0.816949,0.068210],[0.020973,-0.097777,0.994987]]
2025-10-27T17:25:46.924Z,1761585946.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765960
2025-10-27T17:25:47.082Z,1761585947.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811289,-0.581817,-0.057430],[0.583698,0.811646,0.022964],[0.033252,-0.052152,0.998085]]
2025-10-27T17:25:47.083Z,1761585947.083 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:25:47.176Z,1761585947.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018193
2025-10-27T17:25:47.428Z,1761585947.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269881
2025-10-27T17:25:47.485Z,1761585947.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794288,-0.607516,0.005536],[0.607125,0.794047,0.029814],[-0.022508,-0.020319,0.999540]]
2025-10-27T17:25:47.680Z,1761585947.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521926
2025-10-27T17:25:47.889Z,1761585947.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798797,-0.601475,0.012322],[0.599688,0.797721,0.063366],[-0.047943,-0.043227,0.997914]]
2025-10-27T17:25:47.932Z,1761585947.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773959
2025-10-27T17:25:48.087Z,1761585948.087 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:25:48.189Z,1761585948.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030819
2025-10-27T17:25:48.296Z,1761585948.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780028,-0.621826,-0.069930],[0.625508,0.771766,0.114530],[-0.017248,-0.133079,0.990955]]
2025-10-27T17:25:48.436Z,1761585948.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277928
2025-10-27T17:25:48.689Z,1761585948.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531156
2025-10-27T17:25:48.700Z,1761585948.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752185,-0.640727,-0.153904],[0.658162,0.741934,0.127890],[0.032244,-0.197491,0.979774]]
2025-10-27T17:25:48.940Z,1761585948.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781870
2025-10-27T17:25:49.102Z,1761585949.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738972,-0.651269,-0.172537],[0.668216,0.741191,0.064211],[0.086064,-0.162742,0.982908]]
2025-10-27T17:25:49.193Z,1761585949.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034600
2025-10-27T17:25:49.444Z,1761585949.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285857
2025-10-27T17:25:49.506Z,1761585949.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756929,-0.645537,-0.101687],[0.649459,0.760360,0.007414],[0.072533,-0.071654,0.994789]]
2025-10-27T17:25:49.696Z,1761585949.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538486
2025-10-27T17:25:49.910Z,1761585949.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765865,-0.641282,-0.046989],[0.640666,0.767266,-0.029172],[0.054761,-0.007763,0.998469]]
2025-10-27T17:25:49.948Z,1761585949.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790018
2025-10-27T17:25:50.200Z,1761585950.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041876
2025-10-27T17:25:50.317Z,1761585950.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756311,-0.652741,-0.043855],[0.652061,0.757560,-0.030313],[0.053009,-0.005670,0.998578]]
2025-10-27T17:25:50.452Z,1761585950.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293878
2025-10-27T17:25:50.704Z,1761585950.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545860
2025-10-27T17:25:50.956Z,1761585950.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797856
2025-10-27T17:25:51.122Z,1761585951.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771360,-0.634174,-0.053173],[0.636115,0.770815,0.034662],[0.019005,-0.060561,0.997984]]
2025-10-27T17:25:51.209Z,1761585951.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050327
2025-10-27T17:25:51.460Z,1761585951.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301936
2025-10-27T17:25:51.535Z,1761585951.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783894,-0.620072,-0.031953],[0.619889,0.778657,0.097114],[-0.035337,-0.095935,0.994760]]
2025-10-27T17:25:51.712Z,1761585951.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553805
2025-10-27T17:25:51.930Z,1761585951.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755684,-0.651282,-0.069087],[0.654805,0.749199,0.099661],[-0.013148,-0.120550,0.992620]]
2025-10-27T17:25:51.968Z,1761585951.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809559
2025-10-27T17:25:52.216Z,1761585952.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057918
2025-10-27T17:25:52.337Z,1761585952.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753564,-0.646973,-0.116481],[0.656517,0.749723,0.083074],[0.033582,-0.139074,0.989712]]
2025-10-27T17:25:52.468Z,1761585952.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309846
2025-10-27T17:25:52.721Z,1761585952.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562330
2025-10-27T17:25:52.744Z,1761585952.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755468,-0.646143,-0.108473],[0.653789,0.754256,0.060476],[0.042741,-0.116606,0.992258]]
2025-10-27T17:25:52.972Z,1761585952.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813930
2025-10-27T17:25:53.141Z,1761585953.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751348,-0.654677,-0.082911],[0.659385,0.749797,0.054913],[0.026216,-0.095929,0.995043]]
2025-10-27T17:25:53.164Z,1761585953.164 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 733.34, 786.60, 782.50
2025-10-27T17:25:53.224Z,1761585953.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066453
2025-10-27T17:25:53.477Z,1761585953.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318511
2025-10-27T17:25:53.551Z,1761585953.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771589,-0.631216,-0.078853],[0.634086,0.773097,0.016004],[0.050859,-0.062348,0.996758]]
2025-10-27T17:25:53.729Z,1761585953.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570603
2025-10-27T17:25:53.950Z,1761585953.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764258,-0.635072,-0.112223],[0.637434,0.770293,-0.018065],[0.097917,-0.057729,0.993519]]
2025-10-27T17:25:53.980Z,1761585953.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821937
2025-10-27T17:25:54.232Z,1761585954.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074485
2025-10-27T17:25:54.357Z,1761585954.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739016,-0.669217,-0.077485],[0.669314,0.742431,-0.028563],[0.076642,-0.030753,0.996584]]
2025-10-27T17:25:54.484Z,1761585954.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325937
2025-10-27T17:25:54.736Z,1761585954.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578453
2025-10-27T17:25:54.761Z,1761585954.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750298,-0.659718,-0.042712],[0.660741,0.750452,0.015587],[0.021770,-0.039917,0.998966]]
2025-10-27T17:25:54.989Z,1761585954.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830841
2025-10-27T17:25:55.162Z,1761585955.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773117,-0.627846,-0.090000],[0.634135,0.767990,0.089797],[0.012741,-0.126496,0.991885]]
2025-10-27T17:25:55.240Z,1761585955.240 [DAT](INFO): Reached modem response timeout
2025-10-27T17:25:55.568Z,1761585955.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745347,-0.638394,-0.192124],[0.664844,0.733118,0.143246],[0.049402,-0.234501,0.970860]]
2025-10-27T17:25:55.592Z,1761585955.592 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:25:55.593Z,1761585955.593 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:25:55.593Z,1761585955.593 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:25:55.594Z,1761585955.594 [marl:UpdateRudder:A] Stopped
2025-10-27T17:25:55.594Z,1761585955.594 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:25:55.594Z,1761585955.594 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:25:55.594Z,1761585955.594 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:25:55.594Z,1761585955.594 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:25:55.595Z,1761585955.595 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:25:55.596Z,1761585955.596 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:25:55.596Z,1761585955.596 [marl:UpdateCommandMode] Stopped
2025-10-27T17:25:55.598Z,1761585955.598 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:25:55.598Z,1761585955.598 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:25:55.599Z,1761585955.599 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:25:55.599Z,1761585955.599 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:25:55.599Z,1761585955.599 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:25:55.599Z,1761585955.599 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:25:55.599Z,1761585955.599 [marl:UpdateSpeed] Stopped
2025-10-27T17:25:55.600Z,1761585955.600 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:25:55.970Z,1761585955.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711396,-0.680016,-0.177462],[0.701507,0.702344,0.120837],[0.042469,-0.210454,0.976681]]
2025-10-27T17:25:56.007Z,1761585956.007 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:25:56.008Z,1761585956.008 [marl:UpdateRudder:B] Stopped
2025-10-27T17:25:56.008Z,1761585956.008 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:25:56.008Z,1761585956.008 [marl:UpdateRudder] Stopped
2025-10-27T17:25:56.008Z,1761585956.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:25:56.377Z,1761585956.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716183,-0.689038,-0.110946],[0.697504,0.712102,0.079997],[0.023884,-0.134678,0.990602]]
2025-10-27T17:25:56.779Z,1761585956.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722318,-0.686642,-0.082340],[0.690697,0.722233,0.036284],[0.034554,-0.083080,0.995944]]
2025-10-27T17:25:57.181Z,1761585957.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731024,-0.680090,-0.055504],[0.680947,0.732318,-0.004571],[0.043755,-0.034454,0.998448]]
2025-10-27T17:25:57.509Z,1761585957.509 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:25:57.510Z,1761585957.510 [DAT](INFO): response not received
2025-10-27T17:25:57.510Z,1761585957.510 [DAT](ERROR): No response from remote modem.
2025-10-27T17:25:57.586Z,1761585957.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699907,-0.713493,-0.032521],[0.713412,0.700560,-0.016065],[0.034245,-0.011957,0.999342]]
2025-10-27T17:25:57.989Z,1761585957.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664673,-0.747132,0.002070],[0.747060,0.664643,0.012267],[-0.010540,-0.006607,0.999923]]
2025-10-27T17:25:58.400Z,1761585958.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701312,-0.712597,-0.019136],[0.712850,0.700971,0.021989],[-0.002255,-0.029062,0.999575]]
2025-10-27T17:25:59.201Z,1761585959.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657060,-0.728334,-0.194429],[0.751627,0.652708,0.095022],[0.057698,-0.208573,0.976303]]
2025-10-27T17:25:59.606Z,1761585959.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641396,-0.756816,-0.125864],[0.765493,0.620321,0.170944],[-0.051297,-0.205991,0.977208]]
2025-10-27T17:26:00.413Z,1761585960.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611156,-0.785268,-0.099213],[0.791399,0.604148,0.093240],[-0.013279,-0.135501,0.990688]]
2025-10-27T17:26:00.833Z,1761585960.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560130,-0.819699,-0.119781],[0.828307,0.556402,0.065760],[0.012744,-0.136050,0.990620]]
2025-10-27T17:26:01.626Z,1761585961.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556860,-0.820792,-0.127309],[0.821953,0.566614,-0.057812],[0.119587,-0.072449,0.990177]]
2025-10-27T17:26:02.036Z,1761585962.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566294,-0.822317,-0.055727],[0.818067,0.569027,-0.083519],[0.100390,0.001708,0.994947]]
2025-10-27T17:26:02.434Z,1761585962.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572530,-0.819870,-0.004766],[0.818371,0.571817,-0.057397],[0.049783,0.028961,0.998340]]
2025-10-27T17:26:02.886Z,1761585962.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546816,-0.836545,-0.034419],[0.836512,0.547600,-0.019576],[0.035224,-0.018088,0.999216]]
2025-10-27T17:26:02.895Z,1761585962.895 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321142176,35.,   0.0,1504.2,  0
2025-10-27T17:26:03.241Z,1761585963.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498592,-0.858112,-0.122675],[0.864409,0.502776,-0.003672],[0.064829,-0.104210,0.992440]]
2025-10-27T17:26:03.645Z,1761585963.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433260,-0.871954,-0.227995],[0.888829,0.455267,-0.052095],[0.149223,-0.180078,0.972268]]
2025-10-27T17:26:04.050Z,1761585964.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409404,-0.884268,-0.224627],[0.894853,0.437182,-0.090055],[0.177836,-0.164139,0.970274]]
2025-10-27T17:26:04.460Z,1761585964.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426415,-0.889047,-0.166633],[0.889040,0.445885,-0.103900],[0.166671,-0.103839,0.980530]]
2025-10-27T17:26:04.885Z,1761585964.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406533,-0.910903,-0.070623],[0.899964,0.412574,-0.140879],[0.157464,-0.006286,0.987505]]
2025-10-27T17:26:05.261Z,1761585965.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394700,-0.917484,0.049340],[0.910753,0.383579,-0.152956],[0.121409,0.105309,0.987000]]
2025-10-27T17:26:06.071Z,1761585966.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406881,-0.913089,0.026756],[0.912266,0.404655,-0.063437],[0.047096,0.050220,0.997627]]
2025-10-27T17:26:06.505Z,1761585966.505 [NAL9602](INFO): SBD MO Status=2, MOMSN=3061, MT Status=2, MTMSN=0
2025-10-27T17:26:06.505Z,1761585966.505 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T17:26:06.901Z,1761585966.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387658,-0.909217,-0.151806],[0.918984,0.394067,-0.013442],[0.072043,-0.134296,0.988319]]
2025-10-27T17:26:07.282Z,1761585967.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365546,-0.914424,-0.173794],[0.930433,0.364174,0.040887],[0.025904,-0.176649,0.983933]]
2025-10-27T17:26:07.687Z,1761585967.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335697,-0.924000,-0.183116],[0.941970,0.329262,0.065417],[-0.000152,-0.194450,0.980912]]
2025-10-27T17:26:07.693Z,1761585967.693 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172604.00,A,3646.70286,N,12151.81048,W,1.205,65.60,271025,,,A*45
2025-10-27T17:26:07.695Z,1761585967.695 [NAL9602](INFO): GPS fix at 20251027T172604: (36.778381, -121.863508)
2025-10-27T17:26:07.719Z,1761585967.719 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761585920.00. Resetting abort timer.
2025-10-27T17:26:08.089Z,1761585968.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326049,-0.932119,-0.157626],[0.945290,0.319541,0.065727],[-0.010898,-0.170433,0.985309]]
2025-10-27T17:26:08.509Z,1761585968.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300793,-0.947932,-0.104636],[0.953373,0.296053,0.058588],[-0.024560,-0.117380,0.992783]]
2025-10-27T17:26:08.548Z,1761585968.548 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:26:08.548Z,1761585968.548 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:26:08.548Z,1761585968.548 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:26:08.548Z,1761585968.548 [marl:UpdateRudder:A] Stopped
2025-10-27T17:26:08.548Z,1761585968.548 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode] Stopped
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:26:08.549Z,1761585968.549 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed] Stopped
2025-10-27T17:26:08.550Z,1761585968.550 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:26:08.898Z,1761585968.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251777,-0.966411,-0.051554],[0.967301,0.249610,0.044981],[-0.030602,-0.061194,0.997657]]
2025-10-27T17:26:08.968Z,1761585968.968 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:26:08.968Z,1761585968.968 [marl:UpdateRudder:B] Stopped
2025-10-27T17:26:08.968Z,1761585968.968 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:26:08.968Z,1761585968.968 [marl:UpdateRudder] Stopped
2025-10-27T17:26:08.968Z,1761585968.968 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:26:09.302Z,1761585969.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223056,-0.974535,-0.022947],[0.973784,0.221683,0.051012],[-0.044626,-0.033724,0.998434]]
2025-10-27T17:26:09.705Z,1761585969.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223102,-0.974404,-0.027627],[0.974449,0.222178,0.032944],[-0.025962,-0.034271,0.999075]]
2025-10-27T17:26:10.110Z,1761585970.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213633,-0.973562,-0.080853],[0.975939,0.216384,-0.026847],[0.043633,-0.073172,0.996364]]
2025-10-27T17:26:10.525Z,1761585970.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169982,-0.980264,-0.100939],[0.982912,0.175996,-0.053941],[0.070641,-0.090045,0.993429]]
2025-10-27T17:26:10.921Z,1761585970.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159616,-0.983421,-0.086062],[0.984276,0.165222,-0.062474],[0.075658,-0.074737,0.994329]]
2025-10-27T17:26:12.078Z,1761585972.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164991,-0.980504,-0.106726],[0.986007,0.161360,0.041867],[-0.023829,-0.112140,0.993407]]
2025-10-27T17:26:14.116Z,1761585974.116 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321143176,35.0, +14.2,   0.0, 0
2025-10-27T17:26:14.251Z,1761585974.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139368,-0.988735,-0.054580],[0.987083,0.143110,-0.072023],[0.079022,-0.043837,0.995909]]
2025-10-27T17:26:14.631Z,1761585974.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171763,-0.976921,-0.126972],[0.983984,0.176367,-0.025870],[0.047666,-0.120495,0.991569]]
2025-10-27T17:26:15.436Z,1761585975.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071383,-0.987487,-0.140620],[0.997369,0.072445,-0.002437],[0.012594,-0.140076,0.990061]]
2025-10-27T17:26:15.837Z,1761585975.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036882,-0.996119,-0.079919],[0.997401,0.041647,-0.058797],[0.061897,-0.077542,0.995066]]
2025-10-27T17:26:16.241Z,1761585976.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040831,-0.998517,-0.036007],[0.994160,0.044203,-0.098449],[0.099895,-0.031777,0.994491]]
2025-10-27T17:26:16.646Z,1761585976.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028372,-0.998418,-0.048535],[0.994505,0.033089,-0.099320],[0.100769,-0.045451,0.993871]]
2025-10-27T17:26:17.057Z,1761585977.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007164,-0.996971,-0.077444],[0.998257,-0.002593,-0.058953],[0.058574,-0.077731,0.995252]]
2025-10-27T17:26:17.455Z,1761585977.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000757,-0.997135,-0.075644],[0.999727,-0.001014,0.023362],[-0.023372,-0.075641,0.996861]]
2025-10-27T17:26:17.861Z,1761585977.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010381,-0.997759,-0.066108],[0.999243,0.007873,0.038095],[-0.037489,-0.066453,0.997085]]
2025-10-27T17:26:18.207Z,1761585978.207 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:26:18.263Z,1761585978.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030534,-0.995983,-0.084179],[0.999020,-0.027708,-0.034527],[0.032056,-0.085151,0.995852]]
2025-10-27T17:26:18.666Z,1761585978.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058138,-0.994846,-0.083070],[0.995547,-0.051591,-0.078897],[0.074204,-0.087287,0.993416]]
2025-10-27T17:26:19.070Z,1761585979.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078272,-0.994689,-0.066835],[0.994286,-0.073008,-0.077876],[0.072583,-0.072549,0.994720]]
2025-10-27T17:26:19.213Z,1761585979.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:26:19.482Z,1761585979.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105373,-0.993771,-0.036283],[0.990552,-0.101672,-0.092026],[0.087763,-0.045637,0.995095]]
2025-10-27T17:26:19.877Z,1761585979.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101449,-0.994779,-0.011042],[0.992404,-0.100418,-0.071073],[0.069594,-0.018168,0.997410]]
2025-10-27T17:26:20.283Z,1761585980.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091873,-0.995586,0.019155],[0.995501,-0.092279,-0.021494],[0.023167,0.017094,0.999585]]
2025-10-27T17:26:20.686Z,1761585980.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071246,-0.995755,0.058269],[0.996889,-0.069110,0.037886],[-0.033698,0.060787,0.997582]]
2025-10-27T17:26:21.090Z,1761585981.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092239,-0.995009,0.038080],[0.994688,-0.090319,0.049388],[-0.045702,0.042433,0.998053]]
2025-10-27T17:26:21.898Z,1761585981.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098927,-0.993918,-0.048372],[0.991163,-0.094102,-0.093494],[0.088373,-0.057194,0.994444]]
2025-10-27T17:26:22.303Z,1761585982.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067599,-0.995976,-0.058847],[0.993537,-0.061808,-0.095204],[0.091183,-0.064902,0.993717]]
2025-10-27T17:26:22.705Z,1761585982.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052223,-0.998580,-0.010541],[0.990491,-0.050449,-0.127995],[0.127282,-0.017125,0.991719]]
2025-10-27T17:26:23.110Z,1761585983.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054226,-0.997528,0.044684],[0.991531,-0.059081,-0.115654],[0.118009,0.038034,0.992284]]
2025-10-27T17:26:23.515Z,1761585983.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060308,-0.997782,0.028169],[0.998099,-0.060638,-0.011010],[0.012694,0.027452,0.999543]]
2025-10-27T17:26:23.538Z,1761585983.538 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:26:23.539Z,1761585983.539 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:26:23.539Z,1761585983.539 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:26:23.539Z,1761585983.539 [marl:UpdateRudder:A] Stopped
2025-10-27T17:26:23.539Z,1761585983.539 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:26:23.539Z,1761585983.539 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode] Stopped
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:26:23.540Z,1761585983.540 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed] Stopped
2025-10-27T17:26:23.541Z,1761585983.541 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:26:23.917Z,1761585983.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083405,-0.996289,-0.021251],[0.996181,-0.083911,0.024125],[-0.025819,-0.019158,0.999483]]
2025-10-27T17:26:23.951Z,1761585983.951 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:26:23.951Z,1761585983.951 [marl:UpdateRudder:B] Stopped
2025-10-27T17:26:23.951Z,1761585983.951 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:26:23.951Z,1761585983.951 [marl:UpdateRudder] Stopped
2025-10-27T17:26:23.951Z,1761585983.951 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:26:24.321Z,1761585984.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089417,-0.994556,-0.053498],[0.995534,-0.087615,-0.035140],[0.030262,-0.056401,0.997949]]
2025-10-27T17:26:24.731Z,1761585984.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053288,-0.995145,-0.082748],[0.998423,-0.051632,-0.022029],[0.017650,-0.083791,0.996327]]
2025-10-27T17:26:25.136Z,1761585985.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027098,-0.995299,-0.092984],[0.999576,-0.027966,0.008049],[-0.010611,-0.092726,0.995635]]
2025-10-27T17:26:25.534Z,1761585985.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058620,-0.993130,-0.101279],[0.998274,-0.058672,-0.002471],[-0.003488,-0.101249,0.994855]]
2025-10-27T17:26:25.938Z,1761585985.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096510,-0.988351,-0.117680],[0.995226,-0.094098,-0.025892],[0.014517,-0.119617,0.992714]]
2025-10-27T17:26:26.343Z,1761585986.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079547,-0.993393,-0.082714],[0.996443,-0.081556,0.021192],[-0.027798,-0.080734,0.996348]]
2025-10-27T17:26:26.755Z,1761585986.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057105,-0.997747,-0.035227],[0.995369,-0.059631,0.075395],[-0.077326,-0.030759,0.996531]]
2025-10-27T17:26:27.149Z,1761585987.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057210,-0.998272,-0.013453],[0.994786,-0.058139,0.083792],[-0.084429,-0.008589,0.996392]]
2025-10-27T17:26:27.554Z,1761585987.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087557,-0.995711,-0.029880],[0.994115,-0.089259,0.061386],[-0.063790,-0.024330,0.997667]]
2025-10-27T17:26:27.969Z,1761585987.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079712,-0.995678,-0.047663],[0.996806,-0.079386,-0.008703],[0.004882,-0.048204,0.998826]]
2025-10-27T17:26:28.361Z,1761585988.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062959,-0.995423,-0.071898],[0.996618,-0.058895,-0.057311],[0.052814,-0.075263,0.995764]]
2025-10-27T17:26:28.768Z,1761585988.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070339,-0.993896,-0.084985],[0.994764,-0.063558,-0.080025],[0.074135,-0.090168,0.993163]]
2025-10-27T17:26:28.773Z,1761585988.773 [NAL9602](INFO): SBD MO Status=2, MOMSN=3061, MT Status=2, MTMSN=0
2025-10-27T17:26:28.773Z,1761585988.773 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T17:26:29.174Z,1761585989.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077572,-0.995028,-0.062470],[0.986230,-0.067405,-0.151019],[0.146057,-0.073324,0.986555]]
2025-10-27T17:26:29.574Z,1761585989.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067298,-0.997700,-0.008091],[0.973020,-0.063835,-0.221712],[0.220686,-0.022794,0.975079]]
2025-10-27T17:26:29.996Z,1761585989.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033090,-0.999264,0.019424],[0.980321,-0.036235,-0.194059],[0.194620,0.012621,0.980798]]
2025-10-27T17:26:30.008Z,1761585990.008 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172626.00,A,3646.70506,N,12151.81367,W,2.371,304.94,271025,,,A*7A
2025-10-27T17:26:30.010Z,1761585990.010 [NAL9602](INFO): GPS fix at 20251027T172626: (36.778418, -121.863561)
2025-10-27T17:26:30.033Z,1761585990.033 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:26:30.386Z,1761585990.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036346,-0.998993,0.026298],[0.992672,-0.039125,-0.114332],[0.115245,0.021949,0.993095]]
2025-10-27T17:26:30.790Z,1761585990.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043664,-0.998837,0.020449],[0.993675,-0.045540,-0.102648],[0.103460,0.015838,0.994508]]
2025-10-27T17:26:31.597Z,1761585991.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058316,-0.998295,-0.002338],[0.997762,0.058361,-0.032631],[0.032712,-0.000430,0.999465]]
2025-10-27T17:26:32.002Z,1761585992.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036314,-0.996873,-0.070185],[0.999196,0.037411,-0.014381],[0.016962,-0.069606,0.997430]]
2025-10-27T17:26:32.407Z,1761585992.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010649,-0.994220,-0.106835],[0.999817,-0.008891,-0.016917],[0.015870,-0.106996,0.994133]]
2025-10-27T17:26:32.830Z,1761585992.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039296,-0.991959,-0.120304],[0.999085,-0.036969,-0.021514],[0.016893,-0.121039,0.992504]]
2025-10-27T17:26:33.214Z,1761585993.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048190,-0.994135,-0.096817],[0.998429,-0.045170,-0.033149],[0.028581,-0.098262,0.994750]]
2025-10-27T17:26:33.622Z,1761585993.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025817,-0.998752,-0.042758],[0.998590,-0.023780,-0.047466],[0.046390,-0.043923,0.997957]]
2025-10-27T17:26:34.400Z,1761585994.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015265,-0.999071,-0.040303],[0.999376,0.013960,0.032451],[-0.031858,-0.040773,0.998660]]
2025-10-27T17:26:36.645Z,1761585996.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034991,-0.996242,-0.079233],[0.999044,-0.032791,-0.028895],[0.026188,-0.080168,0.996437]]
2025-10-27T17:26:36.990Z,1761585996.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070353,-0.997012,-0.031907],[0.997513,-0.070178,-0.006567],[0.004308,-0.032290,0.999469]]
2025-10-27T17:26:38.606Z,1761585998.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012267,-0.995172,-0.097378],[0.994092,-0.001634,-0.108532],[0.107849,-0.098134,0.989312]]
2025-10-27T17:26:38.665Z,1761585998.665 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:26:38.665Z,1761585998.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateRudder:A] Stopped
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:26:38.666Z,1761585998.666 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:26:38.668Z,1761585998.668 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:26:38.668Z,1761585998.668 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:26:38.668Z,1761585998.668 [marl:UpdateCommandMode] Stopped
2025-10-27T17:26:38.668Z,1761585998.668 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed] Stopped
2025-10-27T17:26:38.669Z,1761585998.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:26:39.009Z,1761585999.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032329,-0.996778,-0.073413],[0.992021,-0.023046,-0.123945],[0.121854,-0.076834,0.989570]]
2025-10-27T17:26:39.070Z,1761585999.070 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:26:39.070Z,1761585999.070 [marl:UpdateRudder:B] Stopped
2025-10-27T17:26:39.070Z,1761585999.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:26:39.070Z,1761585999.070 [marl:UpdateRudder] Stopped
2025-10-27T17:26:39.071Z,1761585999.071 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:26:39.415Z,1761585999.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067191,-0.997543,-0.019851],[0.990183,-0.064225,-0.124144],[0.122564,-0.027997,0.992066]]
2025-10-27T17:26:39.818Z,1761585999.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022231,-0.999593,0.017853],[0.993007,-0.024148,-0.115558],[0.115942,0.015160,0.993140]]
2025-10-27T17:26:40.222Z,1761586000.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028167,-0.999591,-0.004940],[0.996651,0.028463,-0.076655],[0.076764,-0.002765,0.997045]]
2025-10-27T17:26:41.031Z,1761586001.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011811,-0.998231,-0.058276],[0.995176,0.017411,-0.096549],[0.097393,-0.056854,0.993621]]
2025-10-27T17:26:41.838Z,1761586001.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118212,-0.992019,-0.043874],[0.992982,0.117938,0.008789],[-0.003544,-0.044605,0.998998]]
2025-10-27T17:26:42.247Z,1761586002.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131483,-0.990862,-0.030090],[0.991314,0.131517,0.000858],[0.003107,-0.029941,0.999547]]
2025-10-27T17:26:42.657Z,1761586002.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143351,-0.989560,-0.014860],[0.988873,0.142616,0.042323],[-0.039762,-0.020762,0.998993]]
2025-10-27T17:26:43.129Z,1761586003.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128865,-0.991408,-0.022430],[0.990305,0.127473,0.055190],[-0.051857,-0.029324,0.998224]]
2025-10-27T17:26:43.170Z,1761586003.170 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD,       +66.14,     +1464.40,    0,

2025-10-27T17:26:43.523Z,1761586003.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157347,-0.985680,-0.060642],[0.987432,0.156112,0.024629],[-0.014810,-0.063755,0.997856]]
2025-10-27T17:26:44.330Z,1761586004.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130391,-0.980791,-0.145076],[0.991411,0.130470,0.009010],[0.010091,-0.145005,0.989379]]
2025-10-27T17:26:44.740Z,1761586004.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158122,-0.981492,-0.108032],[0.985927,0.162948,-0.037357],[0.054269,-0.100604,0.993445]]
2025-10-27T17:26:44.808Z,1761586004.808 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:26:44.933Z,1761586004.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:26:44.933Z,1761586004.933 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:26:45.140Z,1761586005.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220811,-0.973853,-0.053423],[0.971902,0.224287,-0.071430],[0.081544,-0.036149,0.996014]]
2025-10-27T17:26:45.184Z,1761586005.184 [DAT](INFO): DAT read: user:14>

2025-10-27T17:26:45.185Z,1761586005.185 [DAT](INFO): DAT read: Tx time:17:26:44.8481

2025-10-27T17:26:45.185Z,1761586005.185 [DAT](INFO): Ping request sent.
2025-10-27T17:26:45.185Z,1761586005.185 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:26:45.185Z,1761586005.185 [DAT](INFO): publishing transmit ping time
2025-10-27T17:26:45.186Z,1761586005.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933
2025-10-27T17:26:45.437Z,1761586005.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251324
2025-10-27T17:26:45.542Z,1761586005.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241737,-0.970218,0.015515],[0.967285,0.239676,-0.083156],[0.076961,0.035109,0.996416]]
2025-10-27T17:26:45.689Z,1761586005.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503468
2025-10-27T17:26:45.694Z,1761586005.694 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:26:45.694Z,1761586005.694 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:26:45.941Z,1761586005.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755972
2025-10-27T17:26:45.957Z,1761586005.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253532,-0.963202,0.089241],[0.966620,0.248741,-0.061426],[0.036968,0.101836,0.994114]]
2025-10-27T17:26:46.192Z,1761586006.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827
2025-10-27T17:26:46.444Z,1761586006.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259244
2025-10-27T17:26:46.696Z,1761586006.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510850
2025-10-27T17:26:46.763Z,1761586006.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290009,-0.954444,-0.070232],[0.954652,0.293673,-0.048936],[0.067332,-0.052855,0.996330]]
2025-10-27T17:26:46.949Z,1761586006.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763907
2025-10-27T17:26:47.158Z,1761586007.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250985,-0.950940,-0.180887],[0.967542,0.252143,0.016946],[0.029495,-0.179269,0.983358]]
2025-10-27T17:26:47.162Z,1761586007.162 [NAL9602](INFO): SBD MO Status=1, MOMSN=3061, MT Status=0, MTMSN=0
2025-10-27T17:26:47.200Z,1761586007.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014891
2025-10-27T17:26:47.211Z,1761586007.211 [NAL9602](INFO): Sent 82 bytes from file Logs/20251027T165046/Courier0012.lzma
2025-10-27T17:26:47.211Z,1761586007.211 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:26:47.453Z,1761586007.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267821
2025-10-27T17:26:47.561Z,1761586007.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237237,-0.946144,-0.220297],[0.971394,0.228574,0.064398],[-0.010575,-0.229273,0.973305]]
2025-10-27T17:26:47.704Z,1761586007.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905
2025-10-27T17:26:47.956Z,1761586007.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770939
2025-10-27T17:26:48.208Z,1761586008.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022816
2025-10-27T17:26:48.302Z,1761586008.302 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006018
2025-10-27T17:26:48.460Z,1761586008.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274783
2025-10-27T17:26:48.570Z,1761586008.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282700,-0.953800,-0.101716],[0.958140,0.285797,-0.016981],[0.045267,-0.092658,0.994668]]
2025-10-27T17:26:48.712Z,1761586008.712 [DAT](INFO): DAT read: Rx Time:17:26:47.8679

2025-10-27T17:26:48.713Z,1761586008.713 [DAT](INFO): Rx dataTimestamp_ set to:1761586008.712234
2025-10-27T17:26:48.714Z,1761586008.714 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T17:26:48.714Z,1761586008.714 [DAT](INFO): Received low SNR in chirp
2025-10-27T17:26:48.727Z,1761586008.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542143
2025-10-27T17:26:48.964Z,1761586008.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778936
2025-10-27T17:26:48.972Z,1761586008.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259305,-0.965134,-0.035749],[0.964226,0.260815,-0.047368],[0.055040,-0.022187,0.998238]]
2025-10-27T17:26:49.216Z,1761586009.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030759
2025-10-27T17:26:49.468Z,1761586009.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283390
2025-10-27T17:26:49.721Z,1761586009.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535675
2025-10-27T17:26:49.972Z,1761586009.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786717
2025-10-27T17:26:50.225Z,1761586010.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039493
2025-10-27T17:26:50.476Z,1761586010.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290853
2025-10-27T17:26:50.728Z,1761586010.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543198
2025-10-27T17:26:50.980Z,1761586010.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794840
2025-10-27T17:26:51.232Z,1761586011.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046855
2025-10-27T17:26:51.348Z,1761586011.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297140,-0.948865,-0.106594],[0.954041,0.299586,-0.007349],[0.038908,-0.099512,0.994275]]
2025-10-27T17:26:51.485Z,1761586011.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300065
2025-10-27T17:26:51.718Z,1761586011.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305217,-0.948460,-0.085238],[0.950922,0.308341,-0.025952],[0.050897,-0.073134,0.996023]]
2025-10-27T17:26:51.737Z,1761586011.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552225
2025-10-27T17:26:51.988Z,1761586011.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802953
2025-10-27T17:26:52.114Z,1761586012.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293708,-0.954894,-0.043732],[0.954449,0.295472,-0.041518],[0.052567,-0.029546,0.998180]]
2025-10-27T17:26:52.240Z,1761586012.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055216
2025-10-27T17:26:52.492Z,1761586012.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307012
2025-10-27T17:26:52.518Z,1761586012.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294125,-0.955616,-0.016981],[0.954620,0.294596,-0.043752],[0.046813,-0.003342,0.998898]]
2025-10-27T17:26:52.745Z,1761586012.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559649
2025-10-27T17:26:52.933Z,1761586012.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314126,-0.948615,-0.038134],[0.948784,0.315099,-0.022827],[0.033670,-0.029010,0.999012]]
2025-10-27T17:26:52.973Z,1761586012.973 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -25,  +112,A
2025-10-27T17:26:52.996Z,1761586012.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810868
2025-10-27T17:26:53.248Z,1761586013.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062896
2025-10-27T17:26:53.326Z,1761586013.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331349,-0.940019,-0.081075],[0.943155,0.332351,0.001198],[0.025819,-0.076863,0.996707]]
2025-10-27T17:26:53.500Z,1761586013.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314928
2025-10-27T17:26:53.736Z,1761586013.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321368,-0.941352,-0.102853],[0.945776,0.324486,-0.014714],[0.047225,-0.092548,0.994588]]
2025-10-27T17:26:53.753Z,1761586013.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567247
2025-10-27T17:26:54.008Z,1761586014.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822520
2025-10-27T17:26:54.134Z,1761586014.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317604,-0.945811,-0.067593],[0.944129,0.322045,-0.070049],[0.088021,-0.041569,0.995251]]
2025-10-27T17:26:54.259Z,1761586014.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074148
2025-10-27T17:26:54.508Z,1761586014.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322811
2025-10-27T17:26:54.544Z,1761586014.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334232,-0.941178,-0.049721],[0.935239,0.337731,-0.106144],[0.116692,-0.011024,0.993107]]
2025-10-27T17:26:54.596Z,1761586014.596 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:26:54.596Z,1761586014.596 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateRudder:A] Stopped
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:26:54.597Z,1761586014.597 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateCommandMode] Stopped
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:26:54.598Z,1761586014.598 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:26:54.599Z,1761586014.599 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:26:54.599Z,1761586014.599 [marl:UpdateSpeed] Stopped
2025-10-27T17:26:54.607Z,1761586014.607 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:26:54.761Z,1761586014.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575578
2025-10-27T17:26:54.952Z,1761586014.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346716,-0.936016,-0.060513],[0.933083,0.350768,-0.079483],[0.095624,-0.028906,0.994998]]
2025-10-27T17:26:55.012Z,1761586015.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826951
2025-10-27T17:26:55.074Z,1761586015.074 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:26:55.074Z,1761586015.074 [marl:UpdateRudder:B] Stopped
2025-10-27T17:26:55.074Z,1761586015.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:26:55.074Z,1761586015.074 [marl:UpdateRudder] Stopped
2025-10-27T17:26:55.074Z,1761586015.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:26:55.264Z,1761586015.264 [DAT](INFO): Reached modem response timeout
2025-10-27T17:26:55.346Z,1761586015.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348392,-0.929297,-0.122596],[0.934451,0.354608,-0.032475],[0.073653,-0.103246,0.991925]]
2025-10-27T17:26:55.763Z,1761586015.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332738,-0.930658,-0.152189],[0.942596,0.333063,0.024116],[0.028245,-0.151477,0.988057]]
2025-10-27T17:26:56.558Z,1761586016.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311642,-0.945434,-0.095043],[0.945048,0.297996,0.134474],[-0.098814,-0.131728,0.986349]]
2025-10-27T17:26:56.962Z,1761586016.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324819,-0.942878,-0.073982],[0.944761,0.319852,0.071564],[-0.043813,-0.093140,0.994689]]
2025-10-27T17:26:57.368Z,1761586017.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332395,-0.943052,-0.012893],[0.943116,0.332453,-0.002537],[0.006679,-0.011317,0.999914]]
2025-10-27T17:26:57.532Z,1761586017.532 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:26:57.532Z,1761586017.532 [DAT](INFO): response not received
2025-10-27T17:26:57.532Z,1761586017.532 [DAT](ERROR): No response from remote modem.
2025-10-27T17:26:57.770Z,1761586017.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324171,-0.944129,0.059447],[0.944293,0.326719,0.039565],[-0.056777,0.043310,0.997447]]
2025-10-27T17:26:58.175Z,1761586018.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299302,-0.952027,0.063739],[0.950920,0.303119,0.062204],[-0.078541,0.041993,0.996026]]
2025-10-27T17:26:58.480Z,1761586018.480 [DataOverHttps](INFO): Sending 769 bytes from file Logs/20251027T165046/Express0013.lzma
2025-10-27T17:26:58.578Z,1761586018.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281513,-0.959459,-0.013750],[0.959484,0.281640,-0.008321],[0.011856,-0.010851,0.999871]]
2025-10-27T17:26:58.984Z,1761586018.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300360,-0.948910,-0.096716],[0.953022,0.302722,-0.010410],[0.039156,-0.089045,0.995258]]
2025-10-27T17:26:59.028Z,1761586019.028 [NAL9602](INFO): SBD MO Status=1, MOMSN=3062, MT Status=0, MTMSN=0
2025-10-27T17:26:59.075Z,1761586019.075 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0013.lzma
2025-10-27T17:26:59.075Z,1761586019.075 [NAL9602](INFO): Packets left to send: 2
2025-10-27T17:26:59.386Z,1761586019.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305011,-0.944494,-0.122064],[0.952165,0.299916,0.058590],[-0.018729,-0.134096,0.990791]]
2025-10-27T17:26:59.482Z,1761586019.482 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0013.lzma.bak
2025-10-27T17:26:59.483Z,1761586019.483 [DataOverHttps](INFO): SBD MOMSN=26248353
2025-10-27T17:26:59.793Z,1761586019.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293092,-0.951481,-0.093706],[0.955927,0.293410,0.010686],[0.017326,-0.092708,0.995543]]
2025-10-27T17:27:00.194Z,1761586020.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307197,-0.950181,-0.052788],[0.946053,0.310926,-0.091150],[0.103022,-0.021939,0.994437]]
2025-10-27T17:27:00.200Z,1761586020.200 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172656.00,A,3646.70657,N,12151.81652,W,2.041,304.01,271025,,,A*75
2025-10-27T17:27:00.202Z,1761586020.202 [NAL9602](INFO): GPS fix at 20251027T172656: (36.778443, -121.863609)
2025-10-27T17:27:00.248Z,1761586020.248 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:00.598Z,1761586020.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338953,-0.940794,-0.004184],[0.934682,0.337250,-0.112396],[0.107153,0.034186,0.993655]]
2025-10-27T17:27:01.003Z,1761586021.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381168,-0.923494,0.043245],[0.920281,0.374544,-0.113138],[0.088285,0.082922,0.992638]]
2025-10-27T17:27:01.421Z,1761586021.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430915,-0.901832,0.031811],[0.900937,0.427950,-0.071915],[0.051242,0.059649,0.996903]]
2025-10-27T17:27:01.452Z,1761586021.452 [marl:NeedComms:D] Stopped
2025-10-27T17:27:01.453Z,1761586021.453 [marl:NeedComms:E] Running Loop=1
2025-10-27T17:27:01.810Z,1761586021.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444807,-0.894720,-0.040292],[0.895147,0.445590,-0.012669],[0.029289,-0.030432,0.999108]]
2025-10-27T17:27:02.214Z,1761586022.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418623,-0.893887,-0.160378],[0.903974,0.427081,-0.020808],[0.087095,-0.136267,0.986836]]
2025-10-27T17:27:02.272Z,1761586022.272 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-10-27T17:27:02.620Z,1761586022.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381837,-0.893487,-0.236391],[0.915341,0.400973,-0.037028],[0.127870,-0.202240,0.970952]]
2025-10-27T17:27:03.022Z,1761586023.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407505,-0.889751,-0.205625],[0.910461,0.413283,0.016041],[0.070709,-0.193751,0.978499]]
2025-10-27T17:27:03.042Z,1761586023.042 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172659.00,A,3646.70685,N,12151.81749,W,0.603,295.50,271025,,,A*71
2025-10-27T17:27:03.056Z,1761586023.056 [NAL9602](INFO): GPS fix at 20251027T172659: (36.778447, -121.863625)
2025-10-27T17:27:03.171Z,1761586023.171 [marl:NeedComms:E] Stopped
2025-10-27T17:27:03.172Z,1761586023.172 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T17:27:03.172Z,1761586023.172 [marl:NeedComms] Stopped
2025-10-27T17:27:03.172Z,1761586023.172 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T17:27:03.172Z,1761586023.172 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T17:27:03.172Z,1761586023.172 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T17:27:03.173Z,1761586023.173 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:03.434Z,1761586023.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431361,-0.894559,-0.117014],[0.902050,0.429851,0.039155],[0.015272,-0.122443,0.992358]]
2025-10-27T17:27:03.835Z,1761586023.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434377,-0.900201,-0.030897],[0.900284,0.434987,-0.016603],[0.028386,-0.020604,0.999385]]
2025-10-27T17:27:04.234Z,1761586024.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439388,-0.898112,0.018246],[0.897292,0.437845,-0.056202],[0.042487,0.041066,0.998253]]
2025-10-27T17:27:04.639Z,1761586024.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451427,-0.892193,0.014328],[0.892251,0.451159,-0.018560],[0.010095,0.021163,0.999725]]
2025-10-27T17:27:05.044Z,1761586025.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462751,-0.884458,-0.059970],[0.886485,0.461887,0.028386],[0.002593,-0.066299,0.997796]]
2025-10-27T17:27:05.484Z,1761586025.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463388,-0.872138,-0.156994],[0.883808,0.467737,0.010288],[0.064460,-0.143520,0.987546]]
2025-10-27T17:27:05.862Z,1761586025.862 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172702.00,A,3646.70693,N,12151.81705,W,0.700,354.93,271025,,,A*70
2025-10-27T17:27:05.864Z,1761586025.864 [NAL9602](INFO): GPS fix at 20251027T172702: (36.778449, -121.863618)
2025-10-27T17:27:05.964Z,1761586025.964 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:06.258Z,1761586026.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452301,-0.886144,-0.100854],[0.889965,0.441064,0.115866],[-0.058191,-0.142163,0.988131]]
2025-10-27T17:27:06.654Z,1761586026.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472883,-0.878959,-0.061747],[0.872625,0.457459,0.171044],[-0.122094,-0.134765,0.983327]]
2025-10-27T17:27:07.058Z,1761586027.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475052,-0.876342,-0.079684],[0.879280,0.469185,0.082045],[-0.034513,-0.109040,0.993438]]
2025-10-27T17:27:07.465Z,1761586027.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465017,-0.883852,-0.050653],[0.885299,0.464393,0.024180],[0.002151,-0.056087,0.998424]]
2025-10-27T17:27:07.576Z,1761586027.576 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:27:07.576Z,1761586027.576 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:27:07.576Z,1761586027.576 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:27:07.576Z,1761586027.576 [marl:UpdateRudder:A] Stopped
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode] Stopped
2025-10-27T17:27:07.577Z,1761586027.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed] Stopped
2025-10-27T17:27:07.578Z,1761586027.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:27:07.872Z,1761586027.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447145,-0.894433,0.007108],[0.893914,0.447135,0.031445],[-0.031304,-0.007707,0.999480]]
2025-10-27T17:27:07.978Z,1761586027.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:27:07.979Z,1761586027.978 [marl:UpdateRudder:B] Stopped
2025-10-27T17:27:07.983Z,1761586027.983 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:27:07.983Z,1761586027.983 [marl:UpdateRudder] Stopped
2025-10-27T17:27:07.983Z,1761586027.983 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:27:08.302Z,1761586028.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452489,-0.888019,-0.081702],[0.889141,0.456288,-0.035070],[0.068423,-0.056775,0.996040]]
2025-10-27T17:27:08.702Z,1761586028.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437837,-0.889361,-0.131667],[0.896164,0.443457,-0.015339],[0.072030,-0.111280,0.991175]]
2025-10-27T17:27:09.124Z,1761586029.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442001,-0.878490,-0.181356],[0.895810,0.442767,0.038498],[0.046478,-0.179477,0.982664]]
2025-10-27T17:27:09.129Z,1761586029.129 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172705.00,A,3646.70723,N,12151.81712,W,1.089,330.78,271025,,,A*7B
2025-10-27T17:27:09.132Z,1761586029.132 [NAL9602](INFO): GPS fix at 20251027T172705: (36.778454, -121.863619)
2025-10-27T17:27:09.205Z,1761586029.205 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:09.521Z,1761586029.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453715,-0.862974,-0.222302],[0.889542,0.453546,0.054879],[0.053465,-0.222646,0.973432]]
2025-10-27T17:27:09.928Z,1761586029.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458255,-0.866013,-0.200061],[0.886791,0.460681,0.037092],[0.060042,-0.194410,0.979081]]
2025-10-27T17:27:10.330Z,1761586030.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455646,-0.880343,-0.131845],[0.888543,0.458727,0.007772],[0.053639,-0.120691,0.991240]]
2025-10-27T17:27:10.745Z,1761586030.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474810,-0.874837,-0.095999],[0.878112,0.478222,-0.014899],[0.058944,-0.077224,0.995270]]
2025-10-27T17:27:10.821Z,1761586030.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:27:11.138Z,1761586031.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481069,-0.870374,-0.104986],[0.869452,0.489017,-0.070119],[0.112370,-0.057548,0.991999]]
2025-10-27T17:27:11.542Z,1761586031.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491727,-0.865899,-0.091778],[0.858855,0.499670,-0.112682],[0.143430,-0.023416,0.989383]]
2025-10-27T17:27:11.947Z,1761586031.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517115,-0.853732,-0.061103],[0.851433,0.520391,-0.065226],[0.087483,-0.018296,0.995998]]
2025-10-27T17:27:11.953Z,1761586031.953 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172711.00,A,3646.70753,N,12151.81814,W,1.108,302.62,271025,,,A*72
2025-10-27T17:27:11.955Z,1761586031.955 [NAL9602](INFO): GPS fix at 20251027T172711: (36.778459, -121.863636)
2025-10-27T17:27:11.977Z,1761586031.977 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:12.351Z,1761586032.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532697,-0.841532,-0.089765],[0.845894,0.532742,0.025469],[0.026389,-0.089499,0.995637]]
2025-10-27T17:27:12.758Z,1761586032.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530445,-0.831444,-0.165314],[0.845999,0.531624,0.040771],[0.053986,-0.161483,0.985398]]
2025-10-27T17:27:13.162Z,1761586033.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519382,-0.824109,-0.226026],[0.849866,0.525776,0.035872],[0.089276,-0.210723,0.973461]]
2025-10-27T17:27:13.594Z,1761586033.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558666,-0.798934,-0.222704],[0.827976,0.552921,0.093460],[0.048469,-0.236606,0.970396]]
2025-10-27T17:27:14.420Z,1761586034.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580079,-0.798285,-0.162017],[0.813871,0.559825,0.155597],[-0.033509,-0.222120,0.974443]]
2025-10-27T17:27:14.802Z,1761586034.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557154,-0.819031,-0.136993],[0.830086,0.544707,0.119380],[-0.023155,-0.180229,0.983352]]
2025-10-27T17:27:14.810Z,1761586034.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172714.00,A,3646.70789,N,12151.81752,W,1.575,61.14,271025,,,A*44
2025-10-27T17:27:14.841Z,1761586034.841 [NAL9602](INFO): GPS fix at 20251027T172714: (36.778465, -121.863625)
2025-10-27T17:27:14.954Z,1761586034.954 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:15.289Z,1761586035.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533656,-0.837203,-0.119596],[0.844426,0.519729,0.129717],[-0.046442,-0.170215,0.984312]]
2025-10-27T17:27:15.687Z,1761586035.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524069,-0.840820,-0.135550],[0.850438,0.508060,0.136494],[-0.045899,-0.186809,0.981323]]
2025-10-27T17:27:16.148Z,1761586036.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539577,-0.828571,-0.149420],[0.841926,0.530102,0.100763],[-0.004281,-0.180170,0.983626]]
2025-10-27T17:27:16.542Z,1761586036.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539202,-0.829595,-0.145027],[0.841750,0.536356,0.061473],[0.026788,-0.155223,0.987516]]
2025-10-27T17:27:16.954Z,1761586036.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557050,-0.818601,-0.139952],[0.827334,0.561655,0.007827],[0.072198,-0.120147,0.990127]]
2025-10-27T17:27:17.351Z,1761586037.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591006,-0.795784,-0.132058],[0.800500,0.598780,-0.025742],[0.099559,-0.090499,0.990908]]
2025-10-27T17:27:17.802Z,1761586037.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611525,-0.775829,-0.155328],[0.782405,0.622172,-0.027283],[0.117808,-0.104845,0.987486]]
2025-10-27T17:27:17.819Z,1761586037.819 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172717.00,A,3646.70853,N,12151.81727,W,0.447,12.34,271025,,,A*4A
2025-10-27T17:27:17.822Z,1761586037.822 [NAL9602](INFO): GPS fix at 20251027T172717: (36.778475, -121.863621)
2025-10-27T17:27:17.927Z,1761586037.927 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:18.616Z,1761586038.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594763,-0.795262,-0.117541],[0.803254,0.593763,0.047208],[0.032248,-0.122493,0.991945]]
2025-10-27T17:27:19.086Z,1761586039.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613109,-0.779154,-0.130446],[0.789874,0.601672,0.118701],[-0.014000,-0.175813,0.984324]]
2025-10-27T17:27:19.482Z,1761586039.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630606,-0.751637,-0.193333],[0.775874,0.616593,0.133537],[0.018837,-0.234212,0.972003]]
2025-10-27T17:27:19.907Z,1761586039.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637602,-0.759131,-0.131085],[0.766350,0.642381,0.007436],[0.078561,-0.105198,0.991343]]
2025-10-27T17:27:20.290Z,1761586040.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648373,-0.751865,-0.119633],[0.754344,0.655677,-0.032466],[0.102850,-0.069194,0.992287]]
2025-10-27T17:27:20.767Z,1761586040.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622333,-0.767348,-0.154530],[0.773671,0.632992,-0.027463],[0.118890,-0.102464,0.987606]]
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateRudder:A] Stopped
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:27:20.929Z,1761586040.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateCommandMode] Stopped
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:27:20.930Z,1761586040.930 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:27:20.939Z,1761586040.939 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:27:20.939Z,1761586040.939 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:27:20.939Z,1761586040.939 [marl:UpdateSpeed] Stopped
2025-10-27T17:27:20.939Z,1761586040.939 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:27:21.295Z,1761586041.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632983,-0.753277,-0.178625],[0.763788,0.645300,-0.014690],[0.126332,-0.127133,0.983808]]
2025-10-27T17:27:21.300Z,1761586041.300 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172720.00,A,3646.70930,N,12151.81695,W,0.797,9.03,271025,,,A*72
2025-10-27T17:27:21.303Z,1761586041.303 [NAL9602](INFO): GPS fix at 20251027T172720: (36.778488, -121.863616)
2025-10-27T17:27:21.374Z,1761586041.374 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:27:21.374Z,1761586041.374 [marl:UpdateRudder:B] Stopped
2025-10-27T17:27:21.375Z,1761586041.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:27:21.375Z,1761586041.375 [marl:UpdateRudder] Stopped
2025-10-27T17:27:21.379Z,1761586041.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:27:21.387Z,1761586041.387 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:21.527Z,1761586041.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:27:21.797Z,1761586041.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654161,-0.727330,-0.207520],[0.742493,0.669817,-0.007078],[0.144148,-0.149452,0.978205]]
2025-10-27T17:27:22.319Z,1761586042.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662178,-0.710445,-0.238302],[0.736166,0.676143,0.029841],[0.139926,-0.195189,0.970733]]
2025-10-27T17:27:23.070Z,1761586043.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658224,-0.722973,-0.209884],[0.740510,0.672004,0.007534],[0.135596,-0.160380,0.977697]]
2025-10-27T17:27:23.502Z,1761586043.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690213,-0.713911,-0.118054],[0.711867,0.699186,-0.066209],[0.129809,-0.038340,0.990797]]
2025-10-27T17:27:23.944Z,1761586043.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696784,-0.706785,-0.122260],[0.706124,0.705854,-0.056206],[0.126023,-0.047167,0.990905]]
2025-10-27T17:27:23.957Z,1761586043.957 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172723.00,A,3646.71022,N,12151.81667,W,2.002,5.86,271025,,,A*7F
2025-10-27T17:27:23.967Z,1761586043.967 [NAL9602](INFO): GPS fix at 20251027T172723: (36.778504, -121.863611)
2025-10-27T17:27:24.060Z,1761586044.060 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:24.351Z,1761586044.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709994,-0.682058,-0.175230],[0.687858,0.725004,-0.034926],[0.150864,-0.095736,0.983908]]
2025-10-27T17:27:24.733Z,1761586044.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714013,-0.658673,-0.237352],[0.672690,0.739385,-0.028242],[0.194097,-0.139499,0.971013]]
2025-10-27T17:27:25.129Z,1761586045.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692045,-0.665824,-0.278840],[0.677023,0.732695,-0.069270],[0.250426,-0.140843,0.957836]]
2025-10-27T17:27:25.547Z,1761586045.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688916,-0.660185,-0.299251],[0.661911,0.741247,-0.111476],[0.295413,-0.121280,0.947640]]
2025-10-27T17:27:25.938Z,1761586045.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696172,-0.633591,-0.337502],[0.624060,0.766509,-0.151702],[0.354815,-0.105011,0.929020]]
2025-10-27T17:27:26.352Z,1761586046.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721052,-0.587116,-0.367939],[0.566353,0.805331,-0.175174],[0.399160,-0.082073,0.913200]]
2025-10-27T17:27:26.753Z,1761586046.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751427,-0.537771,-0.382309],[0.530208,0.837011,-0.135252],[0.392731,-0.101071,0.914082]]
2025-10-27T17:27:26.770Z,1761586046.770 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172726.00,A,3646.71098,N,12151.81559,W,1.924,67.78,271025,,,A*4E
2025-10-27T17:27:26.781Z,1761586046.781 [NAL9602](INFO): GPS fix at 20251027T172726: (36.778516, -121.863593)
2025-10-27T17:27:26.958Z,1761586046.958 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:27.202Z,1761586047.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782170,-0.494233,-0.379400],[0.528749,0.848638,-0.015428],[0.329598,-0.188540,0.925104]]
2025-10-27T17:27:27.713Z,1761586047.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800842,-0.450930,-0.394100],[0.521935,0.848215,0.090082],[0.293661,-0.277836,0.914642]]
2025-10-27T17:27:28.120Z,1761586048.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793377,-0.418674,-0.441889],[0.526025,0.836859,0.151543],[0.306351,-0.352676,0.884177]]
2025-10-27T17:27:28.308Z,1761586048.308 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:27:28.560Z,1761586048.560 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:27:28.561Z,1761586048.561 [DAT](INFO): #Outgoing data=3
2025-10-27T17:27:28.561Z,1761586048.561 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:27:28.578Z,1761586048.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780444,-0.401199,-0.479527],[0.536494,0.823576,0.184109],[0.321063,-0.400950,0.857996]]
2025-10-27T17:27:28.815Z,1761586048.815 [DAT](INFO): setting remote address to 6
2025-10-27T17:27:29.056Z,1761586049.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777881,-0.394495,-0.489157],[0.530419,0.829592,0.174450],[0.336981,-0.395160,0.854571]]
2025-10-27T17:27:29.064Z,1761586049.064 [DAT](INFO): DAT read: 

2025-10-27T17:27:29.065Z,1761586049.065 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:27:29.065Z,1761586049.065 [DAT](INFO): set remote address to 6
2025-10-27T17:27:29.065Z,1761586049.065 [DAT](INFO): entering online mode
2025-10-27T17:27:29.318Z,1761586049.318 [DAT](INFO): DAT read: user:16>

2025-10-27T17:27:29.318Z,1761586049.318 [DAT](INFO): DAT read: 

2025-10-27T17:27:29.320Z,1761586049.320 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:27:29.320Z,1761586049.320 [DAT](INFO): commRate: 600
2025-10-27T17:27:29.320Z,1761586049.320 [DAT](INFO): online mode acknowledged
2025-10-27T17:27:29.320Z,1761586049.320 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:27:29.468Z,1761586049.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769673,-0.413714,-0.486256],[0.521406,0.846849,0.104797],[0.368429,-0.334196,0.867510]]
2025-10-27T17:27:29.916Z,1761586049.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755431,-0.487672,-0.437608],[0.542316,0.840174,-0.000107],[0.367719,-0.237241,0.899166]]
2025-10-27T17:27:29.941Z,1761586049.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172729.00,A,3646.71240,N,12151.81520,W,3.674,43.71,271025,,,A*4F
2025-10-27T17:27:29.952Z,1761586049.952 [NAL9602](INFO): GPS fix at 20251027T172729: (36.778540, -121.863587)
2025-10-27T17:27:30.054Z,1761586050.054 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:30.769Z,1761586050.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752955,-0.535716,-0.382187],[0.572066,0.819906,-0.022233],[0.325268,-0.201896,0.923818]]
2025-10-27T17:27:31.200Z,1761586051.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739841,-0.549833,-0.387711],[0.585417,0.810110,-0.031749],[0.331545,-0.203483,0.921234]]
2025-10-27T17:27:31.776Z,1761586051.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726671,-0.562443,-0.394471],[0.586790,0.806764,-0.069349],[0.357249,-0.181078,0.916288]]
2025-10-27T17:27:32.601Z,1761586052.601 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:27:32.2969

2025-10-27T17:27:32.601Z,1761586052.601 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:27:33.258Z,1761586053.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722285,-0.561698,-0.403483],[0.562274,0.816622,-0.130297],[0.402681,-0.132756,0.905662]]
2025-10-27T17:27:33.876Z,1761586053.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727420,-0.559660,-0.397040],[0.563341,0.817442,-0.120147],[0.391798,-0.136272,0.909903]]
2025-10-27T17:27:34.626Z,1761586054.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734049,-0.563046,-0.379672],[0.563479,0.817038,-0.122233],[0.379029,-0.124212,0.917010]]
2025-10-27T17:27:35.026Z,1761586055.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737068,-0.561501,-0.376096],[0.566729,0.816708,-0.108655],[0.368170,-0.133059,0.920188]]
2025-10-27T17:27:35.573Z,1761586055.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733778,-0.559640,-0.385192],[0.586502,0.807966,-0.056615],[0.342906,-0.184373,0.921098]]
2025-10-27T17:27:35.692Z,1761586055.692 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:27:35.692Z,1761586055.692 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateRudder:A] Stopped
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:27:35.693Z,1761586055.693 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateCommandMode] Stopped
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:27:35.694Z,1761586055.694 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:27:35.695Z,1761586055.695 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:27:35.703Z,1761586055.703 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:27:35.703Z,1761586055.703 [marl:UpdateSpeed] Stopped
2025-10-27T17:27:35.703Z,1761586055.703 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:27:35.984Z,1761586055.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728698,-0.563339,-0.389420],[0.596352,0.801538,-0.043594],[0.336693,-0.200465,0.920028]]
2025-10-27T17:27:36.070Z,1761586056.070 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:27:36.070Z,1761586056.070 [marl:UpdateRudder:B] Stopped
2025-10-27T17:27:36.070Z,1761586056.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:27:36.070Z,1761586056.070 [marl:UpdateRudder] Stopped
2025-10-27T17:27:36.070Z,1761586056.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:27:36.433Z,1761586056.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723144,-0.568402,-0.392406],[0.604641,0.795584,-0.038148],[0.333876,-0.209678,0.919001]]
2025-10-27T17:27:37.081Z,1761586057.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715400,-0.577543,-0.393252],[0.613460,0.788599,-0.042163],[0.334469,-0.211081,0.918463]]
2025-10-27T17:27:37.488Z,1761586057.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712320,-0.581492,-0.393023],[0.617281,0.785541,-0.043468],[0.334012,-0.211643,0.918501]]
2025-10-27T17:27:37.970Z,1761586057.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710678,-0.592464,-0.379373],[0.619097,0.782804,-0.062748],[0.334150,-0.190275,0.923114]]
2025-10-27T17:27:38.372Z,1761586058.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712915,-0.596133,-0.369293],[0.618665,0.782617,-0.069017],[0.330159,-0.179266,0.926746]]
2025-10-27T17:27:38.771Z,1761586058.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716582,-0.597091,-0.360545],[0.618636,0.782826,-0.066883],[0.322180,-0.175119,0.930341]]
2025-10-27T17:27:39.176Z,1761586059.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718352,-0.600531,-0.351186],[0.621371,0.780875,-0.064287],[0.312839,-0.172036,0.934096]]
2025-10-27T17:27:39.574Z,1761586059.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715066,-0.613423,-0.335249],[0.629781,0.773437,-0.071914],[0.303408,-0.159710,0.939381]]
2025-10-27T17:27:39.974Z,1761586059.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706314,-0.635220,-0.312437],[0.644535,0.759582,-0.087241],[0.292738,-0.139757,0.945924]]
2025-10-27T17:27:40.379Z,1761586060.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693891,-0.661516,-0.284452],[0.663649,0.740797,-0.103881],[0.279439,-0.116694,0.953046]]
2025-10-27T17:27:40.782Z,1761586060.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679344,-0.688654,-0.253469],[0.684735,0.719094,-0.118502],[0.263875,-0.093055,0.960058]]
2025-10-27T17:27:41.190Z,1761586061.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662423,-0.714459,-0.225265],[0.706288,0.695867,-0.130100],[0.249706,-0.072921,0.965572]]
2025-10-27T17:27:41.590Z,1761586061.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643153,-0.738445,-0.202616],[0.727054,0.671935,-0.141052],[0.240304,-0.056595,0.969046]]
2025-10-27T17:27:41.994Z,1761586061.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622119,-0.760571,-0.185743],[0.746234,0.647811,-0.153221],[0.236861,-0.043286,0.970579]]
2025-10-27T17:27:42.400Z,1761586062.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601615,-0.779641,-0.173837],[0.762528,0.625365,-0.165739],[0.237928,-0.032845,0.970727]]
2025-10-27T17:27:42.688Z,1761586062.688 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:27:42.940Z,1761586062.940 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:27:42.940Z,1761586062.940 [DAT](INFO): #Outgoing data=4
2025-10-27T17:27:42.941Z,1761586062.941 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:27:43.193Z,1761586063.193 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:27:43.226Z,1761586063.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569661,-0.806541,-0.158045],[0.784608,0.590930,-0.187596],[0.244698,-0.017137,0.969448]]
2025-10-27T17:27:44.423Z,1761586064.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544888,-0.828053,-0.132002],[0.803926,0.560646,-0.198442],[0.238327,0.002008,0.971183]]
2025-10-27T17:27:45.046Z,1761586065.046 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:27:45.208Z,1761586065.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:27:45.259Z,1761586065.259 [DAT](INFO): entering command mode
2025-10-27T17:27:45.367Z,1761586065.367 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:27:45.460Z,1761586065.460 [DAT](INFO): DAT read: 

2025-10-27T17:27:45.461Z,1761586065.461 [DAT](INFO): DAT read: user:17>

2025-10-27T17:27:45.462Z,1761586065.462 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:27:45.462Z,1761586065.462 [DAT](INFO): setting remote address to 0
2025-10-27T17:27:45.713Z,1761586065.713 [DAT](INFO): DAT read: user:17>

2025-10-27T17:27:45.714Z,1761586065.714 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:27:45.715Z,1761586065.715 [DAT](INFO): set remote address to 0
2025-10-27T17:27:45.716Z,1761586065.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:27:45.716Z,1761586065.716 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:27:45.811Z,1761586065.811 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:27:45.812Z,1761586065.812 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:27:45.964Z,1761586065.964 [DAT](INFO): DAT read: user:18>

2025-10-27T17:27:45.964Z,1761586065.964 [DAT](INFO): DAT read: Tx time:17:27:45.5981

2025-10-27T17:27:45.965Z,1761586065.965 [DAT](INFO): Ping request sent.
2025-10-27T17:27:45.965Z,1761586065.965 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:27:45.965Z,1761586065.965 [DAT](INFO): publishing transmit ping time
2025-10-27T17:27:45.966Z,1761586065.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955
2025-10-27T17:27:46.217Z,1761586066.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251857
2025-10-27T17:27:46.241Z,1761586066.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519931,-0.847210,-0.109123],[0.833459,0.531130,-0.152466],[0.187130,-0.011678,0.982266]]
2025-10-27T17:27:46.468Z,1761586066.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503355
2025-10-27T17:27:46.638Z,1761586066.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504732,-0.857012,-0.103803],[0.844893,0.515082,-0.144380],[0.177202,-0.014830,0.984063]]
2025-10-27T17:27:46.721Z,1761586066.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755919
2025-10-27T17:27:46.972Z,1761586066.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007341
2025-10-27T17:27:47.042Z,1761586067.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487512,-0.867319,-0.100449],[0.856484,0.497398,-0.137951],[0.169611,-0.018781,0.985332]]
2025-10-27T17:27:47.224Z,1761586067.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259291
2025-10-27T17:27:47.446Z,1761586067.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471780,-0.876383,-0.096832],[0.866731,0.481118,-0.131542],[0.161868,-0.021869,0.986570]]
2025-10-27T17:27:47.476Z,1761586067.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511214
2025-10-27T17:27:47.729Z,1761586067.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764338
2025-10-27T17:27:47.886Z,1761586067.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457325,-0.884587,-0.091433],[0.875952,0.465820,-0.125378],[0.153499,-0.022752,0.987887]]
2025-10-27T17:27:47.980Z,1761586067.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015151
2025-10-27T17:27:48.234Z,1761586068.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268703
2025-10-27T17:27:48.382Z,1761586068.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431812,-0.898517,-0.078772],[0.891855,0.438380,-0.111437],[0.134661,-0.022134,0.990645]]
2025-10-27T17:27:48.485Z,1761586068.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519736
2025-10-27T17:27:48.737Z,1761586068.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772001
2025-10-27T17:27:48.988Z,1761586068.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023101
2025-10-27T17:27:49.162Z,1761586069.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398578,-0.915209,-0.059400],[0.910343,0.402663,-0.095589],[0.111402,-0.015975,0.993647]]
2025-10-27T17:27:49.240Z,1761586069.240 [DAT](INFO): DAT read: Rx Time:17:27:48.3059

2025-10-27T17:27:49.240Z,1761586069.240 [DAT](INFO): Rx dataTimestamp_ set to:1761586069.240217
2025-10-27T17:27:49.241Z,1761586069.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276226
2025-10-27T17:27:49.303Z,1761586069.303 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateRudder:A] Stopped
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:27:49.304Z,1761586069.304 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateCommandMode] Stopped
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:27:49.305Z,1761586069.305 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:27:49.306Z,1761586069.306 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:27:49.306Z,1761586069.306 [marl:UpdateSpeed] Stopped
2025-10-27T17:27:49.306Z,1761586069.306 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:27:49.492Z,1761586069.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527381
2025-10-27T17:27:49.603Z,1761586069.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377688,-0.924715,-0.047472],[0.920746,0.380497,-0.086305],[0.097870,-0.011113,0.995137]]
2025-10-27T17:27:49.686Z,1761586069.686 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:27:49.687Z,1761586069.687 [marl:UpdateRudder:B] Stopped
2025-10-27T17:27:49.691Z,1761586069.691 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:27:49.692Z,1761586069.692 [marl:UpdateRudder] Stopped
2025-10-27T17:27:49.692Z,1761586069.692 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:27:49.752Z,1761586069.752 [DAT](INFO): DAT read: 17:27:48.3059 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 274,-0.07,-0.550, 0.262,-1.497,-0.528, PHS= 0.080, 0.836,-1.013, RAW=   6.0,   1.2, CAL=   5.9,  -1.3, ROT= 144.1,   1.3

2025-10-27T17:27:49.754Z,1761586069.754 [DAT](INFO): got valid direction response:
 17:27:48.3059 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 274,-0.07,-0.550, 0.262,-1.497,-0.528, PHS= 0.080, 0.836,-1.013, RAW=   6.0,   1.2, CAL=   5.9,  -1.3, ROT= 144.1,   1.3

2025-10-27T17:27:49.754Z,1761586069.754 [DAT](INFO): DAT read: Bearing 171,   8 (Remote)

2025-10-27T17:27:49.755Z,1761586069.755 [DAT](INFO): Remote Bearing received:Bearing 171,   8 (Remote)

2025-10-27T17:27:49.756Z,1761586069.756 [DAT](INFO): DAT read: Range 11 to 20 : 509.0 m  (Round-trip  678.7 ms) speed -0.8 m/s

2025-10-27T17:27:49.757Z,1761586069.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:27:49.758Z,1761586069.758 [DAT](INFO): direction in FSK: [-0.809833,0.586221,-0.022687]
2025-10-27T17:27:49.758Z,1761586069.758 [DAT](INFO): publishing direction and range info
2025-10-27T17:27:49.970Z,1761586069.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354343,-0.934427,-0.035866],[0.931218,0.356105,-0.077602],[0.085285,-0.005902,0.996339]]
2025-10-27T17:27:50.218Z,1761586070.218 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761586048.00. Resetting abort timer.
2025-10-27T17:27:50.555Z,1761586070.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329030,-0.943928,-0.027207],[0.941286,0.330144,-0.070604],[0.075628,-0.002379,0.997133]]
2025-10-27T17:27:50.948Z,1761586070.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302955,-0.952759,-0.021662],[0.950382,0.303728,-0.067257],[0.070659,-0.000212,0.997500]]
2025-10-27T17:27:51.553Z,1761586071.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254158,-0.967040,-0.015407],[0.964373,0.254602,-0.071851],[0.073405,0.003403,0.997296]]
2025-10-27T17:27:51.956Z,1761586071.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234766,-0.971959,-0.013450],[0.968937,0.235099,-0.076743],[0.077753,0.004985,0.996960]]
2025-10-27T17:27:52.354Z,1761586072.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221161,-0.975159,-0.012397],[0.971812,0.221431,-0.080935],[0.081670,0.005853,0.996642]]
2025-10-27T17:27:52.774Z,1761586072.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216300,-0.976168,-0.017615],[0.972730,0.217015,-0.081862],[0.083734,0.000573,0.996488]]
2025-10-27T17:27:53.276Z,1761586073.276 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-27T17:27:53.276Z,1761586073.276 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:27:53.289Z,1761586073.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220023,-0.974958,-0.032357],[0.972043,0.221911,-0.076731],[0.081990,-0.014569,0.996527]]
2025-10-27T17:27:53.324Z,1761586073.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:27:53.528Z,1761586073.528 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:27:53.529Z,1761586073.529 [DAT](INFO): #Outgoing data=5
2025-10-27T17:27:53.529Z,1761586073.529 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:27:53.781Z,1761586073.781 [DAT](INFO): setting remote address to 6
2025-10-27T17:27:53.881Z,1761586073.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229263,-0.971733,-0.056334],[0.970453,0.232667,-0.063929],[0.075229,-0.040013,0.996363]]
2025-10-27T17:27:54.032Z,1761586074.032 [DAT](INFO): DAT read: user:19>

2025-10-27T17:27:54.033Z,1761586074.033 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:27:54.033Z,1761586074.033 [DAT](INFO): set remote address to 6
2025-10-27T17:27:54.034Z,1761586074.034 [DAT](INFO): entering online mode
2025-10-27T17:27:54.284Z,1761586074.284 [DAT](INFO): DAT read: user:20>

2025-10-27T17:27:54.285Z,1761586074.285 [DAT](INFO): DAT read: 

2025-10-27T17:27:54.286Z,1761586074.286 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:27:54.286Z,1761586074.286 [DAT](INFO): commRate: 600
2025-10-27T17:27:54.286Z,1761586074.286 [DAT](INFO): online mode acknowledged
2025-10-27T17:27:54.287Z,1761586074.287 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:27:54.385Z,1761586074.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253971,-0.960427,-0.114358],[0.966090,0.257591,-0.017825],[0.046577,-0.105953,0.993280]]
2025-10-27T17:27:54.771Z,1761586074.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256636,-0.956604,-0.138014],[0.966001,0.258497,0.004569],[0.031305,-0.134494,0.990420]]
2025-10-27T17:27:55.175Z,1761586075.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250318,-0.955164,-0.158125],[0.967963,0.250229,0.020801],[0.019700,-0.158266,0.987200]]
2025-10-27T17:27:55.579Z,1761586075.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243329,-0.953834,-0.176045],[0.969892,0.241154,0.033980],[0.010042,-0.179013,0.983796]]
2025-10-27T17:27:55.986Z,1761586075.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235312,-0.953354,-0.189061],[0.971913,0.231523,0.042208],[0.003533,-0.193683,0.981058]]
2025-10-27T17:27:56.392Z,1761586076.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226790,-0.954044,-0.195875],[0.973943,0.222384,0.044504],[0.001101,-0.200864,0.979619]]
2025-10-27T17:27:56.795Z,1761586076.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218239,-0.955664,-0.197682],[0.975893,0.214193,0.041893],[0.002307,-0.202059,0.979371]]
2025-10-27T17:27:57.249Z,1761586077.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211690,-0.957102,-0.197849],[0.977323,0.208370,0.037694],[0.005148,-0.201342,0.979508]]
2025-10-27T17:27:57.560Z,1761586077.560 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:27:57.2969

2025-10-27T17:27:57.561Z,1761586077.561 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:27:57.638Z,1761586077.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210634,-0.957642,-0.196357],[0.977543,0.207671,0.035797],[0.006497,-0.199487,0.979879]]
2025-10-27T17:27:58.452Z,1761586078.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219629,-0.955850,-0.195228],[0.975581,0.215677,0.041544],[0.002396,-0.199585,0.979878]]
2025-10-27T17:27:58.893Z,1761586078.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225309,-0.954732,-0.194222],[0.974284,0.220294,0.047331],[-0.002402,-0.199892,0.979815]]
2025-10-27T17:27:59.258Z,1761586079.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229902,-0.953731,-0.193759],[0.973173,0.223472,0.054722],[-0.008890,-0.201142,0.979522]]
2025-10-27T17:27:59.662Z,1761586079.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232178,-0.953304,-0.193146],[0.972537,0.224199,0.062502],[-0.016280,-0.202353,0.979177]]
2025-10-27T17:28:00.066Z,1761586080.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231353,-0.953825,-0.191555],[0.972580,0.221948,0.069481],[-0.023758,-0.202378,0.979019]]
2025-10-27T17:28:00.470Z,1761586080.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228131,-0.954817,-0.190478],[0.973148,0.217454,0.075473],[-0.030642,-0.202581,0.978786]]
2025-10-27T17:28:00.895Z,1761586080.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221974,-0.956286,-0.190381],[0.974397,0.210398,0.079261],[-0.035740,-0.203101,0.978505]]
2025-10-27T17:28:01.363Z,1761586081.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214212,-0.957826,-0.191526],[0.976001,0.202020,0.081299],[-0.039178,-0.204345,0.978115]]
2025-10-27T17:28:01.758Z,1761586081.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206566,-0.959251,-0.192790],[0.977557,0.194001,0.082134],[-0.041386,-0.205430,0.977796]]
2025-10-27T17:28:02.154Z,1761586082.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200155,-0.960653,-0.192569],[0.978868,0.187669,0.081225],[-0.041890,-0.204757,0.977916]]
2025-10-27T17:28:02.558Z,1761586082.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195673,-0.961242,-0.194233],[0.979823,0.183402,0.079444],[-0.040742,-0.205859,0.977733]]
2025-10-27T17:28:02.962Z,1761586082.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193954,-0.961359,-0.195374],[0.980227,0.181960,0.077749],[-0.039194,-0.206591,0.977642]]
2025-10-27T17:28:03.102Z,1761586083.102 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:28:03.102Z,1761586083.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:28:03.102Z,1761586083.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:28:03.103Z,1761586083.103 [marl:UpdateRudder:A] Stopped
2025-10-27T17:28:03.103Z,1761586083.103 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:28:03.111Z,1761586083.111 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:28:03.111Z,1761586083.111 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:28:03.111Z,1761586083.111 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateCommandMode] Stopped
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:28:03.112Z,1761586083.112 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:28:03.113Z,1761586083.113 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:28:03.113Z,1761586083.113 [marl:UpdateSpeed] Stopped
2025-10-27T17:28:03.113Z,1761586083.113 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:28:03.368Z,1761586083.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194394,-0.961272,-0.195362],[0.980157,0.182479,0.077417],[-0.038770,-0.206535,0.977671]]
2025-10-27T17:28:03.604Z,1761586083.604 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:28:03.604Z,1761586083.604 [marl:UpdateRudder:B] Stopped
2025-10-27T17:28:03.605Z,1761586083.605 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:28:03.605Z,1761586083.605 [marl:UpdateRudder] Stopped
2025-10-27T17:28:03.605Z,1761586083.605 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:28:03.813Z,1761586083.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195129,-0.960927,-0.196328],[0.979991,0.183009,0.078269],[-0.039281,-0.207672,0.977409]]
2025-10-27T17:28:04.200Z,1761586084.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195205,-0.960733,-0.197198],[0.979901,0.182625,0.080260],[-0.041095,-0.208902,0.977073]]
2025-10-27T17:28:04.602Z,1761586084.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193338,-0.960839,-0.198517],[0.980205,0.180367,0.081640],[-0.042637,-0.210371,0.976691]]
2025-10-27T17:28:05.009Z,1761586085.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189989,-0.961077,-0.200587],[0.980861,0.176938,0.081269],[-0.042614,-0.212188,0.976299]]
2025-10-27T17:28:05.411Z,1761586085.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187253,-0.961277,-0.202196],[0.981432,0.174369,0.079920],[-0.041569,-0.213406,0.976079]]
2025-10-27T17:28:05.831Z,1761586085.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185624,-0.961475,-0.202752],[0.981803,0.173059,0.078194],[-0.040093,-0.213578,0.976103]]
2025-10-27T17:28:06.248Z,1761586086.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185555,-0.960838,-0.205816],[0.981850,0.172928,0.077893],[-0.039252,-0.216534,0.975486]]
2025-10-27T17:28:06.647Z,1761586086.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186476,-0.960412,-0.206966],[0.981644,0.173559,0.079073],[-0.040022,-0.217912,0.975147]]
2025-10-27T17:28:07.050Z,1761586087.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187334,-0.960074,-0.207759],[0.981367,0.173725,0.082087],[-0.042717,-0.219266,0.974730]]
2025-10-27T17:28:07.454Z,1761586087.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186896,-0.960103,-0.208021],[0.981300,0.172532,0.085340],[-0.046045,-0.220081,0.974394]]
2025-10-27T17:28:07.648Z,1761586087.648 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:28:07.649Z,1761586087.649 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:28:07.860Z,1761586087.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184449,-0.961031,-0.205908],[0.981627,0.169719,0.087202],[-0.048857,-0.218210,0.974678]]
2025-10-27T17:28:07.901Z,1761586087.901 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:28:08.152Z,1761586088.152 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:28:08.152Z,1761586088.152 [DAT](INFO): #Outgoing data=6
2025-10-27T17:28:08.152Z,1761586088.152 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:28:08.404Z,1761586088.404 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:28:08.667Z,1761586088.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176612,-0.963282,-0.202226],[0.983004,0.162161,0.086060],[-0.050107,-0.213988,0.975550]]
2025-10-27T17:28:09.476Z,1761586089.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166546,-0.964859,-0.203248],[0.985075,0.153723,0.077441],[-0.043476,-0.213112,0.976060]]
2025-10-27T17:28:09.877Z,1761586089.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161381,-0.965251,-0.205538],[0.986153,0.149665,0.071434],[-0.038190,-0.214220,0.976039]]
2025-10-27T17:28:10.281Z,1761586090.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156729,-0.965548,-0.207733],[0.987097,0.146155,0.065405],[-0.032790,-0.215304,0.975996]]
2025-10-27T17:28:10.686Z,1761586090.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153704,-0.965166,-0.211731],[0.987715,0.143961,0.060782],[-0.028183,-0.218472,0.975436]]
2025-10-27T17:28:11.092Z,1761586091.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152691,-0.964161,-0.216978],[0.987959,0.143377,0.058135],[-0.024941,-0.223242,0.974444]]
2025-10-27T17:28:11.494Z,1761586091.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152090,-0.963082,-0.222131],[0.988094,0.142883,0.057047],[-0.023202,-0.228162,0.973347]]
2025-10-27T17:28:11.680Z,1761586091.680 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:28:11.3969

2025-10-27T17:28:11.681Z,1761586091.681 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:28:11.897Z,1761586091.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150566,-0.962647,-0.225035],[0.988341,0.141363,0.056560],[-0.022636,-0.230927,0.972708]]
2025-10-27T17:28:12.312Z,1761586092.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145653,-0.963293,-0.225503],[0.989096,0.136771,0.054609],[-0.021762,-0.230998,0.972711]]
2025-10-27T17:28:12.707Z,1761586092.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137702,-0.965035,-0.223039],[0.990270,0.129565,0.050784],[-0.020111,-0.227862,0.973486]]
2025-10-27T17:28:13.111Z,1761586093.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128415,-0.966956,-0.220241],[0.991564,0.121241,0.045848],[-0.017631,-0.224270,0.974367]]
2025-10-27T17:28:13.513Z,1761586093.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118177,-0.968796,-0.217872],[0.992903,0.112346,0.039004],[-0.013310,-0.220935,0.975198]]
2025-10-27T17:28:13.918Z,1761586093.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107238,-0.970750,-0.214813],[0.994210,0.103223,0.029855],[-0.006808,-0.216771,0.976199]]
2025-10-27T17:28:14.329Z,1761586094.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097968,-0.972190,-0.212720],[0.995190,0.095775,0.020614],[0.000332,-0.213716,0.976896]]
2025-10-27T17:28:14.731Z,1761586094.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092695,-0.972746,-0.212539],[0.995672,0.091994,0.013207],[0.006705,-0.212843,0.977063]]
2025-10-27T17:28:15.130Z,1761586095.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089775,-0.973410,-0.210746],[0.995885,0.090374,0.006810],[0.012417,-0.210490,0.977517]]
2025-10-27T17:28:15.536Z,1761586095.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089039,-0.973912,-0.208728],[0.995881,0.090645,0.001876],[0.017094,-0.208035,0.977972]]
2025-10-27T17:28:15.600Z,1761586095.600 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:28:15.600Z,1761586095.600 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:28:15.600Z,1761586095.600 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateRudder:A] Stopped
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:28:15.601Z,1761586095.601 [marl:UpdateCommandMode] Stopped
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed] Stopped
2025-10-27T17:28:15.602Z,1761586095.602 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:28:15.940Z,1761586095.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090732,-0.973994,-0.207614],[0.995663,0.093023,-0.001277],[0.020557,-0.206598,0.978210]]
2025-10-27T17:28:16.008Z,1761586096.008 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:28:16.008Z,1761586096.008 [marl:UpdateRudder:B] Stopped
2025-10-27T17:28:16.008Z,1761586096.008 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:28:16.008Z,1761586096.008 [marl:UpdateRudder] Stopped
2025-10-27T17:28:16.008Z,1761586096.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:28:16.348Z,1761586096.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094270,-0.973757,-0.207151],[0.995297,0.096847,-0.002311],[0.022312,-0.205958,0.978306]]
2025-10-27T17:28:16.758Z,1761586096.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098271,-0.972876,-0.209416],[0.994881,0.101026,-0.002469],[0.023558,-0.208101,0.977824]]
2025-10-27T17:28:17.155Z,1761586097.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097215,-0.972167,-0.213167],[0.994952,0.100287,-0.003622],[0.024899,-0.211739,0.977009]]
2025-10-27T17:28:17.566Z,1761586097.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095497,-0.971487,-0.217009],[0.995067,0.099053,-0.005545],[0.026883,-0.215408,0.976154]]
2025-10-27T17:28:17.987Z,1761586097.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093981,-0.970623,-0.221491],[0.995132,0.098215,-0.008158],[0.029673,-0.219646,0.975128]]
2025-10-27T17:28:18.363Z,1761586098.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092287,-0.969633,-0.226483],[0.995186,0.097354,-0.011281],[0.032987,-0.224352,0.973950]]
2025-10-27T17:28:18.768Z,1761586098.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088267,-0.970915,-0.222559],[0.995434,0.094128,-0.015845],[0.036333,-0.220144,0.974791]]
2025-10-27T17:28:19.205Z,1761586099.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079312,-0.975814,-0.203706],[0.996099,0.085509,-0.021788],[0.038680,-0.201183,0.978790]]
2025-10-27T17:28:19.612Z,1761586099.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065501,-0.982543,-0.174121],[0.997040,0.071483,-0.028302],[0.040255,-0.171752,0.984317]]
2025-10-27T17:28:20.011Z,1761586100.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048303,-0.988608,-0.142548],[0.998041,0.053453,-0.032521],[0.039770,-0.140698,0.989253]]
2025-10-27T17:28:20.414Z,1761586100.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028312,-0.993447,-0.110735],[0.998948,0.032117,-0.032725],[0.036067,-0.109692,0.993311]]
2025-10-27T17:28:20.880Z,1761586100.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005060,-0.996749,-0.080412],[0.999553,0.007411,-0.028967],[0.029469,-0.080230,0.996341]]
2025-10-27T17:28:21.223Z,1761586101.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021431,-0.998156,-0.056783],[0.999544,-0.020182,-0.022480],[0.021293,-0.057239,0.998133]]
2025-10-27T17:28:21.436Z,1761586101.436 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.911816
2025-10-27T17:28:21.626Z,1761586101.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050163,-0.998027,-0.037750],[0.998640,-0.049585,-0.016098],[0.014195,-0.038506,0.999158]]
2025-10-27T17:28:21.760Z,1761586101.760 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:28:22.012Z,1761586102.012 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:28:22.012Z,1761586102.012 [DAT](INFO): #Outgoing data=6
2025-10-27T17:28:22.012Z,1761586102.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:28:22.030Z,1761586102.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079966,-0.996582,-0.020738],[0.996734,-0.079709,-0.012949],[0.011252,-0.021706,0.999701]]
2025-10-27T17:28:22.264Z,1761586102.264 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:28:22.434Z,1761586102.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109388,-0.993998,-0.001525],[0.993897,-0.109354,-0.014504],[0.014250,-0.003103,0.999894]]
2025-10-27T17:28:22.439Z,1761586102.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:28:22.881Z,1761586102.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136977,-0.990447,0.015847],[0.990279,-0.137310,-0.022216],[0.024180,0.012650,0.999628]]
2025-10-27T17:28:23.272Z,1761586103.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162207,-0.986450,0.024593],[0.985966,-0.163025,-0.035982],[0.039504,0.018411,0.999050]]
2025-10-27T17:28:23.673Z,1761586103.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184445,-0.982413,0.029079],[0.981235,-0.185754,-0.051696],[0.056188,0.018999,0.998239]]
2025-10-27T17:28:24.086Z,1761586104.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203275,-0.978676,0.029533],[0.976514,-0.204841,-0.066792],[0.071417,0.015262,0.997330]]
2025-10-27T17:28:24.479Z,1761586104.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217324,-0.975705,0.027737],[0.972574,-0.218864,-0.078728],[0.082886,0.009866,0.996510]]
2025-10-27T17:28:24.893Z,1761586104.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225820,-0.973871,0.024110],[0.970101,-0.227068,-0.085694],[0.088929,0.004037,0.996030]]
2025-10-27T17:28:25.305Z,1761586105.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231707,-0.972631,0.017362],[0.968530,-0.232324,-0.089308],[0.090898,-0.003877,0.995853]]
2025-10-27T17:28:25.548Z,1761586105.548 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:28:25.2469

2025-10-27T17:28:25.549Z,1761586105.549 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:28:25.691Z,1761586105.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238741,-0.971035,0.009644],[0.966810,-0.238609,-0.091348],[0.091004,-0.012485,0.995772]]
2025-10-27T17:28:26.095Z,1761586106.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249189,-0.968449,0.003293],[0.964146,-0.248399,-0.093381],[0.091253,-0.020094,0.995625]]
2025-10-27T17:28:26.499Z,1761586106.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263281,-0.964719,-0.000779],[0.960279,-0.261992,-0.096043],[0.092451,-0.026035,0.995377]]
2025-10-27T17:28:26.905Z,1761586106.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279796,-0.960059,-0.001011],[0.955416,-0.278340,-0.098522],[0.094305,-0.028531,0.995134]]
2025-10-27T17:28:27.314Z,1761586107.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297064,-0.954857,0.001386],[0.950002,-0.295700,-0.100285],[0.096168,-0.028475,0.994958]]
2025-10-27T17:28:27.711Z,1761586107.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313861,-0.949457,0.004660],[0.944398,-0.312688,-0.101676],[0.097994,-0.027511,0.994807]]
2025-10-27T17:28:28.547Z,1761586108.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349162,-0.936927,0.015921],[0.931747,-0.348938,-0.100450],[0.099670,-0.020239,0.994815]]
2025-10-27T17:28:28.582Z,1761586108.582 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:28:28.582Z,1761586108.582 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:28:28.583Z,1761586108.583 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:28:28.599Z,1761586108.599 [marl:UpdateRudder:A] Stopped
2025-10-27T17:28:28.599Z,1761586108.599 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:28:28.599Z,1761586108.599 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:28:28.599Z,1761586108.599 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:28:28.599Z,1761586108.599 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateCommandMode] Stopped
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:28:28.600Z,1761586108.600 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:28:28.601Z,1761586108.601 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:28:28.601Z,1761586108.601 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:28:28.601Z,1761586108.601 [marl:UpdateSpeed] Stopped
2025-10-27T17:28:28.601Z,1761586108.601 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:28:28.000Z,1761586109.000 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:28:28.000Z,1761586109.000 [marl:UpdateRudder:B] Stopped
2025-10-27T17:28:28.000Z,1761586109.000 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:28:29.000Z,1761586109.000 [marl:UpdateRudder] Stopped
2025-10-27T17:28:29.000Z,1761586109.000 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:28:29.331Z,1761586109.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389074,-0.920926,0.022739],[0.915568,-0.389302,-0.100895],[0.101769,-0.018436,0.994637]]
2025-10-27T17:28:29.743Z,1761586109.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411033,-0.911241,0.026313],[0.905421,-0.411428,-0.104597],[0.106139,-0.019168,0.994166]]
2025-10-27T17:28:30.140Z,1761586110.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433259,-0.900594,0.034890],[0.894122,-0.434366,-0.108962],[0.113286,-0.016013,0.993433]]
2025-10-27T17:28:30.539Z,1761586110.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452270,-0.890727,0.045351],[0.883745,-0.454418,-0.111799],[0.120191,-0.010485,0.992695]]
2025-10-27T17:28:30.945Z,1761586110.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469632,-0.881254,0.053267],[0.873830,-0.472589,-0.114369],[0.125962,-0.007165,0.992009]]
2025-10-27T17:28:31.131Z,1761586111.131 [Radio_Surface](INFO): Powering down
2025-10-27T17:28:31.372Z,1761586111.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486737,-0.871481,0.060062],[0.863784,-0.490409,-0.115652],[0.130243,-0.004412,0.991472]]
2025-10-27T17:28:31.799Z,1761586111.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501895,-0.862773,0.061021],[0.854743,-0.505544,-0.117640],[0.132345,-0.006886,0.991180]]
2025-10-27T17:28:32.218Z,1761586112.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512618,-0.856740,0.056737],[0.848282,-0.515563,-0.120881],[0.132815,-0.013837,0.991044]]
2025-10-27T17:28:32.602Z,1761586112.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519309,-0.853540,0.042268],[0.844200,-0.520058,-0.129873],[0.132834,-0.031761,0.990629]]
2025-10-27T17:28:33.005Z,1761586113.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521810,-0.852768,0.022381],[0.842531,-0.519300,-0.143070],[0.133628,-0.055798,0.989460]]
2025-10-27T17:28:33.410Z,1761586113.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519549,-0.854440,-0.000617],[0.843512,-0.512789,-0.159795],[0.136219,-0.083542,0.987150]]
2025-10-27T17:28:33.814Z,1761586113.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513737,-0.857632,-0.023269],[0.846338,-0.502153,-0.177637],[0.140662,-0.110953,0.983821]]
2025-10-27T17:28:34.224Z,1761586114.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507571,-0.860542,-0.042886],[0.848872,-0.490921,-0.195990],[0.147604,-0.135884,0.979668]]
2025-10-27T17:28:34.621Z,1761586114.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503514,-0.861812,-0.061263],[0.849752,-0.481153,-0.215439],[0.156191,-0.160535,0.974594]]
2025-10-27T17:28:35.025Z,1761586115.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502412,-0.861102,-0.078005],[0.848861,-0.474089,-0.233825],[0.164366,-0.183692,0.969144]]
2025-10-27T17:28:35.430Z,1761586115.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504223,-0.858971,-0.089041],[0.846562,-0.471292,-0.247419],[0.170561,-0.200133,0.964809]]
2025-10-27T17:28:35.637Z,1761586115.637 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:28:35.836Z,1761586115.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508235,-0.855907,-0.095499],[0.843644,-0.472506,-0.254956],[0.173094,-0.210145,0.962225]]
2025-10-27T17:28:35.889Z,1761586115.889 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:28:35.889Z,1761586115.889 [DAT](INFO): #Outgoing data=7
2025-10-27T17:28:35.889Z,1761586115.889 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:28:36.140Z,1761586116.140 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:28:36.237Z,1761586116.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513331,-0.852508,-0.098594],[0.841044,-0.476893,-0.255379],[0.170694,-0.214016,0.961801]]
2025-10-27T17:28:36.642Z,1761586116.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518140,-0.849551,-0.098968],[0.839647,-0.483210,-0.247994],[0.162861,-0.211593,0.963693]]
2025-10-27T17:28:37.451Z,1761586117.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526973,-0.844230,-0.097851],[0.838613,-0.497840,-0.221096],[0.137942,-0.198571,0.970331]]
2025-10-27T17:28:37.853Z,1761586117.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533510,-0.840317,-0.096095],[0.836027,-0.506720,-0.210459],[0.128159,-0.192620,0.972868]]
2025-10-27T17:28:38.260Z,1761586118.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539123,-0.837095,-0.092833],[0.833323,-0.514188,-0.202937],[0.122144,-0.186768,0.974781]]
2025-10-27T17:28:38.663Z,1761586118.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543504,-0.834683,-0.088927],[0.830696,-0.519615,-0.199864],[0.120615,-0.182498,0.975780]]
2025-10-27T17:28:39.067Z,1761586119.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547377,-0.832505,-0.085520],[0.827793,-0.523571,-0.201575],[0.123037,-0.181130,0.975733]]
2025-10-27T17:28:39.416Z,1761586119.416 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:28:39.1469

2025-10-27T17:28:39.417Z,1761586119.417 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:28:39.470Z,1761586119.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550739,-0.830507,-0.083339],[0.824812,-0.526204,-0.206869],[0.127953,-0.182670,0.974813]]
2025-10-27T17:28:39.873Z,1761586119.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552997,-0.829128,-0.082107],[0.822481,-0.527491,-0.212786],[0.133116,-0.185202,0.973643]]
2025-10-27T17:28:40.287Z,1761586120.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552890,-0.829262,-0.081461],[0.822075,-0.526900,-0.215799],[0.136032,-0.186280,0.973034]]
2025-10-27T17:28:40.683Z,1761586120.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550883,-0.830305,-0.084390],[0.823504,-0.524364,-0.216527],[0.135532,-0.188777,0.972622]]
2025-10-27T17:28:41.086Z,1761586121.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548074,-0.831737,-0.088477],[0.825862,-0.521351,-0.214815],[0.132542,-0.190804,0.972639]]
2025-10-27T17:28:41.490Z,1761586121.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546004,-0.832615,-0.092909],[0.827844,-0.519166,-0.212464],[0.128665,-0.192920,0.972742]]
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateRudder:A] Stopped
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:28:41.530Z,1761586121.530 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:28:41.531Z,1761586121.531 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:28:41.531Z,1761586121.531 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:28:41.531Z,1761586121.531 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:28:41.531Z,1761586121.531 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:28:41.531Z,1761586121.531 [marl:UpdateCommandMode] Stopped
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed] Stopped
2025-10-27T17:28:41.532Z,1761586121.532 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:28:41.893Z,1761586121.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545047,-0.832777,-0.096985],[0.828984,-0.518012,-0.210828],[0.125333,-0.195310,0.972700]]
2025-10-27T17:28:41.924Z,1761586121.924 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:28:41.925Z,1761586121.925 [marl:UpdateRudder:B] Stopped
2025-10-27T17:28:41.925Z,1761586121.925 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:28:41.925Z,1761586121.925 [marl:UpdateRudder] Stopped
2025-10-27T17:28:41.925Z,1761586121.925 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:28:42.302Z,1761586122.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544255,-0.832757,-0.101501],[0.829859,-0.516687,-0.210639],[0.122967,-0.198873,0.972280]]
2025-10-27T17:28:42.704Z,1761586122.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543016,-0.833210,-0.104379],[0.830929,-0.515222,-0.210007],[0.121201,-0.200768,0.972112]]
2025-10-27T17:28:43.106Z,1761586123.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541961,-0.833634,-0.106455],[0.831894,-0.514171,-0.208761],[0.119294,-0.201699,0.972156]]
2025-10-27T17:28:43.510Z,1761586123.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541277,-0.834345,-0.104340],[0.832669,-0.514611,-0.204541],[0.116963,-0.197594,0.973281]]
2025-10-27T17:28:43.915Z,1761586123.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542104,-0.834018,-0.102653],[0.832555,-0.516517,-0.200159],[0.113914,-0.193971,0.974371]]
2025-10-27T17:28:44.318Z,1761586124.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545119,-0.832232,-0.101163],[0.831103,-0.520612,-0.195529],[0.110059,-0.190664,0.975466]]
2025-10-27T17:28:44.727Z,1761586124.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549577,-0.829455,-0.099846],[0.828797,-0.526253,-0.190143],[0.105171,-0.187250,0.976666]]
2025-10-27T17:28:45.130Z,1761586125.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554819,-0.825735,-0.101678],[0.826011,-0.532113,-0.185909],[0.099407,-0.187132,0.977292]]
2025-10-27T17:28:45.207Z,1761586125.207 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:28:45.212Z,1761586125.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:28:45.265Z,1761586125.265 [DAT](INFO): entering command mode
2025-10-27T17:28:45.464Z,1761586125.464 [DAT](INFO): DAT read: 

2025-10-27T17:28:45.464Z,1761586125.464 [DAT](INFO): DAT read: user:21>

2025-10-27T17:28:45.465Z,1761586125.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:28:45.465Z,1761586125.465 [DAT](INFO): setting remote address to 0
2025-10-27T17:28:45.533Z,1761586125.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560134,-0.822124,-0.101791],[0.823101,-0.538454,-0.180478],[0.093565,-0.184876,0.978298]]
2025-10-27T17:28:45.716Z,1761586125.716 [DAT](INFO): DAT read: user:21>

2025-10-27T17:28:45.718Z,1761586125.718 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:28:45.718Z,1761586125.718 [DAT](INFO): set remote address to 0
2025-10-27T17:28:45.719Z,1761586125.719 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:28:45.719Z,1761586125.719 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:28:45.911Z,1761586125.911 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:28:45.911Z,1761586125.911 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:28:45.932Z,1761586125.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565556,-0.818090,-0.104281],[0.819976,-0.544268,-0.177232],[0.088235,-0.185743,0.978629]]
2025-10-27T17:28:45.968Z,1761586125.968 [DAT](INFO): DAT read: user:22>

2025-10-27T17:28:45.968Z,1761586125.968 [DAT](INFO): DAT read: Tx time:17:28:45.5980

2025-10-27T17:28:45.969Z,1761586125.969 [DAT](INFO): Ping request sent.
2025-10-27T17:28:45.969Z,1761586125.969 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:28:45.969Z,1761586125.969 [DAT](INFO): publishing transmit ping time
2025-10-27T17:28:45.970Z,1761586125.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000971
2025-10-27T17:28:46.220Z,1761586126.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251103
2025-10-27T17:28:46.361Z,1761586126.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571109,-0.813885,-0.106892],[0.816635,-0.550104,-0.174623],[0.083321,-0.187021,0.978816]]
2025-10-27T17:28:46.474Z,1761586126.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504762
2025-10-27T17:28:46.728Z,1761586126.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758626
2025-10-27T17:28:46.756Z,1761586126.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577145,-0.809589,-0.107098],[0.812696,-0.556519,-0.172659],[0.080181,-0.186687,0.979142]]
2025-10-27T17:28:46.980Z,1761586126.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011110
2025-10-27T17:28:47.139Z,1761586127.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583713,-0.804917,-0.106711],[0.808134,-0.563182,-0.172470],[0.078726,-0.186910,0.979217]]
2025-10-27T17:28:47.232Z,1761586127.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263151
2025-10-27T17:28:47.484Z,1761586127.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515088
2025-10-27T17:28:47.542Z,1761586127.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589677,-0.800718,-0.105505],[0.803800,-0.569121,-0.173228],[0.078662,-0.186953,0.979214]]
2025-10-27T17:28:47.737Z,1761586127.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767634
2025-10-27T17:28:47.945Z,1761586127.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593098,-0.798354,-0.104243],[0.801341,-0.572790,-0.172525],[0.078027,-0.185858,0.979474]]
2025-10-27T17:28:47.988Z,1761586127.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019504
2025-10-27T17:28:48.240Z,1761586128.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271068
2025-10-27T17:28:48.349Z,1761586128.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595026,-0.796928,-0.104167],[0.800088,-0.575064,-0.170765],[0.076184,-0.184952,0.979790]]
2025-10-27T17:28:48.492Z,1761586128.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523324
2025-10-27T17:28:48.747Z,1761586128.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777899
2025-10-27T17:28:48.786Z,1761586128.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596091,-0.795339,-0.110052],[0.800146,-0.577051,-0.163645],[0.066647,-0.185605,0.980362]]
2025-10-27T17:28:48.999Z,1761586128.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029884
2025-10-27T17:28:49.249Z,1761586129.249 [DAT](INFO): DAT read: Rx Time:17:28:48.3229

2025-10-27T17:28:49.249Z,1761586129.249 [DAT](INFO): Rx dataTimestamp_ set to:1761586129.249155
2025-10-27T17:28:49.251Z,1761586129.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281520
2025-10-27T17:28:49.500Z,1761586129.500 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:28:49.500Z,1761586129.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531100
2025-10-27T17:28:49.617Z,1761586129.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600423,-0.790518,-0.120724],[0.797891,-0.582110,-0.156582],[0.053507,-0.190340,0.980259]]
2025-10-27T17:28:49.768Z,1761586129.768 [DAT](INFO): DAT read: 17:28:48.3229 LVL= 26272, 29681, 32754, 32755, AGC= 67, IDX= 465, 0.04,-1.667, 3.092, 2.823,-1.915, PHS= 0.350,-1.231,-1.589, RAW=  80.0,  26.0, CAL=  77.5,  33.6, ROT=  72.5, -33.6

2025-10-27T17:28:49.770Z,1761586129.770 [DAT](INFO): got valid direction response:
 17:28:48.3229 LVL= 26272, 29681, 32754, 32755, AGC= 67, IDX= 465, 0.04,-1.667, 3.092, 2.823,-1.915, PHS= 0.350,-1.231,-1.589, RAW=  80.0,  26.0, CAL=  77.5,  33.6, ROT=  72.5, -33.6

2025-10-27T17:28:49.773Z,1761586129.773 [DAT](INFO): DAT read: Bearing 184,   7 (Remote)

2025-10-27T17:28:49.773Z,1761586129.773 [DAT](INFO): Remote Bearing received:Bearing 184,   7 (Remote)

2025-10-27T17:28:49.774Z,1761586129.774 [DAT](INFO): DAT read: Bearing 336.8,  42.9 (Local)

2025-10-27T17:28:49.774Z,1761586129.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.8,  42.9 (Local)

2025-10-27T17:28:49.776Z,1761586129.776 [DAT](INFO): DAT read: Range 11 to 20 : 521.8 m  (Round-trip  695.8 ms) speed  1.0 m/s

2025-10-27T17:28:49.777Z,1761586129.777 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:28:49.777Z,1761586129.777 [DAT](INFO): #Outgoing data=8
2025-10-27T17:28:49.777Z,1761586129.777 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:28:49.777Z,1761586129.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:28:49.778Z,1761586129.778 [DAT](INFO): direction in FSK: [0.250464,0.794371,0.553392]
2025-10-27T17:28:49.779Z,1761586129.779 [DAT](INFO): publishing direction and range info
2025-10-27T17:28:50.004Z,1761586130.004 [DAT](INFO): setting remote address to 6
2025-10-27T17:28:50.053Z,1761586130.053 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761586176.00. Resetting abort timer.
2025-10-27T17:28:50.257Z,1761586130.257 [DAT](INFO): DAT read: user:23>

2025-10-27T17:28:50.258Z,1761586130.258 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:28:50.259Z,1761586130.259 [DAT](INFO): set remote address to 6
2025-10-27T17:28:50.260Z,1761586130.260 [DAT](INFO): entering online mode
2025-10-27T17:28:50.369Z,1761586130.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604583,-0.786296,-0.127352],[0.795152,-0.586324,-0.154779],[0.047033,-0.194841,0.979707]]
2025-10-27T17:28:50.509Z,1761586130.509 [DAT](INFO): DAT read: user:24>

2025-10-27T17:28:50.509Z,1761586130.509 [DAT](INFO): DAT read: 

2025-10-27T17:28:50.510Z,1761586130.510 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:28:50.511Z,1761586130.511 [DAT](INFO): commRate: 600
2025-10-27T17:28:50.511Z,1761586130.511 [DAT](INFO): online mode acknowledged
2025-10-27T17:28:50.511Z,1761586130.511 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:28:50.786Z,1761586130.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612307,-0.779153,-0.134166],[0.789691,-0.594496,-0.151532],[0.038305,-0.198734,0.979305]]
2025-10-27T17:28:51.190Z,1761586131.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614695,-0.777115,-0.135062],[0.787864,-0.596747,-0.152193],[0.037674,-0.199963,0.979079]]
2025-10-27T17:28:51.991Z,1761586131.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614406,-0.777677,-0.133130],[0.787888,-0.595836,-0.155601],[0.041684,-0.200494,0.978808]]
2025-10-27T17:28:52.398Z,1761586132.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613526,-0.778618,-0.131680],[0.788321,-0.594139,-0.159839],[0.046217,-0.201871,0.978321]]
2025-10-27T17:28:52.559Z,1761586132.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:28:52.804Z,1761586132.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613689,-0.778929,-0.129052],[0.787846,-0.593406,-0.164826],[0.051807,-0.202825,0.977844]]
2025-10-27T17:28:53.202Z,1761586133.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615057,-0.778166,-0.127132],[0.786450,-0.593875,-0.169732],[0.056579,-0.204378,0.977256]]
2025-10-27T17:28:53.563Z,1761586133.563 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T17:28:53.563Z,1761586133.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:28:53.602Z,1761586133.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617249,-0.776508,-0.126642],[0.784538,-0.595365,-0.173321],[0.059187,-0.206338,0.976689]]
2025-10-27T17:28:53.785Z,1761586133.785 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:28:53.4968

2025-10-27T17:28:53.785Z,1761586133.785 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:28:54.006Z,1761586134.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620162,-0.774203,-0.126527],[0.782293,-0.598323,-0.173285],[0.058454,-0.206446,0.976710]]
2025-10-27T17:28:54.472Z,1761586134.472 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateRudder:A] Stopped
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:28:54.473Z,1761586134.473 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateCommandMode] Stopped
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:28:54.474Z,1761586134.474 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:28:54.475Z,1761586134.475 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:28:54.475Z,1761586134.475 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:28:54.475Z,1761586134.475 [marl:UpdateSpeed] Stopped
2025-10-27T17:28:54.475Z,1761586134.475 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:28:54.833Z,1761586134.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625948,-0.768886,-0.130395],[0.778653,-0.606863,-0.159425],[0.043448,-0.201324,0.978561]]
2025-10-27T17:28:54.917Z,1761586134.917 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:28:54.917Z,1761586134.917 [marl:UpdateRudder:B] Stopped
2025-10-27T17:28:54.917Z,1761586134.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:28:54.917Z,1761586134.917 [marl:UpdateRudder] Stopped
2025-10-27T17:28:54.917Z,1761586134.917 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:28:55.218Z,1761586135.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628003,-0.766562,-0.134144],[0.777640,-0.611547,-0.145900],[0.029806,-0.195941,0.980163]]
2025-10-27T17:28:55.622Z,1761586135.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629686,-0.764341,-0.138848],[0.776724,-0.616232,-0.130222],[0.013972,-0.189846,0.981714]]
2025-10-27T17:28:56.027Z,1761586136.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631756,-0.761460,-0.145130],[0.775165,-0.621047,-0.115846],[-0.001921,-0.185686,0.982607]]
2025-10-27T17:28:56.430Z,1761586136.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634189,-0.758306,-0.150917],[0.773028,-0.625708,-0.104482],[-0.015201,-0.182924,0.983010]]
2025-10-27T17:28:56.890Z,1761586136.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637108,-0.754752,-0.156342],[0.770385,-0.629995,-0.098043],[-0.024496,-0.182908,0.982825]]
2025-10-27T17:28:57.288Z,1761586137.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640333,-0.750887,-0.161684],[0.767568,-0.633365,-0.098427],[-0.028498,-0.187130,0.981922]]
2025-10-27T17:28:57.685Z,1761586137.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643987,-0.747097,-0.164703],[0.764560,-0.636096,-0.104072],[-0.027014,-0.192946,0.980837]]
2025-10-27T17:28:58.490Z,1761586138.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653619,-0.739387,-0.161521],[0.756780,-0.640825,-0.128951],[-0.008162,-0.206521,0.978408]]
2025-10-27T17:28:58.902Z,1761586138.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659291,-0.735429,-0.156459],[0.751857,-0.642972,-0.145937],[0.006728,-0.213851,0.976843]]
2025-10-27T17:28:59.298Z,1761586139.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663885,-0.732577,-0.150293],[0.747501,-0.644055,-0.162588],[0.022311,-0.220284,0.975181]]
2025-10-27T17:28:59.702Z,1761586139.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666366,-0.731729,-0.143280],[0.744746,-0.643852,-0.175522],[0.036184,-0.223669,0.973993]]
2025-10-27T17:29:00.107Z,1761586140.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666249,-0.732820,-0.138158],[0.744251,-0.641756,-0.185040],[0.046937,-0.226106,0.972971]]
2025-10-27T17:29:00.510Z,1761586140.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664894,-0.734670,-0.134815],[0.744945,-0.639057,-0.191475],[0.054517,-0.227740,0.972195]]
2025-10-27T17:29:00.914Z,1761586140.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663434,-0.736272,-0.133262],[0.745867,-0.636602,-0.196010],[0.059482,-0.229436,0.971505]]
2025-10-27T17:29:01.317Z,1761586141.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662257,-0.737615,-0.131684],[0.746699,-0.635139,-0.197586],[0.062105,-0.229181,0.971401]]
2025-10-27T17:29:01.729Z,1761586141.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661224,-0.738538,-0.131698],[0.747567,-0.634016,-0.197909],[0.062665,-0.229316,0.971333]]
2025-10-27T17:29:02.126Z,1761586142.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660109,-0.739830,-0.130029],[0.748583,-0.633552,-0.195540],[0.062286,-0.226416,0.972037]]
2025-10-27T17:29:02.529Z,1761586142.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659212,-0.740962,-0.128119],[0.749370,-0.633219,-0.193592],[0.062317,-0.223627,0.972681]]
2025-10-27T17:29:03.339Z,1761586143.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660149,-0.742320,-0.114740],[0.747912,-0.635465,-0.191866],[0.069513,-0.212476,0.974691]]
2025-10-27T17:29:03.864Z,1761586143.864 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:29:03.864Z,1761586143.864 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:29:04.116Z,1761586144.116 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:29:04.145Z,1761586144.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664477,-0.741241,-0.095042],[0.742630,-0.640745,-0.194797],[0.083494,-0.200019,0.976228]]
2025-10-27T17:29:04.368Z,1761586144.368 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:29:04.549Z,1761586144.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667736,-0.739626,-0.084148],[0.738927,-0.644900,-0.195170],[0.090086,-0.192501,0.977153]]
2025-10-27T17:29:04.620Z,1761586144.620 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:29:04.959Z,1761586144.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671767,-0.736852,-0.076017],[0.734669,-0.649588,-0.195694],[0.094818,-0.187308,0.977714]]
2025-10-27T17:29:05.358Z,1761586145.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676555,-0.732951,-0.071102],[0.729983,-0.654823,-0.195785],[0.096942,-0.184363,0.978066]]
2025-10-27T17:29:05.764Z,1761586145.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682095,-0.728105,-0.067896],[0.724834,-0.660891,-0.194519],[0.096758,-0.181894,0.978546]]
2025-10-27T17:29:06.166Z,1761586146.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688540,-0.722112,-0.066844],[0.718920,-0.667569,-0.193664],[0.095224,-0.181401,0.978788]]
2025-10-27T17:29:06.570Z,1761586146.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695276,-0.715629,-0.066832],[0.712689,-0.674390,-0.193062],[0.093090,-0.181861,0.978908]]
2025-10-27T17:29:06.987Z,1761586146.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701476,-0.709774,-0.064443],[0.706810,-0.681242,-0.190603],[0.091383,-0.179252,0.979550]]
2025-10-27T17:29:07.054Z,1761586147.054 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:29:07.054Z,1761586147.054 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:29:07.054Z,1761586147.054 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:29:07.054Z,1761586147.054 [marl:UpdateRudder:A] Stopped
2025-10-27T17:29:07.055Z,1761586147.055 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:29:07.055Z,1761586147.055 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:29:07.055Z,1761586147.055 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:29:07.055Z,1761586147.055 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:29:07.055Z,1761586147.055 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateCommandMode] Stopped
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:29:07.056Z,1761586147.056 [marl:UpdateSpeed] Stopped
2025-10-27T17:29:07.057Z,1761586147.057 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:29:07.433Z,1761586147.433 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:29:07.434Z,1761586147.434 [marl:UpdateRudder:B] Stopped
2025-10-27T17:29:07.434Z,1761586147.434 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:29:07.434Z,1761586147.434 [marl:UpdateRudder] Stopped
2025-10-27T17:29:07.434Z,1761586147.434 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:29:07.782Z,1761586147.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711540,-0.700225,-0.058269],[0.696644,-0.692218,-0.188471],[0.091637,-0.174697,0.980349]]
2025-10-27T17:29:07.901Z,1761586147.901 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:29:07.5968

2025-10-27T17:29:07.901Z,1761586147.901 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:29:08.591Z,1761586148.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720350,-0.691504,-0.054018],[0.686640,-0.699931,-0.196525],[0.098089,-0.178658,0.979010]]
2025-10-27T17:29:08.993Z,1761586148.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725390,-0.686445,-0.051016],[0.680547,-0.704089,-0.202768],[0.103269,-0.181804,0.977897]]
2025-10-27T17:29:09.398Z,1761586149.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731000,-0.680683,-0.048060],[0.673646,-0.708624,-0.209888],[0.108811,-0.185804,0.976543]]
2025-10-27T17:29:09.802Z,1761586149.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737326,-0.674032,-0.045059],[0.665854,-0.713886,-0.216807],[0.113968,-0.189860,0.975174]]
2025-10-27T17:29:10.211Z,1761586150.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745473,-0.665360,-0.039580],[0.655897,-0.721712,-0.221204],[0.118615,-0.190862,0.974424]]
2025-10-27T17:29:10.607Z,1761586150.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756595,-0.653422,-0.024579],[0.642300,-0.735621,-0.215204],[0.122538,-0.178609,0.976260]]
2025-10-27T17:29:11.010Z,1761586151.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769984,-0.638058,-0.002458],[0.625400,-0.753933,-0.201146],[0.126490,-0.156417,0.979558]]
2025-10-27T17:29:11.414Z,1761586151.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783582,-0.620866,0.022908],[0.607292,-0.773191,-0.182682],[0.131133,-0.129235,0.982905]]
2025-10-27T17:29:12.236Z,1761586152.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802826,-0.592186,0.069181],[0.579650,-0.802410,-0.141931],[0.139561,-0.073845,0.987456]]
2025-10-27T17:29:12.625Z,1761586152.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810462,-0.579242,0.087350],[0.567827,-0.813470,-0.125855],[0.143957,-0.052401,0.988196]]
2025-10-27T17:29:13.039Z,1761586153.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818036,-0.566027,0.102130],[0.555719,-0.823600,-0.113399],[0.148301,-0.036009,0.988286]]
2025-10-27T17:29:13.838Z,1761586153.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832931,-0.539960,0.121115],[0.531384,-0.841525,-0.097295],[0.154456,-0.016682,0.987859]]
2025-10-27T17:29:14.244Z,1761586154.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839595,-0.528551,0.125358],[0.520481,-0.848806,-0.092886],[0.155499,-0.012740,0.987754]]
2025-10-27T17:29:14.646Z,1761586154.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845637,-0.518508,0.126678],[0.510800,-0.854999,-0.089777],[0.154860,-0.011212,0.987873]]
2025-10-27T17:29:15.055Z,1761586155.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851465,-0.508955,0.126381],[0.501687,-0.860734,-0.086291],[0.152699,-0.010070,0.988221]]
2025-10-27T17:29:15.454Z,1761586155.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857577,-0.498915,0.125081],[0.492187,-0.866605,-0.082143],[0.149378,-0.008881,0.988740]]
2025-10-27T17:29:15.858Z,1761586155.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864578,-0.486942,0.124066],[0.480628,-0.873395,-0.078603],[0.146633,-0.008329,0.989156]]
2025-10-27T17:29:16.262Z,1761586156.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872360,-0.472507,0.125399],[0.466553,-0.881299,-0.075104],[0.146001,-0.007012,0.989260]]
2025-10-27T17:29:16.667Z,1761586156.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879802,-0.457566,0.128768],[0.452281,-0.889171,-0.069402],[0.146252,-0.002821,0.989243]]
2025-10-27T17:29:17.070Z,1761586157.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886926,-0.442459,0.132635],[0.437853,-0.896787,-0.063700],[0.147130,0.001578,0.989116]]
2025-10-27T17:29:17.473Z,1761586157.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894240,-0.426544,0.135628],[0.422457,-0.904456,-0.059079],[0.147870,0.004466,0.988997]]
2025-10-27T17:29:17.878Z,1761586157.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902098,-0.409085,0.137365],[0.405340,-0.912479,-0.055511],[0.148052,0.005604,0.988964]]
2025-10-27T17:29:17.984Z,1761586157.984 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:29:18.236Z,1761586158.236 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:29:18.488Z,1761586158.488 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:29:18.686Z,1761586158.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918530,-0.370565,0.137780],[0.367356,-0.928789,-0.048987],[0.146122,0.005619,0.989251]]
2025-10-27T17:29:19.899Z,1761586159.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940145,-0.312972,0.134819],[0.311434,-0.949698,-0.032901],[0.138334,0.011056,0.990324]]
2025-10-27T17:29:19.924Z,1761586159.924 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:29:19.924Z,1761586159.924 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:29:19.924Z,1761586159.924 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:29:19.924Z,1761586159.924 [marl:UpdateRudder:A] Stopped
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode] Stopped
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:29:19.925Z,1761586159.925 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed] Stopped
2025-10-27T17:29:19.926Z,1761586159.926 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:29:20.311Z,1761586160.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945771,-0.295834,0.134162],[0.294988,-0.955131,-0.026602],[0.136012,0.014417,0.990602]]
2025-10-27T17:29:20.336Z,1761586160.336 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:29:20.336Z,1761586160.336 [marl:UpdateRudder:B] Stopped
2025-10-27T17:29:20.336Z,1761586160.336 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:29:20.336Z,1761586160.336 [marl:UpdateRudder] Stopped
2025-10-27T17:29:20.336Z,1761586160.336 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:29:20.718Z,1761586160.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950750,-0.279365,0.134272],[0.279149,-0.960022,-0.020827],[0.134722,0.017681,0.990726]]
2025-10-27T17:29:21.110Z,1761586161.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955134,-0.263435,0.135353],[0.263595,-0.964482,-0.017062],[0.135041,0.019382,0.990650]]
2025-10-27T17:29:21.516Z,1761586161.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959014,-0.247678,0.137648],[0.247964,-0.968648,-0.015345],[0.137133,0.019415,0.990362]]
2025-10-27T17:29:21.764Z,1761586161.764 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:29:21.4968

2025-10-27T17:29:21.765Z,1761586161.765 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:29:21.917Z,1761586161.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962473,-0.231792,0.141133],[0.231901,-0.972609,-0.015906],[0.140954,0.017420,0.989863]]
2025-10-27T17:29:23.539Z,1761586163.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970773,-0.179912,0.158842],[0.177420,-0.983682,-0.029852],[0.161621,-0.000798,0.986853]]
2025-10-27T17:29:23.708Z,1761586163.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:29:23.938Z,1761586163.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972265,-0.170752,0.159824],[0.167925,-0.985308,-0.031130],[0.162792,-0.003428,0.986655]]
2025-10-27T17:29:24.346Z,1761586164.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974284,-0.158688,0.159963],[0.155835,-0.987318,-0.030304],[0.162743,-0.004597,0.986658]]
2025-10-27T17:29:24.711Z,1761586164.711 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:29:24.758Z,1761586164.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976515,-0.144532,0.159779],[0.141786,-0.989486,-0.028521],[0.162221,-0.005197,0.986741]]
2025-10-27T17:29:25.209Z,1761586165.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978796,-0.128616,0.159423],[0.125958,-0.991676,-0.026711],[0.161531,-0.006064,0.986849]]
2025-10-27T17:29:25.606Z,1761586165.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981081,-0.110261,0.159134],[0.107578,-0.993872,-0.025405],[0.160960,-0.007805,0.986930]]
2025-10-27T17:29:26.010Z,1761586166.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983087,-0.090596,0.159160],[0.088006,-0.995848,-0.023263],[0.160606,-0.008862,0.986979]]
2025-10-27T17:29:26.415Z,1761586166.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984820,-0.070140,0.158779],[0.067792,-0.997496,-0.020167],[0.159796,-0.009097,0.987108]]
2025-10-27T17:29:27.226Z,1761586167.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987818,-0.011550,0.155187],[0.009856,-0.999883,-0.011680],[0.155304,-0.010008,0.987816]]
2025-10-27T17:29:27.642Z,1761586167.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988136,0.004132,0.153528],[-0.005256,-0.999962,-0.006915],[0.153494,-0.007639,0.988120]]
2025-10-27T17:29:28.053Z,1761586168.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988283,0.017558,0.151618],[-0.018026,-0.999836,-0.001716],[0.151563,-0.004429,0.988438]]
2025-10-27T17:29:28.437Z,1761586168.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988335,0.029536,0.149406],[-0.029175,-0.999564,0.004606],[0.149477,0.000194,0.988765]]
2025-10-27T17:29:29.243Z,1761586169.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988156,0.053147,0.143958],[-0.052143,-0.998582,0.010739],[0.144325,0.003106,0.989525]]
2025-10-27T17:29:30.058Z,1761586170.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987186,0.080279,0.137908],[-0.079268,-0.996771,0.012814],[0.138491,0.001718,0.990362]]
2025-10-27T17:29:30.454Z,1761586170.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986192,0.096399,0.134655],[-0.095406,-0.995342,0.013824],[0.135361,0.000786,0.990796]]
2025-10-27T17:29:30.885Z,1761586170.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984699,0.114571,0.131308],[-0.113425,-0.993414,0.016198],[0.132299,0.001056,0.991209]]
2025-10-27T17:29:31.262Z,1761586171.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982618,0.134413,0.128042],[-0.133001,-0.990923,0.019559],[0.129509,0.002189,0.991576]]
2025-10-27T17:29:31.681Z,1761586171.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980003,0.155009,0.124763],[-0.153339,-0.987907,0.022939],[0.126810,0.003350,0.991921]]
2025-10-27T17:29:31.856Z,1761586171.856 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:29:32.070Z,1761586172.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976884,0.176195,0.121048],[-0.173993,-0.984331,0.028609],[0.124192,0.006886,0.992234]]
2025-10-27T17:29:32.108Z,1761586172.108 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:29:32.360Z,1761586172.360 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:29:32.473Z,1761586172.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973479,0.196504,0.117153],[-0.193594,-0.980427,0.035840],[0.121903,0.012210,0.992467]]
2025-10-27T17:29:32.889Z,1761586172.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969665,0.216337,0.113786],[-0.212833,-0.976175,0.042232],[0.120212,0.016734,0.992607]]
2025-10-27T17:29:32.967Z,1761586172.967 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:29:32.967Z,1761586172.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateRudder:A] Stopped
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:29:32.968Z,1761586172.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateCommandMode] Stopped
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:29:32.969Z,1761586172.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:29:32.970Z,1761586172.970 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:29:32.970Z,1761586172.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:29:32.970Z,1761586172.970 [marl:UpdateSpeed] Stopped
2025-10-27T17:29:32.970Z,1761586172.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:29:33.281Z,1761586173.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965418,0.235902,0.110993],[-0.231760,-0.971537,0.049030],[0.119400,0.021611,0.992611]]
2025-10-27T17:29:33.353Z,1761586173.353 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:29:33.353Z,1761586173.353 [marl:UpdateRudder:B] Stopped
2025-10-27T17:29:33.353Z,1761586173.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:29:33.353Z,1761586173.353 [marl:UpdateRudder] Stopped
2025-10-27T17:29:33.353Z,1761586173.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:29:33.698Z,1761586173.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961138,0.253641,0.108991],[-0.248999,-0.966969,0.054507],[0.119216,0.025250,0.992547]]
2025-10-27T17:29:34.090Z,1761586174.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956703,0.270423,0.107665],[-0.265436,-0.962352,0.058503],[0.119433,0.027392,0.992464]]
2025-10-27T17:29:34.494Z,1761586174.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952554,0.284913,0.107075],[-0.279746,-0.958144,0.060844],[0.119928,0.028003,0.992388]]
2025-10-27T17:29:34.898Z,1761586174.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948922,0.296789,0.107065],[-0.291582,-0.954550,0.061755],[0.120527,0.027382,0.992332]]
2025-10-27T17:29:35.303Z,1761586175.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946393,0.304780,0.107005],[-0.299572,-0.952046,0.062167],[0.120821,0.026779,0.992313]]
2025-10-27T17:29:35.636Z,1761586175.636 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:29:35.3468

2025-10-27T17:29:35.637Z,1761586175.637 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:29:36.110Z,1761586176.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944526,0.309066,0.111120],[-0.305548,-0.950974,0.047840],[0.120458,0.011233,0.992655]]
2025-10-27T17:29:36.514Z,1761586176.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945582,0.303730,0.116715],[-0.302618,-0.952713,0.027565],[0.119569,-0.009255,0.992783]]
2025-10-27T17:29:37.325Z,1761586177.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948839,0.286642,0.132442],[-0.293229,-0.955479,-0.032817],[0.117138,-0.069974,0.990647]]
2025-10-27T17:29:37.762Z,1761586177.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949914,0.279431,0.139933],[-0.290445,-0.954662,-0.065284],[0.115346,-0.102657,0.988007]]
2025-10-27T17:29:38.553Z,1761586178.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950351,0.272269,0.150672],[-0.290780,-0.949433,-0.118420],[0.110811,-0.156353,0.981466]]
2025-10-27T17:29:38.954Z,1761586178.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950099,0.271588,0.153469],[-0.292392,-0.946766,-0.134692],[0.108718,-0.172844,0.978931]]
2025-10-27T17:29:39.360Z,1761586179.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950069,0.270645,0.155307],[-0.293078,-0.944816,-0.146384],[0.107119,-0.184592,0.976960]]
2025-10-27T17:29:39.764Z,1761586179.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950195,0.269452,0.156602],[-0.293089,-0.943427,-0.155063],[0.105961,-0.193239,0.975413]]
2025-10-27T17:29:41.498Z,1761586181.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950236,0.268204,0.158487],[-0.294286,-0.939710,-0.174189],[0.102213,-0.212162,0.971874]]
2025-10-27T17:29:41.901Z,1761586181.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949323,0.271068,0.159087],[-0.297519,-0.938206,-0.176781],[0.101337,-0.215154,0.971308]]
2025-10-27T17:29:42.305Z,1761586182.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947861,0.275757,0.159745],[-0.302393,-0.936471,-0.177708],[0.100592,-0.216748,0.971031]]
2025-10-27T17:29:42.710Z,1761586182.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946237,0.281597,0.159184],[-0.307865,-0.935008,-0.176009],[0.099275,-0.215553,0.971433]]
2025-10-27T17:29:43.113Z,1761586183.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944620,0.287936,0.157434],[-0.313248,-0.934143,-0.171036],[0.097818,-0.210880,0.972606]]
2025-10-27T17:29:43.518Z,1761586183.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943367,0.293324,0.154981],[-0.317481,-0.933759,-0.165228],[0.096249,-0.205074,0.974002]]
2025-10-27T17:29:43.922Z,1761586183.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942701,0.296937,0.152131],[-0.319736,-0.934294,-0.157681],[0.095313,-0.197288,0.975701]]
2025-10-27T17:29:44.736Z,1761586184.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941862,0.302051,0.147176],[-0.322764,-0.935076,-0.146482],[0.093376,-0.185469,0.978203]]
2025-10-27T17:29:45.538Z,1761586185.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940595,0.306944,0.145140],[-0.326845,-0.934309,-0.142262],[0.091939,-0.181249,0.979130]]
2025-10-27T17:29:45.586Z,1761586185.586 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:29:45.716Z,1761586185.716 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:29:45.716Z,1761586185.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:29:45.767Z,1761586185.767 [DAT](INFO): entering command mode
2025-10-27T17:29:45.942Z,1761586185.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939784,0.309693,0.144555],[-0.329422,-0.933478,-0.141773],[0.091033,-0.180856,0.979288]]
2025-10-27T17:29:45.967Z,1761586185.967 [DAT](INFO): DAT read: 

2025-10-27T17:29:45.968Z,1761586185.968 [DAT](INFO): DAT read: user:25>

2025-10-27T17:29:45.968Z,1761586185.968 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:29:45.969Z,1761586185.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:29:45.969Z,1761586185.969 [DAT](INFO): setting remote address to 0
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateRudder:A] Stopped
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:29:45.993Z,1761586185.993 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateCommandMode] Stopped
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:29:45.994Z,1761586185.994 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:29:45.995Z,1761586185.995 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:29:45.995Z,1761586185.995 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:29:45.995Z,1761586185.995 [marl:UpdateSpeed] Stopped
2025-10-27T17:29:45.995Z,1761586185.995 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:29:46.083Z,1761586186.083 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:29:46.083Z,1761586186.083 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:29:46.220Z,1761586186.220 [DAT](INFO): DAT read: user:25>

2025-10-27T17:29:46.221Z,1761586186.221 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:29:46.221Z,1761586186.221 [DAT](INFO): set remote address to 0
2025-10-27T17:29:46.221Z,1761586186.221 [DAT](INFO): setting remote address to 6
2025-10-27T17:29:46.222Z,1761586186.222 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:29:46.222Z,1761586186.222 [DAT](INFO): setting remote address to 0
2025-10-27T17:29:46.347Z,1761586186.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938792,0.312687,0.144556],[-0.332449,-0.932317,-0.142345],[0.090262,-0.181690,0.979204]]
2025-10-27T17:29:46.406Z,1761586186.406 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:29:46.406Z,1761586186.406 [marl:UpdateRudder:B] Stopped
2025-10-27T17:29:46.406Z,1761586186.406 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:29:46.407Z,1761586186.407 [marl:UpdateRudder] Stopped
2025-10-27T17:29:46.407Z,1761586186.407 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:29:46.472Z,1761586186.472 [DAT](INFO): DAT read: user:26>

2025-10-27T17:29:46.473Z,1761586186.473 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:29:46.474Z,1761586186.474 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:29:46.474Z,1761586186.474 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:29:46.474Z,1761586186.474 [DAT](ERROR): Communications Fault
2025-10-27T17:29:46.475Z,1761586186.475 [DAT](INFO): DAT read: user:27>

2025-10-27T17:29:46.476Z,1761586186.476 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:29:46.476Z,1761586186.476 [DAT](INFO): set remote address to 0
2025-10-27T17:29:46.476Z,1761586186.476 [DAT](INFO): setting remote address to 6
2025-10-27T17:29:46.477Z,1761586186.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:29:46.477Z,1761586186.477 [DAT](INFO): setting remote address to 0
2025-10-27T17:29:46.494Z,1761586186.494 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:29:46.755Z,1761586186.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937819,0.315524,0.144708],[-0.335413,-0.931055,-0.143650],[0.089406,-0.183254,0.978992]]
2025-10-27T17:29:46.879Z,1761586186.879 [DAT](INFO): Powering down
2025-10-27T17:29:47.162Z,1761586187.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937365,0.316915,0.144610],[-0.336824,-0.930464,-0.144173],[0.088864,-0.183851,0.978929]]
2025-10-27T17:29:47.759Z,1761586187.759 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:29:47.759Z,1761586187.759 [DAT] No Fault, FailCount= 1
2025-10-27T17:29:47.962Z,1761586187.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937199,0.316720,0.146106],[-0.337296,-0.929630,-0.148388],[0.088827,-0.188350,0.978077]]
2025-10-27T17:29:48.770Z,1761586188.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937438,0.314842,0.148606],[-0.336419,-0.929056,-0.153874],[0.089617,-0.194241,0.976852]]
2025-10-27T17:29:49.580Z,1761586189.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937428,0.313693,0.151079],[-0.336300,-0.928141,-0.159555],[0.090171,-0.200379,0.975560]]
2025-10-27T17:29:49.982Z,1761586189.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937485,0.313374,0.151393],[-0.336122,-0.928065,-0.160365],[0.090248,-0.201227,0.975379]]
2025-10-27T17:29:50.111Z,1761586190.111 [DAT](INFO): Powering up
2025-10-27T17:29:50.111Z,1761586190.111 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:29:50.386Z,1761586190.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937983,0.312363,0.150394],[-0.334876,-0.928594,-0.159909],[0.089705,-0.200355,0.975608]]
2025-10-27T17:29:50.790Z,1761586190.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939043,0.310135,0.148372],[-0.332046,-0.930013,-0.157549],[0.089127,-0.197212,0.976301]]
2025-10-27T17:29:51.598Z,1761586191.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942176,0.302743,0.143705],[-0.323412,-0.933772,-0.153216],[0.087802,-0.190832,0.977688]]
2025-10-27T17:29:52.001Z,1761586192.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944051,0.297924,0.141453],[-0.318088,-0.935807,-0.151937],[0.087107,-0.188430,0.978216]]
2025-10-27T17:29:52.826Z,1761586192.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948101,0.286764,0.137368],[-0.306390,-0.939444,-0.153527],[0.085023,-0.187647,0.978550]]
2025-10-27T17:29:53.214Z,1761586193.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949387,0.283101,0.136081],[-0.302608,-0.940494,-0.154592],[0.084219,-0.187947,0.978562]]
2025-10-27T17:29:53.627Z,1761586193.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949523,0.282364,0.136663],[-0.302317,-0.939954,-0.158401],[0.083730,-0.191721,0.977871]]
2025-10-27T17:29:54.022Z,1761586194.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948427,0.285306,0.138158],[-0.305799,-0.938274,-0.161646],[0.083511,-0.195557,0.977130]]
2025-10-27T17:29:54.427Z,1761586194.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946828,0.289982,0.139384],[-0.310841,-0.936263,-0.163675],[0.083037,-0.198299,0.976618]]
2025-10-27T17:29:54.844Z,1761586194.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:29:55.645Z,1761586195.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940365,0.308668,0.142958],[-0.329730,-0.930412,-0.160034],[0.083613,-0.197628,0.976705]]
2025-10-27T17:29:55.847Z,1761586195.847 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:29:56.043Z,1761586196.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938122,0.315048,0.143778],[-0.336003,-0.928573,-0.157650],[0.083841,-0.196205,0.976972]]
2025-10-27T17:29:56.465Z,1761586196.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936789,0.319621,0.142372],[-0.339527,-0.928695,-0.149153],[0.084548,-0.188064,0.978511]]
2025-10-27T17:29:57.259Z,1761586197.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939090,0.313931,0.139844],[-0.332913,-0.931989,-0.143408],[0.085313,-0.181229,0.979734]]
2025-10-27T17:29:57.664Z,1761586197.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940444,0.309835,0.139884],[-0.328833,-0.933475,-0.143158],[0.086223,-0.180631,0.979764]]
2025-10-27T17:29:58.090Z,1761586198.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941741,0.305566,0.140549],[-0.324744,-0.934857,-0.143471],[0.087553,-0.180755,0.979623]]
2025-10-27T17:29:58.470Z,1761586198.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942527,0.302324,0.142277],[-0.322158,-0.935215,-0.146925],[0.088641,-0.184316,0.978862]]
2025-10-27T17:29:58.892Z,1761586198.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942683,0.300758,0.144543],[-0.321376,-0.934886,-0.150688],[0.089811,-0.188504,0.977957]]
2025-10-27T17:29:58.970Z,1761586198.970 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateRudder:A] Stopped
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:29:58.971Z,1761586198.971 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateCommandMode] Stopped
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:29:58.972Z,1761586198.972 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:29:58.973Z,1761586198.973 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:29:58.973Z,1761586198.973 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:29:58.973Z,1761586198.973 [marl:UpdateSpeed] Stopped
2025-10-27T17:29:58.973Z,1761586198.973 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:29:59.273Z,1761586199.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942069,0.301155,0.147688],[-0.322855,-0.933532,-0.155826],[0.090944,-0.194481,0.976681]]
2025-10-27T17:29:59.307Z,1761586199.307 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:29:59.307Z,1761586199.307 [marl:UpdateRudder:B] Stopped
2025-10-27T17:29:59.307Z,1761586199.307 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:29:59.307Z,1761586199.307 [marl:UpdateRudder] Stopped
2025-10-27T17:29:59.307Z,1761586199.307 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:30:00.084Z,1761586200.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939447,0.306493,0.153300],[-0.329874,-0.929987,-0.162196],[0.092855,-0.202945,0.974778]]
2025-10-27T17:30:00.486Z,1761586200.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938040,0.309721,0.155413],[-0.333567,-0.928559,-0.162825],[0.093879,-0.204577,0.974338]]
2025-10-27T17:30:00.892Z,1761586200.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936532,0.313345,0.157233],[-0.337422,-0.927366,-0.161676],[0.095152,-0.204469,0.974237]]
2025-10-27T17:30:01.295Z,1761586201.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935624,0.315125,0.159069],[-0.339300,-0.927143,-0.158998],[0.097376,-0.202734,0.974380]]
2025-10-27T17:30:01.698Z,1761586201.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935059,0.316085,0.160485],[-0.340232,-0.927323,-0.155931],[0.099534,-0.200406,0.974644]]
2025-10-27T17:30:01.724Z,1761586201.724 [DAT](INFO): DAT read: 

2025-10-27T17:30:01.726Z,1761586201.726 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:30:02.111Z,1761586202.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934940,0.315686,0.161953],[-0.339897,-0.927829,-0.153633],[0.101765,-0.198685,0.974766]]
2025-10-27T17:30:02.512Z,1761586202.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934649,0.315312,0.164347],[-0.340088,-0.927641,-0.154345],[0.103788,-0.200151,0.974252]]
2025-10-27T17:30:02.910Z,1761586202.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933867,0.316278,0.166914],[-0.341522,-0.927190,-0.153888],[0.106090,-0.200716,0.973888]]
2025-10-27T17:30:03.236Z,1761586203.236 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:30:03.237Z,1761586203.237 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:30:03.238Z,1761586203.238 [DAT](INFO): DAT read: Oct 27 2025 17:29:58 

2025-10-27T17:30:03.314Z,1761586203.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932512,0.318572,0.170098],[-0.344571,-0.925885,-0.154947],[0.108130,-0.203100,0.973169]]
2025-10-27T17:30:03.718Z,1761586203.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930516,0.322738,0.173149],[-0.349350,-0.924083,-0.154999],[0.109980,-0.204719,0.972623]]
2025-10-27T17:30:04.131Z,1761586204.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928150,0.327931,0.176062],[-0.355212,-0.921708,-0.155815],[0.111181,-0.207159,0.971969]]
2025-10-27T17:30:04.244Z,1761586204.244 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:30:04.245Z,1761586204.245 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:30:04.245Z,1761586204.245 [DAT](INFO): commRate: 600
2025-10-27T17:30:04.527Z,1761586204.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925384,0.334370,0.178496],[-0.362042,-0.919165,-0.155113],[0.112203,-0.208162,0.971637]]
2025-10-27T17:30:04.929Z,1761586204.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922527,0.341213,0.180325],[-0.369006,-0.916719,-0.153172],[0.113043,-0.207846,0.971607]]
2025-10-27T17:30:05.333Z,1761586205.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920122,0.347447,0.180711],[-0.374743,-0.915152,-0.148538],[0.113769,-0.204394,0.972255]]
2025-10-27T17:30:05.746Z,1761586205.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918334,0.352186,0.180630],[-0.378907,-0.914167,-0.143975],[0.114420,-0.200659,0.972956]]
2025-10-27T17:30:06.153Z,1761586206.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917788,0.354496,0.178877],[-0.379952,-0.914905,-0.136328],[0.115328,-0.193085,0.974381]]
2025-10-27T17:30:06.311Z,1761586206.311 [DAT](INFO): entering command mode
2025-10-27T17:30:06.512Z,1761586206.512 [DAT](INFO): DAT read: 

2025-10-27T17:30:06.512Z,1761586206.512 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:06.513Z,1761586206.513 [DAT](INFO): setting verbose to 3
2025-10-27T17:30:06.546Z,1761586206.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918137,0.354439,0.177190],[-0.378831,-0.916273,-0.130119],[0.116235,-0.186593,0.975537]]
2025-10-27T17:30:06.764Z,1761586206.764 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:06.765Z,1761586206.765 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:30:06.765Z,1761586206.765 [DAT](INFO): set verbose to 3
2025-10-27T17:30:06.765Z,1761586206.765 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:30:07.016Z,1761586207.016 [DAT](INFO): DAT read: user:2>

2025-10-27T17:30:07.017Z,1761586207.017 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:30:07.017Z,1761586207.017 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:30:07.017Z,1761586207.017 [DAT](INFO): setting transmit power to 8
2025-10-27T17:30:07.268Z,1761586207.268 [DAT](INFO): DAT read: user:3>

2025-10-27T17:30:07.269Z,1761586207.269 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:30:07.269Z,1761586207.269 [DAT](INFO): set transmit power to 8
2025-10-27T17:30:07.269Z,1761586207.269 [DAT](INFO): setting local address to 11
2025-10-27T17:30:07.355Z,1761586207.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921295,0.347354,0.174814],[-0.370551,-0.920529,-0.123771],[0.117929,-0.178807,0.976791]]
2025-10-27T17:30:07.520Z,1761586207.520 [DAT](INFO): DAT read: user:4>

2025-10-27T17:30:07.521Z,1761586207.521 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:30:07.521Z,1761586207.521 [DAT](INFO): set local address to 11
2025-10-27T17:30:07.522Z,1761586207.522 [DAT](INFO): Setting time to: 17:30:7 And date to:10/27/2025
2025-10-27T17:30:07.761Z,1761586207.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923648,0.340705,0.175485],[-0.364344,-0.922653,-0.126354],[0.118862,-0.180643,0.976340]]
2025-10-27T17:30:07.772Z,1761586207.772 [DAT](INFO): DAT read: user:5>

2025-10-27T17:30:07.773Z,1761586207.773 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:30:07  

2025-10-27T17:30:07.773Z,1761586207.773 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:30:07  

2025-10-27T17:30:07.774Z,1761586207.774 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:07.774Z,1761586207.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:07.774Z,1761586207.774 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:08.024Z,1761586208.024 [DAT](INFO): DAT read: user:6>

2025-10-27T17:30:08.025Z,1761586208.025 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:30:08.025Z,1761586208.025 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:30:08.025Z,1761586208.025 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:30:08.025Z,1761586208.025 [DAT](ERROR): Communications Fault
2025-10-27T17:30:08.026Z,1761586208.026 [DAT](INFO): DAT read: user:7>

2025-10-27T17:30:08.027Z,1761586208.027 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:30:08.028Z,1761586208.028 [DAT](INFO): set remote address to 0
2025-10-27T17:30:08.028Z,1761586208.028 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:08.028Z,1761586208.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:08.028Z,1761586208.028 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:08.366Z,1761586208.366 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:30:08.435Z,1761586208.435 [DAT](INFO): Powering down
2025-10-27T17:30:08.567Z,1761586208.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928360,0.326084,0.178376],[-0.351389,-0.926405,-0.135274],[0.121138,-0.188263,0.974619]]
2025-10-27T17:30:08.974Z,1761586208.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930099,0.320180,0.180002],[-0.346586,-0.927294,-0.141434],[0.121631,-0.193934,0.973445]]
2025-10-27T17:30:09.373Z,1761586209.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931032,0.316602,0.181500],[-0.343974,-0.927458,-0.146643],[0.121906,-0.198961,0.972396]]
2025-10-27T17:30:09.566Z,1761586209.566 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:30:09.567Z,1761586209.567 [DAT] No Fault, FailCount= 2
2025-10-27T17:30:09.778Z,1761586209.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930733,0.316313,0.183528],[-0.344831,-0.926206,-0.152428],[0.121770,-0.205156,0.971125]]
2025-10-27T17:30:10.183Z,1761586210.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929185,0.319663,0.185556],[-0.349156,-0.923834,-0.156908],[0.121266,-0.210585,0.970025]]
2025-10-27T17:30:10.602Z,1761586210.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926799,0.325521,0.187296],[-0.355662,-0.920930,-0.159349],[0.120615,-0.214299,0.969293]]
2025-10-27T17:30:11.394Z,1761586211.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920418,0.342147,0.189121],[-0.372136,-0.915024,-0.155709],[0.119775,-0.213696,0.969530]]
2025-10-27T17:30:11.668Z,1761586211.668 [DAT](INFO): Powering up
2025-10-27T17:30:11.669Z,1761586211.669 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:30:11.800Z,1761586211.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916885,0.351566,0.189006],[-0.380901,-0.912199,-0.151021],[0.119317,-0.210462,0.970293]]
2025-10-27T17:30:11.829Z,1761586211.829 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:30:11.829Z,1761586211.829 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:30:11.829Z,1761586211.829 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateRudder:A] Stopped
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:30:11.830Z,1761586211.830 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateCommandMode] Stopped
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:30:11.831Z,1761586211.831 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:30:11.832Z,1761586211.832 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:30:11.832Z,1761586211.832 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:30:11.832Z,1761586211.832 [marl:UpdateSpeed] Stopped
2025-10-27T17:30:11.832Z,1761586211.832 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:30:12.202Z,1761586212.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913303,0.360852,0.188849],[-0.389560,-0.909268,-0.146545],[0.118834,-0.207408,0.971010]]
2025-10-27T17:30:12.242Z,1761586212.242 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:30:12.242Z,1761586212.242 [marl:UpdateRudder:B] Stopped
2025-10-27T17:30:12.242Z,1761586212.242 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:30:12.242Z,1761586212.242 [marl:UpdateRudder] Stopped
2025-10-27T17:30:12.242Z,1761586212.242 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:30:12.611Z,1761586212.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910234,0.368742,0.188424],[-0.396780,-0.906854,-0.142062],[0.118489,-0.204073,0.971759]]
2025-10-27T17:30:13.021Z,1761586213.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907904,0.374895,0.187520],[-0.402257,-0.905034,-0.138214],[0.117896,-0.200917,0.972488]]
2025-10-27T17:30:13.414Z,1761586213.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906752,0.378637,0.185568],[-0.405086,-0.904399,-0.134045],[0.117073,-0.196716,0.973446]]
2025-10-27T17:30:13.818Z,1761586213.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906586,0.380266,0.183028],[-0.405802,-0.904572,-0.130672],[0.115872,-0.192739,0.974385]]
2025-10-27T17:30:14.222Z,1761586214.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906727,0.380991,0.180807],[-0.405877,-0.904798,-0.128862],[0.114499,-0.190228,0.975040]]
2025-10-27T17:30:14.627Z,1761586214.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907472,0.380436,0.178223],[-0.404716,-0.905446,-0.127953],[0.112694,-0.188244,0.975635]]
2025-10-27T17:30:15.032Z,1761586215.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908324,0.379728,0.175369],[-0.403408,-0.906098,-0.127467],[0.110499,-0.186527,0.976216]]
2025-10-27T17:30:15.064Z,1761586215.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +9 +1511.76,        +6.46,  64.15,  0.00
2025-10-27T17:30:15.434Z,1761586215.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909164,0.378848,0.172902],[-0.402070,-0.906681,-0.127549],[0.108445,-0.185482,0.976645]]
2025-10-27T17:30:16.243Z,1761586216.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910225,0.378166,0.168764],[-0.400832,-0.906935,-0.129623],[0.104039,-0.185632,0.977096]]
2025-10-27T17:30:16.645Z,1761586216.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909858,0.379651,0.167404],[-0.402261,-0.906017,-0.131602],[0.101708,-0.187079,0.977065]]
2025-10-27T17:30:17.859Z,1761586217.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905613,0.389984,0.166669],[-0.412999,-0.900290,-0.137511],[0.096423,-0.193366,0.976377]]
2025-10-27T17:30:18.261Z,1761586218.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903507,0.394526,0.167408],[-0.417882,-0.897685,-0.139772],[0.095136,-0.196242,0.975929]]
2025-10-27T17:30:19.089Z,1761586219.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899383,0.403802,0.167493],[-0.427234,-0.893073,-0.141038],[0.092632,-0.198406,0.975733]]
2025-10-27T17:30:19.474Z,1761586219.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898012,0.407524,0.165826],[-0.430458,-0.891755,-0.139570],[0.090998,-0.196717,0.976228]]
2025-10-27T17:30:19.878Z,1761586219.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897634,0.409485,0.163020],[-0.431742,-0.891311,-0.138432],[0.088616,-0.194644,0.976863]]
2025-10-27T17:30:20.281Z,1761586220.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897552,0.411097,0.159376],[-0.432570,-0.891004,-0.137824],[0.085345,-0.192646,0.977550]]
2025-10-27T17:30:20.685Z,1761586220.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897860,0.412135,0.154893],[-0.432634,-0.891148,-0.136687],[0.081699,-0.189738,0.978430]]
2025-10-27T17:30:21.102Z,1761586221.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898645,0.412025,0.150573],[-0.431736,-0.891510,-0.137166],[0.077722,-0.188271,0.979037]]
2025-10-27T17:30:21.494Z,1761586221.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899620,0.411411,0.146376],[-0.430411,-0.891987,-0.138226],[0.073697,-0.187352,0.979524]]
2025-10-27T17:30:22.302Z,1761586222.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902274,0.408322,0.138471],[-0.426058,-0.893634,-0.141041],[0.066152,-0.186255,0.980272]]
2025-10-27T17:30:22.707Z,1761586222.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903781,0.406197,0.134847],[-0.423460,-0.894407,-0.143939],[0.062140,-0.187192,0.980356]]
2025-10-27T17:30:23.109Z,1761586223.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905144,0.404169,0.131761],[-0.421070,-0.895001,-0.147218],[0.058425,-0.188734,0.980289]]
2025-10-27T17:30:23.272Z,1761586223.272 [DAT](INFO): DAT read: 

2025-10-27T17:30:23.272Z,1761586223.272 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:30:23.513Z,1761586223.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906227,0.402726,0.128701],[-0.419234,-0.895358,-0.150256],[0.054722,-0.190122,0.980234]]
2025-10-27T17:30:23.917Z,1761586223.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907266,0.401175,0.126201],[-0.417437,-0.895517,-0.154259],[0.051131,-0.192635,0.979937]]
2025-10-27T17:30:24.323Z,1761586224.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907669,0.401064,0.123631],[-0.416995,-0.895142,-0.157594],[0.047462,-0.194596,0.979734]]
2025-10-27T17:30:24.730Z,1761586224.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907619,0.402012,0.120892],[-0.417535,-0.894334,-0.160719],[0.043507,-0.196348,0.979569]]
2025-10-27T17:30:24.781Z,1761586224.782 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateRudder:A] Stopped
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:30:24.782Z,1761586224.782 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:30:24.784Z,1761586224.784 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:30:24.785Z,1761586224.785 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:30:24.786Z,1761586224.786 [DAT](INFO): DAT read: Oct 27 2025 17:30:19 

2025-10-27T17:30:24.786Z,1761586224.786 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:30:24.786Z,1761586224.786 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:30:24.787Z,1761586224.787 [marl:UpdateCommandMode] Stopped
2025-10-27T17:30:24.787Z,1761586224.787 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:30:24.787Z,1761586224.787 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:30:24.787Z,1761586224.787 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:30:24.787Z,1761586224.787 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:30:24.788Z,1761586224.788 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:30:24.788Z,1761586224.788 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:30:24.788Z,1761586224.788 [marl:UpdateSpeed] Stopped
2025-10-27T17:30:24.788Z,1761586224.788 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:30:25.136Z,1761586225.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907193,0.403655,0.118585],[-0.418821,-0.893203,-0.163639],[0.039867,-0.198118,0.979367]]
2025-10-27T17:30:25.195Z,1761586225.195 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:30:25.196Z,1761586225.196 [marl:UpdateRudder:B] Stopped
2025-10-27T17:30:25.196Z,1761586225.196 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:30:25.196Z,1761586225.196 [marl:UpdateRudder] Stopped
2025-10-27T17:30:25.196Z,1761586225.196 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:30:25.533Z,1761586225.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906091,0.406705,0.116577],[-0.421530,-0.891405,-0.166463],[0.036216,-0.199971,0.979132]]
2025-10-27T17:30:25.792Z,1761586225.792 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:30:25.793Z,1761586225.793 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:30:25.794Z,1761586225.794 [DAT](INFO): commRate: 600
2025-10-27T17:30:25.937Z,1761586225.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904418,0.410987,0.114528],[-0.425418,-0.889072,-0.169030],[0.032354,-0.201596,0.978934]]
2025-10-27T17:30:25.967Z,1761586225.967 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:30:26.341Z,1761586226.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902142,0.416726,0.111711],[-0.430499,-0.886566,-0.169329],[0.028475,-0.200850,0.979208]]
2025-10-27T17:30:26.754Z,1761586226.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899506,0.423048,0.109172],[-0.436216,-0.883652,-0.169927],[0.024583,-0.200472,0.979391]]
2025-10-27T17:30:26.972Z,1761586226.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:30:27.578Z,1761586227.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893489,0.436952,0.103683],[-0.448740,-0.877730,-0.167995],[0.017600,-0.196628,0.980320]]
2025-10-27T17:30:27.859Z,1761586227.859 [DAT](INFO): entering command mode
2025-10-27T17:30:27.958Z,1761586227.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890312,0.443843,0.101721],[-0.455122,-0.874458,-0.167889],[0.014435,-0.195769,0.980544]]
2025-10-27T17:30:28.061Z,1761586228.061 [DAT](INFO): DAT read: 

2025-10-27T17:30:28.062Z,1761586228.062 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:28.063Z,1761586228.063 [DAT](INFO): setting verbose to 3
2025-10-27T17:30:28.312Z,1761586228.312 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:28.313Z,1761586228.313 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:30:28.313Z,1761586228.313 [DAT](INFO): set verbose to 3
2025-10-27T17:30:28.313Z,1761586228.313 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:30:28.376Z,1761586228.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887438,0.450258,0.098599],[-0.460784,-0.871961,-0.165413],[0.011496,-0.192227,0.981283]]
2025-10-27T17:30:28.564Z,1761586228.564 [DAT](INFO): DAT read: user:2>

2025-10-27T17:30:28.566Z,1761586228.566 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:30:28.572Z,1761586228.572 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:30:28.572Z,1761586228.572 [DAT](INFO): setting transmit power to 8
2025-10-27T17:30:28.767Z,1761586228.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885181,0.455433,0.095050],[-0.465167,-0.870119,-0.162828],[0.008547,-0.188346,0.982065]]
2025-10-27T17:30:28.818Z,1761586228.818 [DAT](INFO): DAT read: user:3>

2025-10-27T17:30:28.821Z,1761586228.821 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:30:28.822Z,1761586228.822 [DAT](INFO): set transmit power to 8
2025-10-27T17:30:28.822Z,1761586228.822 [DAT](INFO): setting local address to 11
2025-10-27T17:30:29.068Z,1761586229.068 [DAT](INFO): DAT read: user:4>

2025-10-27T17:30:29.069Z,1761586229.069 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:30:29.069Z,1761586229.069 [DAT](INFO): set local address to 11
2025-10-27T17:30:29.070Z,1761586229.070 [DAT](INFO): Setting time to: 17:30:29 And date to:10/27/2025
2025-10-27T17:30:29.171Z,1761586229.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883730,0.458986,0.091397],[-0.467961,-0.869076,-0.160371],[0.005823,-0.184495,0.982816]]
2025-10-27T17:30:29.322Z,1761586229.322 [DAT](INFO): DAT read: user:5>

2025-10-27T17:30:29.324Z,1761586229.324 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:30:29  

2025-10-27T17:30:29.324Z,1761586229.324 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:30:29  

2025-10-27T17:30:29.325Z,1761586229.325 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:29.326Z,1761586229.326 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:29.326Z,1761586229.326 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:29.572Z,1761586229.572 [DAT](INFO): DAT read: user:6>

2025-10-27T17:30:29.573Z,1761586229.573 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:30:29.573Z,1761586229.573 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:30:29.573Z,1761586229.573 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:30:29.574Z,1761586229.574 [DAT](ERROR): Communications Fault
2025-10-27T17:30:29.574Z,1761586229.574 [DAT](INFO): DAT read: user:7>

2025-10-27T17:30:29.575Z,1761586229.575 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:30:29.576Z,1761586229.576 [DAT](INFO): set remote address to 0
2025-10-27T17:30:29.576Z,1761586229.576 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:29.581Z,1761586229.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:29.581Z,1761586229.581 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:29.914Z,1761586229.914 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:30:29.980Z,1761586229.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884095,0.459848,0.083160],[-0.467307,-0.870337,-0.155364],[0.000934,-0.176218,0.984351]]
2025-10-27T17:30:29.987Z,1761586229.987 [DAT](INFO): Powering down
2025-10-27T17:30:30.786Z,1761586230.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887271,0.455035,0.075456],[-0.461229,-0.873764,-0.154284],[-0.004274,-0.171695,0.985141]]
2025-10-27T17:30:31.148Z,1761586231.148 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:30:31.148Z,1761586231.148 [DAT] No Fault, FailCount= 3
2025-10-27T17:30:31.189Z,1761586231.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888900,0.452155,0.073567],[-0.458056,-0.875027,-0.156566],[-0.006419,-0.172869,0.984924]]
2025-10-27T17:30:31.598Z,1761586231.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889981,0.450198,0.072490],[-0.455914,-0.875480,-0.160241],[-0.008676,-0.175661,0.984413]]
2025-10-27T17:30:31.998Z,1761586231.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890181,0.449893,0.071931],[-0.455480,-0.875032,-0.163885],[-0.010789,-0.178650,0.983854]]
2025-10-27T17:30:32.403Z,1761586232.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889932,0.450222,0.072955],[-0.455922,-0.873753,-0.169381],[-0.012515,-0.183999,0.982847]]
2025-10-27T17:30:32.816Z,1761586232.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888975,0.451825,0.074685],[-0.457740,-0.871644,-0.175247],[-0.014082,-0.189976,0.981688]]
2025-10-27T17:30:33.210Z,1761586233.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888135,0.453360,0.075369],[-0.459325,-0.870132,-0.178581],[-0.015380,-0.193223,0.981034]]
2025-10-27T17:30:33.215Z,1761586233.215 [DAT](INFO): Powering up
2025-10-27T17:30:33.215Z,1761586233.215 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:30:33.618Z,1761586233.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887476,0.454737,0.074838],[-0.460544,-0.869149,-0.180221],[-0.016908,-0.194408,0.980775]]
2025-10-27T17:30:34.018Z,1761586234.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887481,0.455035,0.072940],[-0.460469,-0.869196,-0.180186],[-0.018592,-0.193498,0.980924]]
2025-10-27T17:30:34.423Z,1761586234.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888147,0.454156,0.070266],[-0.459109,-0.870074,-0.179416],[-0.020347,-0.191607,0.981261]]
2025-10-27T17:30:34.870Z,1761586234.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889435,0.452012,0.067749],[-0.456525,-0.871397,-0.179591],[-0.022141,-0.190663,0.981406]]
2025-10-27T17:30:35.229Z,1761586235.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890903,0.449522,0.064979],[-0.453563,-0.872970,-0.179455],[-0.023944,-0.189349,0.981618]]
2025-10-27T17:30:35.633Z,1761586235.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892296,0.447143,0.062215],[-0.450716,-0.874487,-0.179242],[-0.025741,-0.187979,0.981836]]
2025-10-27T17:30:36.052Z,1761586236.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893261,0.445372,0.061070],[-0.448720,-0.875168,-0.180918],[-0.027130,-0.189010,0.981600]]
2025-10-27T17:30:36.441Z,1761586236.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893231,0.445478,0.060725],[-0.448708,-0.874798,-0.182730],[-0.028281,-0.190468,0.981286]]
2025-10-27T17:30:36.977Z,1761586236.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890629,0.450306,0.063275],[-0.453745,-0.870902,-0.188800],[-0.029912,-0.196861,0.979975]]
2025-10-27T17:30:37.653Z,1761586237.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888130,0.454971,0.065003],[-0.458574,-0.867851,-0.191166],[-0.030562,-0.199590,0.979403]]
2025-10-27T17:30:37.690Z,1761586237.690 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:30:37.690Z,1761586237.690 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:30:37.690Z,1761586237.690 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:30:37.690Z,1761586237.690 [marl:UpdateRudder:A] Stopped
2025-10-27T17:30:37.690Z,1761586237.690 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:30:37.691Z,1761586237.691 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:30:37.691Z,1761586237.691 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:30:37.691Z,1761586237.691 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:30:37.691Z,1761586237.691 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:30:37.692Z,1761586237.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:30:37.692Z,1761586237.692 [marl:UpdateCommandMode] Stopped
2025-10-27T17:30:37.693Z,1761586237.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:30:37.693Z,1761586237.693 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:30:37.694Z,1761586237.694 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:30:37.694Z,1761586237.694 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:30:37.701Z,1761586237.701 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:30:37.701Z,1761586237.701 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:30:37.701Z,1761586237.701 [marl:UpdateSpeed] Stopped
2025-10-27T17:30:37.701Z,1761586237.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:30:38.060Z,1761586238.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884916,0.461014,0.066251],[-0.464708,-0.864447,-0.191777],[-0.031142,-0.200494,0.979200]]
2025-10-27T17:30:38.122Z,1761586238.122 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:30:38.122Z,1761586238.122 [marl:UpdateRudder:B] Stopped
2025-10-27T17:30:38.122Z,1761586238.122 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:30:38.122Z,1761586238.122 [marl:UpdateRudder] Stopped
2025-10-27T17:30:38.122Z,1761586238.122 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:30:38.886Z,1761586238.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877900,0.473958,0.068230],[-0.477749,-0.857326,-0.191697],[-0.032361,-0.200888,0.979080]]
2025-10-27T17:30:39.270Z,1761586239.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874642,0.480010,0.067757],[-0.483639,-0.854501,-0.189530],[-0.033078,-0.198541,0.979534]]
2025-10-27T17:30:39.674Z,1761586239.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871893,0.485230,0.065984],[-0.488532,-0.852604,-0.185480],[-0.033742,-0.193955,0.980430]]
2025-10-27T17:30:40.080Z,1761586240.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870662,0.487818,0.063100],[-0.490680,-0.852396,-0.180706],[-0.034366,-0.188296,0.981511]]
2025-10-27T17:30:40.482Z,1761586240.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870345,0.488858,0.059316],[-0.491188,-0.853213,-0.175390],[-0.035132,-0.181786,0.982710]]
2025-10-27T17:30:40.890Z,1761586240.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870004,0.489918,0.055436],[-0.491740,-0.854028,-0.169787],[-0.035838,-0.174975,0.983920]]
2025-10-27T17:30:41.291Z,1761586241.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868414,0.493477,0.048345],[-0.494459,-0.854603,-0.158630],[-0.036965,-0.161661,0.986154]]
2025-10-27T17:30:41.707Z,1761586241.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864434,0.501405,0.036689],[-0.501259,-0.853971,-0.139548],[-0.038639,-0.139021,0.989535]]
2025-10-27T17:30:42.103Z,1761586242.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858877,0.511699,0.022229],[-0.510578,-0.851950,-0.116156],[-0.040499,-0.111113,0.992982]]
2025-10-27T17:30:42.515Z,1761586242.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842160,0.539212,-0.004077],[-0.537487,-0.840024,-0.073943],[-0.043296,-0.060081,0.997254]]
2025-10-27T17:30:42.911Z,1761586242.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831351,0.555582,-0.013564],[-0.554010,-0.830433,-0.058767],[-0.043914,-0.041341,0.998180]]
2025-10-27T17:30:43.317Z,1761586243.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819120,0.573247,-0.020727],[-0.571915,-0.818936,-0.047512],[-0.044210,-0.027064,0.998656]]
2025-10-27T17:30:43.724Z,1761586243.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805943,0.591383,-0.026890],[-0.590324,-0.806249,-0.038482],[-0.044437,-0.015140,0.998897]]
2025-10-27T17:30:44.119Z,1761586244.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792078,0.609623,-0.031190],[-0.608830,-0.792668,-0.031680],[-0.044036,-0.006103,0.999011]]
2025-10-27T17:30:44.533Z,1761586244.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778460,0.626736,-0.034667],[-0.626212,-0.779229,-0.025686],[-0.043112,0.001714,0.999069]]
2025-10-27T17:30:44.813Z,1761586244.813 [DAT](INFO): DAT read: 

2025-10-27T17:30:44.816Z,1761586244.816 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:30:44.925Z,1761586244.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766157,0.641505,-0.038409],[-0.641265,-0.767062,-0.019882],[-0.042216,0.009398,0.999064]]
2025-10-27T17:30:45.331Z,1761586245.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755811,0.653437,-0.042068],[-0.653500,-0.756794,-0.014153],[-0.041085,0.016795,0.999014]]
2025-10-27T17:30:45.742Z,1761586245.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747218,0.663133,-0.043816],[-0.663385,-0.748203,-0.010627],[-0.039831,0.021127,0.998983]]
2025-10-27T17:30:45.799Z,1761586245.799 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:30:46.141Z,1761586246.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740220,0.670880,-0.044664],[-0.671246,-0.741186,-0.008444],[-0.038769,0.023731,0.998966]]
2025-10-27T17:30:46.324Z,1761586246.324 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:30:46.325Z,1761586246.325 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:30:46.326Z,1761586246.326 [DAT](INFO): DAT read: Oct 27 2025 17:30:41 

2025-10-27T17:30:46.364Z,1761586246.364 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:30:46.364Z,1761586246.364 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:30:46.546Z,1761586246.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734530,0.677179,-0.043522],[-0.677536,-0.735444,-0.008205],[-0.037565,0.023461,0.999019]]
2025-10-27T17:30:46.945Z,1761586246.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729716,0.682563,-0.040278],[-0.682818,-0.730531,-0.009172],[-0.035685,0.020810,0.999146]]
2025-10-27T17:30:47.332Z,1761586247.332 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:30:47.333Z,1761586247.333 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:30:47.334Z,1761586247.334 [DAT](INFO): commRate: 600
2025-10-27T17:30:47.760Z,1761586247.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719526,0.693796,-0.030497],[-0.693776,-0.720074,-0.012940],[-0.030938,0.011848,0.999451]]
2025-10-27T17:30:48.159Z,1761586248.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712057,0.701686,-0.024736],[-0.701556,-0.712455,-0.015042],[-0.028178,0.006643,0.999581]]
2025-10-27T17:30:48.561Z,1761586248.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701949,0.712006,-0.017747],[-0.711765,-0.702173,-0.018515],[-0.025644,-0.000365,0.999671]]
2025-10-27T17:30:48.966Z,1761586248.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689552,0.724125,-0.012703],[-0.723860,-0.689653,-0.020128],[-0.023336,-0.004684,0.999717]]
2025-10-27T17:30:49.370Z,1761586249.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674994,0.737774,-0.008574],[-0.737523,-0.675005,-0.020696],[-0.021057,-0.007646,0.999749]]
2025-10-27T17:30:49.399Z,1761586249.399 [DAT](INFO): entering command mode
2025-10-27T17:30:49.600Z,1761586249.600 [DAT](INFO): DAT read: 

2025-10-27T17:30:49.600Z,1761586249.600 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:49.601Z,1761586249.601 [DAT](INFO): setting verbose to 3
2025-10-27T17:30:49.775Z,1761586249.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658547,0.752511,-0.006505],[-0.752292,-0.658528,-0.019958],[-0.019302,-0.008249,0.999780]]
2025-10-27T17:30:49.852Z,1761586249.852 [DAT](INFO): DAT read: user:1>

2025-10-27T17:30:49.854Z,1761586249.854 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:30:49.854Z,1761586249.854 [DAT](INFO): set verbose to 3
2025-10-27T17:30:49.854Z,1761586249.854 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:30:50.104Z,1761586250.104 [DAT](INFO): DAT read: user:2>

2025-10-27T17:30:50.105Z,1761586250.105 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:30:50.106Z,1761586250.106 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:30:50.107Z,1761586250.107 [DAT](INFO): setting transmit power to 8
2025-10-27T17:30:50.177Z,1761586250.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640471,0.767962,-0.005554],[-0.767763,-0.640445,-0.019268],[-0.018354,-0.008077,0.999799]]
2025-10-27T17:30:50.356Z,1761586250.356 [DAT](INFO): DAT read: user:3>

2025-10-27T17:30:50.357Z,1761586250.357 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:30:50.358Z,1761586250.358 [DAT](INFO): set transmit power to 8
2025-10-27T17:30:50.358Z,1761586250.358 [DAT](INFO): setting local address to 11
2025-10-27T17:30:50.608Z,1761586250.608 [DAT](INFO): DAT read: user:4>

2025-10-27T17:30:50.609Z,1761586250.609 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:30:50.609Z,1761586250.609 [DAT](INFO): set local address to 11
2025-10-27T17:30:50.610Z,1761586250.610 [DAT](INFO): Setting time to: 17:30:50 And date to:10/27/2025
2025-10-27T17:30:50.642Z,1761586250.642 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:30:50.642Z,1761586250.642 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:30:50.642Z,1761586250.642 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:30:50.642Z,1761586250.642 [marl:UpdateRudder:A] Stopped
2025-10-27T17:30:50.643Z,1761586250.643 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:30:50.643Z,1761586250.643 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:30:50.643Z,1761586250.643 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:30:50.643Z,1761586250.643 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:30:50.643Z,1761586250.643 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateCommandMode] Stopped
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:30:50.644Z,1761586250.644 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:30:50.645Z,1761586250.645 [marl:UpdateSpeed] Stopped
2025-10-27T17:30:50.645Z,1761586250.645 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:30:50.862Z,1761586250.862 [DAT](INFO): DAT read: user:5>

2025-10-27T17:30:50.865Z,1761586250.865 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:30:50  

2025-10-27T17:30:50.866Z,1761586250.866 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:30:50  

2025-10-27T17:30:50.869Z,1761586250.869 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:50.871Z,1761586250.871 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:50.872Z,1761586250.872 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:50.990Z,1761586250.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603768,0.797096,-0.010098],[-0.796932,-0.603850,-0.016269],[-0.019066,-0.001775,0.999817]]
2025-10-27T17:30:51.070Z,1761586251.070 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:30:51.070Z,1761586251.070 [marl:UpdateRudder:B] Stopped
2025-10-27T17:30:51.070Z,1761586251.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:30:51.070Z,1761586251.070 [marl:UpdateRudder] Stopped
2025-10-27T17:30:51.070Z,1761586251.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:30:51.113Z,1761586251.113 [DAT](INFO): DAT read: user:6>

2025-10-27T17:30:51.114Z,1761586251.114 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:30:51.115Z,1761586251.115 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:30:51.115Z,1761586251.115 [DAT] Communications Fault, FailCount= 4
2025-10-27T17:30:51.116Z,1761586251.116 [DAT](ERROR): Communications Fault
2025-10-27T17:30:51.117Z,1761586251.117 [DAT](INFO): DAT read: user:7>

2025-10-27T17:30:51.118Z,1761586251.118 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:30:51.118Z,1761586251.118 [DAT](INFO): set remote address to 0
2025-10-27T17:30:51.120Z,1761586251.120 [DAT](INFO): setting remote address to 6
2025-10-27T17:30:51.122Z,1761586251.122 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:30:51.123Z,1761586251.123 [DAT](INFO): setting remote address to 0
2025-10-27T17:30:51.222Z,1761586251.222 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:30:51.389Z,1761586251.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588035,0.808733,-0.012867],[-0.808599,-0.588174,-0.014814],[-0.019549,0.001693,0.999807]]
2025-10-27T17:30:51.527Z,1761586251.527 [DAT](INFO): Powering down
2025-10-27T17:30:52.199Z,1761586252.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564558,0.825164,-0.019463],[-0.825170,-0.564797,-0.009933],[-0.019189,0.010453,0.999761]]
2025-10-27T17:30:52.489Z,1761586252.489 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:30:52.489Z,1761586252.489 [DAT] No Fault, FailCount= 4
2025-10-27T17:30:52.601Z,1761586252.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556236,0.830760,-0.020956],[-0.830834,-0.556471,-0.007357],[-0.017773,0.013319,0.999753]]
2025-10-27T17:30:53.016Z,1761586253.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549130,0.835506,-0.019654],[-0.835597,-0.549317,-0.005404],[-0.015311,0.013456,0.999792]]
2025-10-27T17:30:53.411Z,1761586253.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542721,0.839766,-0.015715],[-0.839821,-0.542843,-0.004631],[-0.012420,0.010685,0.999866]]
2025-10-27T17:30:53.813Z,1761586253.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537585,0.843187,-0.006212],[-0.843153,-0.537619,-0.007627],[-0.009771,0.001137,0.999952]]
2025-10-27T17:30:54.217Z,1761586254.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534176,0.845306,0.010687],[-0.845342,-0.534003,-0.015437],[-0.007342,-0.017280,0.999824]]
2025-10-27T17:30:54.622Z,1761586254.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531398,0.846388,0.035247],[-0.847106,-0.530674,-0.028207],[-0.005169,-0.044847,0.998980]]
2025-10-27T17:30:54.755Z,1761586254.755 [DAT](INFO): Powering up
2025-10-27T17:30:54.755Z,1761586254.755 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:30:55.026Z,1761586255.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528740,0.846226,0.065843],[-0.848779,-0.526871,-0.044519],[-0.002983,-0.079425,0.996836]]
2025-10-27T17:30:55.432Z,1761586255.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525328,0.845354,0.096990],[-0.850899,-0.521752,-0.061205],[-0.001135,-0.114682,0.993402]]
2025-10-27T17:30:55.834Z,1761586255.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521236,0.844253,0.124700],[-0.853413,-0.515657,-0.076054],[0.000094,-0.146062,0.989275]]
2025-10-27T17:30:56.238Z,1761586256.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515725,0.843693,0.149029],[-0.856754,-0.508018,-0.088829],[0.000765,-0.173493,0.984835]]
2025-10-27T17:30:56.642Z,1761586256.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509153,0.844432,0.166427],[-0.860676,-0.499743,-0.097435],[0.000894,-0.192849,0.981228]]
2025-10-27T17:30:57.047Z,1761586257.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502818,0.846047,0.177138],[-0.864392,-0.492235,-0.102619],[0.000373,-0.204715,0.978822]]
2025-10-27T17:30:57.104Z,1761586257.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:30:57.449Z,1761586257.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497981,0.847537,0.183563],[-0.867188,-0.486765,-0.105095],[0.000280,-0.211519,0.977374]]
2025-10-27T17:30:57.853Z,1761586257.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495633,0.848696,0.184562],[-0.868531,-0.484495,-0.104489],[0.000741,-0.212086,0.977251]]
2025-10-27T17:30:58.109Z,1761586258.109 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:30:58.664Z,1761586258.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495697,0.849916,0.178681],[-0.868490,-0.485844,-0.098392],[0.003186,-0.203955,0.978975]]
2025-10-27T17:30:59.065Z,1761586259.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497241,0.849896,0.174437],[-0.867601,-0.488138,-0.094817],[0.004565,-0.198489,0.980093]]
2025-10-27T17:30:59.473Z,1761586259.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499395,0.849411,0.170600],[-0.866352,-0.491017,-0.091308],[0.006209,-0.193399,0.981101]]
2025-10-27T17:30:59.877Z,1761586259.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501667,0.848536,0.168278],[-0.865025,-0.493826,-0.088695],[0.007839,-0.190060,0.981741]]
2025-10-27T17:31:00.278Z,1761586260.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504475,0.847206,0.166574],[-0.863376,-0.497043,-0.086775],[0.009278,-0.187591,0.982203]]
2025-10-27T17:31:01.085Z,1761586261.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510868,0.843629,0.165236],[-0.859575,-0.503976,-0.084489],[0.011998,-0.185196,0.982628]]
2025-10-27T17:31:01.550Z,1761586261.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514164,0.841690,0.164906],[-0.857596,-0.507388,-0.084178],[0.012820,-0.184704,0.982711]]
2025-10-27T17:31:01.897Z,1761586261.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517343,0.839540,0.165914],[-0.855670,-0.510545,-0.084692],[0.013604,-0.185783,0.982497]]
2025-10-27T17:31:02.299Z,1761586262.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520032,0.837349,0.168562],[-0.854022,-0.513110,-0.085818],[0.014631,-0.188584,0.981948]]
2025-10-27T17:31:02.702Z,1761586262.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521111,0.835661,0.173533],[-0.853343,-0.513900,-0.087825],[0.015787,-0.193850,0.980904]]
2025-10-27T17:31:03.122Z,1761586263.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520938,0.834524,0.179428],[-0.853419,-0.513455,-0.089664],[0.017302,-0.199836,0.979677]]
2025-10-27T17:31:03.510Z,1761586263.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519297,0.834142,0.185840],[-0.854384,-0.511566,-0.091265],[0.018942,-0.206173,0.978332]]
2025-10-27T17:31:03.564Z,1761586263.564 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:31:03.564Z,1761586263.564 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateRudder:A] Stopped
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:31:03.565Z,1761586263.565 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateCommandMode] Stopped
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:31:03.566Z,1761586263.566 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:31:03.567Z,1761586263.567 [marl:UpdateSpeed] Stopped
2025-10-27T17:31:03.567Z,1761586263.567 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:31:03.924Z,1761586263.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516546,0.834363,0.192403],[-0.856008,-0.508631,-0.092434],[0.020739,-0.212445,0.976953]]
2025-10-27T17:31:04.007Z,1761586264.007 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:31:04.007Z,1761586264.007 [marl:UpdateRudder:B] Stopped
2025-10-27T17:31:04.007Z,1761586264.007 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:31:04.007Z,1761586264.007 [marl:UpdateRudder] Stopped
2025-10-27T17:31:04.007Z,1761586264.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:31:04.318Z,1761586264.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512403,0.835709,0.197569],[-0.858451,-0.504509,-0.092373],[0.022479,-0.216935,0.975927]]
2025-10-27T17:31:04.727Z,1761586264.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506886,0.838495,0.199983],[-0.861687,-0.499252,-0.090793],[0.023712,-0.218344,0.975584]]
2025-10-27T17:31:05.127Z,1761586265.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500096,0.842369,0.200794],[-0.865635,-0.492732,-0.088834],[0.024107,-0.218239,0.975598]]
2025-10-27T17:31:05.529Z,1761586265.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492361,0.847738,0.197283],[-0.870085,-0.485386,-0.085741],[0.023072,-0.213869,0.976590]]
2025-10-27T17:31:05.938Z,1761586265.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484232,0.853677,0.191716],[-0.874698,-0.477485,-0.083138],[0.020569,-0.207952,0.977923]]
2025-10-27T17:31:06.339Z,1761586266.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476131,0.860460,0.181406],[-0.879214,-0.469747,-0.079504],[0.016805,-0.197349,0.980189]]
2025-10-27T17:31:06.368Z,1761586266.368 [DAT](INFO): DAT read: 

2025-10-27T17:31:06.369Z,1761586266.369 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:31:06.752Z,1761586266.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468886,0.866228,0.172616],[-0.883170,-0.462568,-0.077724],[0.012520,-0.188893,0.981918]]
2025-10-27T17:31:07.146Z,1761586267.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465361,0.869857,0.163671],[-0.885070,-0.459285,-0.075551],[0.009454,-0.180019,0.983618]]
2025-10-27T17:31:07.550Z,1761586267.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466470,0.870682,0.155942],[-0.884501,-0.460729,-0.073392],[0.007946,-0.172166,0.985036]]
2025-10-27T17:31:07.880Z,1761586267.880 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:31:07.881Z,1761586267.881 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:31:07.882Z,1761586267.882 [DAT](INFO): DAT read: Oct 27 2025 17:31:02 

2025-10-27T17:31:07.973Z,1761586267.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469634,0.869856,0.150979],[-0.882833,-0.464062,-0.072470],[0.007025,-0.167324,0.985877]]
2025-10-27T17:31:08.357Z,1761586268.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472541,0.868351,0.150567],[-0.881283,-0.466870,-0.073295],[0.006649,-0.167327,0.985879]]
2025-10-27T17:31:08.775Z,1761586268.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474408,0.866789,0.153666],[-0.880283,-0.468336,-0.075910],[0.006169,-0.171282,0.985203]]
2025-10-27T17:31:08.888Z,1761586268.888 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:31:08.889Z,1761586268.889 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:31:08.890Z,1761586268.890 [DAT](INFO): commRate: 600
2025-10-27T17:31:09.166Z,1761586269.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474682,0.865596,0.159438],[-0.880138,-0.468036,-0.079370],[0.005920,-0.178004,0.984012]]
2025-10-27T17:31:09.571Z,1761586269.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473570,0.865158,0.165024],[-0.880739,-0.466330,-0.082675],[0.005429,-0.184495,0.982818]]
2025-10-27T17:31:09.993Z,1761586269.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471294,0.865507,0.169644],[-0.881963,-0.463542,-0.085266],[0.004839,-0.189805,0.981810]]
2025-10-27T17:31:10.782Z,1761586270.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466546,0.867201,0.174061],[-0.884492,-0.458102,-0.088414],[0.003065,-0.195205,0.980758]]
2025-10-27T17:31:10.955Z,1761586270.955 [DAT](INFO): entering command mode
2025-10-27T17:31:11.156Z,1761586271.156 [DAT](INFO): DAT read: 

2025-10-27T17:31:11.156Z,1761586271.156 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:11.157Z,1761586271.157 [DAT](INFO): setting verbose to 3
2025-10-27T17:31:11.196Z,1761586271.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464188,0.868136,0.175695],[-0.885734,-0.455449,-0.089676],[0.002169,-0.197246,0.980352]]
2025-10-27T17:31:11.408Z,1761586271.408 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:11.409Z,1761586271.409 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:31:11.409Z,1761586271.409 [DAT](INFO): set verbose to 3
2025-10-27T17:31:11.409Z,1761586271.409 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:31:11.589Z,1761586271.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462545,0.868985,0.175836],[-0.886594,-0.453707,-0.090001],[0.001568,-0.197524,0.980297]]
2025-10-27T17:31:11.660Z,1761586271.660 [DAT](INFO): DAT read: user:2>

2025-10-27T17:31:11.661Z,1761586271.661 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:31:11.662Z,1761586271.662 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:31:11.662Z,1761586271.662 [DAT](INFO): setting transmit power to 8
2025-10-27T17:31:11.912Z,1761586271.912 [DAT](INFO): DAT read: user:3>

2025-10-27T17:31:11.913Z,1761586271.913 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:31:11.913Z,1761586271.913 [DAT](INFO): set transmit power to 8
2025-10-27T17:31:11.913Z,1761586271.913 [DAT](INFO): setting local address to 11
2025-10-27T17:31:11.996Z,1761586271.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460807,0.869782,0.176456],[-0.887500,-0.451816,-0.090589],[0.000933,-0.198349,0.980131]]
2025-10-27T17:31:12.164Z,1761586272.164 [DAT](INFO): DAT read: user:4>

2025-10-27T17:31:12.165Z,1761586272.165 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:31:12.166Z,1761586272.166 [DAT](INFO): set local address to 11
2025-10-27T17:31:12.166Z,1761586272.166 [DAT](INFO): Setting time to: 17:31:12 And date to:10/27/2025
2025-10-27T17:31:12.400Z,1761586272.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459404,0.870462,0.176757],[-0.888227,-0.450319,-0.090914],[0.000460,-0.198767,0.980047]]
2025-10-27T17:31:12.416Z,1761586272.416 [DAT](INFO): DAT read: user:5>

2025-10-27T17:31:12.417Z,1761586272.417 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:31:12  

2025-10-27T17:31:12.417Z,1761586272.417 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:31:12  

2025-10-27T17:31:12.418Z,1761586272.418 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:12.418Z,1761586272.418 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:12.418Z,1761586272.418 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:12.668Z,1761586272.668 [DAT](INFO): DAT read: user:6>

2025-10-27T17:31:12.669Z,1761586272.669 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:31:12.669Z,1761586272.669 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:31:12.669Z,1761586272.669 [DAT] Communications Fault, FailCount= 5
2025-10-27T17:31:12.669Z,1761586272.669 [DAT](ERROR): Communications Fault
2025-10-27T17:31:12.670Z,1761586272.670 [DAT](INFO): DAT read: user:7>

2025-10-27T17:31:12.671Z,1761586272.671 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:31:12.672Z,1761586272.672 [DAT](INFO): set remote address to 0
2025-10-27T17:31:12.672Z,1761586272.672 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:12.672Z,1761586272.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:12.672Z,1761586272.672 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:12.811Z,1761586272.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458140,0.871546,0.174689],[-0.888880,-0.449086,-0.090630],[-0.000537,-0.196799,0.980444]]
2025-10-27T17:31:13.076Z,1761586273.076 [DAT](INFO): Powering down
2025-10-27T17:31:13.157Z,1761586273.157 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:31:13.217Z,1761586273.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457774,0.872217,0.172279],[-0.889067,-0.448721,-0.090609],[-0.001725,-0.194646,0.980872]]
2025-10-27T17:31:13.613Z,1761586273.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459032,0.871916,0.170449],[-0.888416,-0.449920,-0.091047],[-0.002698,-0.193223,0.981151]]
2025-10-27T17:31:14.018Z,1761586274.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460871,0.871538,0.167391],[-0.887457,-0.451677,-0.091697],[-0.004311,-0.190812,0.981617]]
2025-10-27T17:31:14.192Z,1761586274.192 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:31:14.192Z,1761586274.192 [DAT] No Fault, FailCount= 5
2025-10-27T17:31:14.422Z,1761586274.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464251,0.870121,0.165411],[-0.885685,-0.454856,-0.093107],[-0.005776,-0.189727,0.981820]]
2025-10-27T17:31:14.880Z,1761586274.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468104,0.868665,0.162175],[-0.883645,-0.458655,-0.093851],[-0.007143,-0.187237,0.982289]]
2025-10-27T17:31:15.229Z,1761586275.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471559,0.867008,0.161028],[-0.881796,-0.461897,-0.095328],[-0.008272,-0.186946,0.982335]]
2025-10-27T17:31:15.633Z,1761586275.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474208,0.865431,0.161727],[-0.880368,-0.464256,-0.097048],[-0.008906,-0.188400,0.982052]]
2025-10-27T17:31:16.041Z,1761586276.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474976,0.864589,0.163963],[-0.879953,-0.464737,-0.098500],[-0.008963,-0.191065,0.981536]]
2025-10-27T17:31:16.307Z,1761586276.307 [DAT](INFO): Powering up
2025-10-27T17:31:16.307Z,1761586276.307 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:31:16.454Z,1761586276.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473992,0.864095,0.169328],[-0.880489,-0.463283,-0.100537],[-0.008427,-0.196746,0.980418]]
2025-10-27T17:31:16.517Z,1761586276.517 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:31:16.517Z,1761586276.517 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:31:16.517Z,1761586276.517 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateRudder:A] Stopped
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:31:16.518Z,1761586276.518 [marl:UpdateCommandMode] Stopped
2025-10-27T17:31:16.519Z,1761586276.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:31:16.519Z,1761586276.519 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:31:16.519Z,1761586276.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:31:16.519Z,1761586276.519 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:31:16.519Z,1761586276.519 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:31:16.520Z,1761586276.520 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:31:16.520Z,1761586276.520 [marl:UpdateSpeed] Stopped
2025-10-27T17:31:16.520Z,1761586276.520 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:31:16.921Z,1761586276.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471349,0.864246,0.175811],[-0.881917,-0.460244,-0.101968],[-0.007209,-0.203113,0.979129]]
2025-10-27T17:31:16.997Z,1761586276.997 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:31:16.997Z,1761586276.997 [marl:UpdateRudder:B] Stopped
2025-10-27T17:31:16.997Z,1761586276.997 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:31:16.997Z,1761586276.997 [marl:UpdateRudder] Stopped
2025-10-27T17:31:16.997Z,1761586276.997 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:31:17.654Z,1761586277.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460584,0.867595,0.187460],[-0.887606,-0.449152,-0.102074],[-0.004361,-0.213404,0.976954]]
2025-10-27T17:31:18.064Z,1761586278.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453237,0.870704,0.190922],[-0.891383,-0.441876,-0.100905],[-0.003494,-0.215918,0.976405]]
2025-10-27T17:31:18.469Z,1761586278.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444856,0.875228,0.189947],[-0.895594,-0.433833,-0.098486],[-0.003792,-0.213927,0.976842]]
2025-10-27T17:31:18.887Z,1761586278.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436035,0.880444,0.186258],[-0.899915,-0.425386,-0.095921],[-0.005222,-0.209441,0.977807]]
2025-10-27T17:31:19.270Z,1761586279.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427490,0.885859,0.180293],[-0.903989,-0.417220,-0.093446],[-0.007558,-0.202930,0.979164]]
2025-10-27T17:31:19.675Z,1761586279.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420389,0.890833,0.172306],[-0.907284,-0.410521,-0.091155],[-0.010469,-0.194651,0.980817]]
2025-10-27T17:31:20.077Z,1761586280.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416659,0.894048,0.164539],[-0.908975,-0.407219,-0.089093],[-0.012650,-0.186683,0.982339]]
2025-10-27T17:31:20.482Z,1761586280.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416392,0.895718,0.155910],[-0.909080,-0.407564,-0.086403],[-0.013850,-0.177712,0.983985]]
2025-10-27T17:31:20.892Z,1761586280.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418365,0.895527,0.151664],[-0.908168,-0.409828,-0.085273],[-0.014208,-0.173412,0.984747]]
2025-10-27T17:31:21.694Z,1761586281.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423546,0.893235,0.150802],[-0.905753,-0.414847,-0.086682],[-0.014867,-0.173303,0.984756]]
2025-10-27T17:31:22.098Z,1761586282.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426355,0.891585,0.152633],[-0.904422,-0.417278,-0.088881],[-0.015554,-0.175939,0.984278]]
2025-10-27T17:31:22.503Z,1761586282.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429537,0.889853,0.153818],[-0.902906,-0.420162,-0.090688],[-0.016070,-0.177837,0.983929]]
2025-10-27T17:31:22.905Z,1761586282.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433089,0.887829,0.155543],[-0.901199,-0.423353,-0.092800],[-0.016540,-0.180366,0.983461]]
2025-10-27T17:31:23.310Z,1761586283.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436388,0.886035,0.156547],[-0.899602,-0.426407,-0.094308],[-0.016807,-0.181985,0.983158]]
2025-10-27T17:31:23.714Z,1761586283.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439513,0.884514,0.156409],[-0.898079,-0.429463,-0.094953],[-0.016815,-0.182200,0.983118]]
2025-10-27T17:31:24.126Z,1761586284.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441718,0.883313,0.156983],[-0.896998,-0.431567,-0.095627],[-0.016720,-0.183053,0.982961]]
2025-10-27T17:31:24.523Z,1761586284.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442562,0.882359,0.159944],[-0.896582,-0.432064,-0.097269],[-0.016720,-0.186450,0.982322]]
2025-10-27T17:31:24.942Z,1761586284.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441627,0.881928,0.164831],[-0.897049,-0.430688,-0.099047],[-0.016362,-0.191603,0.981336]]
2025-10-27T17:31:25.329Z,1761586285.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439530,0.882034,0.169796],[-0.898085,-0.428165,-0.100586],[-0.016020,-0.196701,0.980333]]
2025-10-27T17:31:25.741Z,1761586285.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435997,0.882909,0.174293],[-0.899804,-0.424206,-0.101992],[-0.016113,-0.201298,0.979398]]
2025-10-27T17:31:26.162Z,1761586286.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426430,0.886098,0.181625],[-0.904339,-0.413637,-0.105240],[-0.018126,-0.209128,0.977720]]
2025-10-27T17:31:26.956Z,1761586286.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418275,0.889862,0.182186],[-0.908081,-0.405063,-0.106362],[-0.020851,-0.209928,0.977494]]
2025-10-27T17:31:27.354Z,1761586287.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414993,0.891768,0.180362],[-0.909565,-0.401909,-0.105641],[-0.021718,-0.207891,0.977911]]
2025-10-27T17:31:27.763Z,1761586287.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411927,0.893361,0.179508],[-0.910950,-0.398972,-0.104836],[-0.022037,-0.206708,0.978155]]
2025-10-27T17:31:27.900Z,1761586287.900 [DAT](INFO): DAT read: 

2025-10-27T17:31:27.900Z,1761586287.900 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:31:28.174Z,1761586288.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408193,0.895359,0.178077],[-0.912624,-0.395473,-0.103530],[-0.022271,-0.204778,0.978555]]
2025-10-27T17:31:28.235Z,1761586288.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:31:28.566Z,1761586288.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403815,0.897665,0.176440],[-0.914570,-0.391426,-0.101721],[-0.022249,-0.202443,0.979041]]
2025-10-27T17:31:29.239Z,1761586289.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:31:29.372Z,1761586289.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394778,0.902335,0.173037],[-0.918515,-0.383114,-0.097743],[-0.021904,-0.197524,0.980053]]
2025-10-27T17:31:29.396Z,1761586289.396 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateRudder:A] Stopped
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:31:29.397Z,1761586289.397 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateCommandMode] Stopped
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:31:29.398Z,1761586289.398 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:31:29.399Z,1761586289.399 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:31:29.399Z,1761586289.399 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:31:29.399Z,1761586289.399 [marl:UpdateSpeed] Stopped
2025-10-27T17:31:29.399Z,1761586289.399 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:31:29.413Z,1761586289.413 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:31:29.424Z,1761586289.424 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:31:29.425Z,1761586289.425 [DAT](INFO): DAT read: Oct 27 2025 17:31:24 

2025-10-27T17:31:29.774Z,1761586289.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390902,0.904207,0.172063],[-0.920169,-0.379426,-0.096571],[-0.022035,-0.196077,0.980341]]
2025-10-27T17:31:29.811Z,1761586289.811 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:31:29.811Z,1761586289.811 [marl:UpdateRudder:B] Stopped
2025-10-27T17:31:29.811Z,1761586289.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:31:29.811Z,1761586289.811 [marl:UpdateRudder] Stopped
2025-10-27T17:31:29.811Z,1761586289.811 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:31:30.179Z,1761586290.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388469,0.905671,0.169857],[-0.921190,-0.377224,-0.095450],[-0.022372,-0.193550,0.980835]]
2025-10-27T17:31:30.421Z,1761586290.421 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:31:30.423Z,1761586290.423 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:31:30.424Z,1761586290.424 [DAT](INFO): commRate: 600
2025-10-27T17:31:30.582Z,1761586290.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387567,0.906667,0.166573],[-0.921570,-0.376693,-0.093865],[-0.022357,-0.189888,0.981551]]
2025-10-27T17:31:30.987Z,1761586290.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387991,0.907074,0.163338],[-0.921394,-0.377452,-0.092541],[-0.022289,-0.186404,0.982220]]
2025-10-27T17:31:31.390Z,1761586291.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388845,0.907120,0.161038],[-0.921037,-0.378544,-0.091625],[-0.022155,-0.183950,0.982686]]
2025-10-27T17:31:31.794Z,1761586291.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390351,0.906959,0.158278],[-0.920404,-0.380326,-0.090604],[-0.021977,-0.181047,0.983229]]
2025-10-27T17:31:32.199Z,1761586292.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391998,0.906559,0.156486],[-0.919716,-0.382212,-0.089650],[-0.021462,-0.179065,0.983603]]
2025-10-27T17:31:32.487Z,1761586292.487 [DAT](INFO): entering command mode
2025-10-27T17:31:32.603Z,1761586292.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393400,0.905827,0.157209],[-0.919130,-0.383618,-0.089655],[-0.020904,-0.179766,0.983487]]
2025-10-27T17:31:32.693Z,1761586292.693 [DAT](INFO): DAT read: 

2025-10-27T17:31:32.694Z,1761586292.694 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:32.695Z,1761586292.695 [DAT](INFO): setting verbose to 3
2025-10-27T17:31:32.944Z,1761586292.944 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:32.945Z,1761586292.945 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:31:32.945Z,1761586292.945 [DAT](INFO): set verbose to 3
2025-10-27T17:31:32.945Z,1761586292.945 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:31:33.012Z,1761586293.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394362,0.905486,0.156758],[-0.918732,-0.384731,-0.088959],[-0.020242,-0.179101,0.983622]]
2025-10-27T17:31:33.196Z,1761586293.196 [DAT](INFO): DAT read: user:2>

2025-10-27T17:31:33.197Z,1761586293.197 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:31:33.197Z,1761586293.197 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:31:33.197Z,1761586293.197 [DAT](INFO): setting transmit power to 8
2025-10-27T17:31:33.423Z,1761586293.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395268,0.905164,0.156339],[-0.918350,-0.385724,-0.088600],[-0.019893,-0.178595,0.983722]]
2025-10-27T17:31:33.448Z,1761586293.448 [DAT](INFO): DAT read: user:3>

2025-10-27T17:31:33.449Z,1761586293.449 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:31:33.449Z,1761586293.449 [DAT](INFO): set transmit power to 8
2025-10-27T17:31:33.449Z,1761586293.449 [DAT](INFO): setting local address to 11
2025-10-27T17:31:33.700Z,1761586293.700 [DAT](INFO): DAT read: user:4>

2025-10-27T17:31:33.701Z,1761586293.701 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:31:33.701Z,1761586293.701 [DAT](INFO): set local address to 11
2025-10-27T17:31:33.702Z,1761586293.702 [DAT](INFO): Setting time to: 17:31:33 And date to:10/27/2025
2025-10-27T17:31:33.813Z,1761586293.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395232,0.904711,0.159025],[-0.918364,-0.385407,-0.089828],[-0.019979,-0.181545,0.983180]]
2025-10-27T17:31:33.952Z,1761586293.952 [DAT](INFO): DAT read: user:5>

2025-10-27T17:31:33.953Z,1761586293.953 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:31:33  

2025-10-27T17:31:33.953Z,1761586293.953 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:31:33  

2025-10-27T17:31:33.954Z,1761586293.954 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:33.954Z,1761586293.954 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:33.954Z,1761586293.954 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:34.204Z,1761586294.204 [DAT](INFO): DAT read: user:6>

2025-10-27T17:31:34.205Z,1761586294.205 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:31:34.205Z,1761586294.205 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:31:34.205Z,1761586294.205 [DAT] Communications Fault, FailCount= 6
2025-10-27T17:31:34.205Z,1761586294.205 [DAT](ERROR): Communications Fault
2025-10-27T17:31:34.206Z,1761586294.206 [DAT](INFO): DAT read: user:7>

2025-10-27T17:31:34.207Z,1761586294.207 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:31:34.208Z,1761586294.208 [DAT](INFO): set remote address to 0
2025-10-27T17:31:34.208Z,1761586294.208 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:34.208Z,1761586294.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:34.208Z,1761586294.208 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:34.268Z,1761586294.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394752,0.904847,0.159447],[-0.918563,-0.384828,-0.090273],[-0.020323,-0.182098,0.983070]]
2025-10-27T17:31:34.482Z,1761586294.482 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:31:34.615Z,1761586294.615 [DAT](INFO): Powering down
2025-10-27T17:31:34.629Z,1761586294.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394648,0.904864,0.159604],[-0.918600,-0.384644,-0.090682],[-0.020664,-0.182399,0.983007]]
2025-10-27T17:31:35.031Z,1761586295.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394500,0.904466,0.162203],[-0.918665,-0.384250,-0.091690],[-0.020604,-0.185182,0.982488]]
2025-10-27T17:31:35.436Z,1761586295.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394270,0.904338,0.163473],[-0.918759,-0.383860,-0.092374],[-0.020787,-0.186612,0.982214]]
2025-10-27T17:31:35.631Z,1761586295.631 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:31:35.631Z,1761586295.631 [DAT] No Fault, FailCount= 6
2025-10-27T17:31:35.838Z,1761586295.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393651,0.903993,0.166837],[-0.919016,-0.382830,-0.094078],[-0.021175,-0.190360,0.981486]]
2025-10-27T17:31:36.249Z,1761586296.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392756,0.903673,0.170642],[-0.919383,-0.381417,-0.096209],[-0.021856,-0.194672,0.980625]]
2025-10-27T17:31:36.646Z,1761586296.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391794,0.903231,0.175131],[-0.919775,-0.379836,-0.098685],[-0.022614,-0.199745,0.979587]]
2025-10-27T17:31:37.049Z,1761586297.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390417,0.903053,0.179079],[-0.920344,-0.377918,-0.100726],[-0.023283,-0.204139,0.978665]]
2025-10-27T17:31:37.454Z,1761586297.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387704,0.903601,0.182185],[-0.921467,-0.374743,-0.102307],[-0.024172,-0.207542,0.977927]]
2025-10-27T17:31:37.843Z,1761586297.843 [DAT](INFO): Powering up
2025-10-27T17:31:37.843Z,1761586297.843 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:31:37.872Z,1761586297.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384758,0.904434,0.184285],[-0.922685,-0.371520,-0.103077],[-0.024761,-0.209697,0.977453]]
2025-10-27T17:31:38.262Z,1761586298.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381347,0.905493,0.186166],[-0.924083,-0.367862,-0.103672],[-0.025391,-0.211568,0.977033]]
2025-10-27T17:31:38.665Z,1761586298.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376802,0.907125,0.187468],[-0.925939,-0.363261,-0.103338],[-0.025641,-0.212522,0.976820]]
2025-10-27T17:31:39.070Z,1761586299.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371669,0.909256,0.187394],[-0.928015,-0.358332,-0.101918],[-0.025521,-0.211784,0.976983]]
2025-10-27T17:31:39.475Z,1761586299.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365898,0.911722,0.186765],[-0.930311,-0.352868,-0.100026],[-0.025292,-0.210349,0.977299]]
2025-10-27T17:31:39.898Z,1761586299.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359792,0.914597,0.184558],[-0.932700,-0.347275,-0.097319],[-0.024916,-0.207152,0.977992]]
2025-10-27T17:31:40.282Z,1761586300.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353261,0.917636,0.182075],[-0.935201,-0.341266,-0.094529],[-0.024607,-0.203670,0.978730]]
2025-10-27T17:31:40.686Z,1761586300.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346967,0.920380,0.180316],[-0.937568,-0.335442,-0.091902],[-0.024100,-0.200945,0.979306]]
2025-10-27T17:31:41.091Z,1761586301.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341359,0.922819,0.178548],[-0.939647,-0.330357,-0.089037],[-0.023181,-0.198166,0.979894]]
2025-10-27T17:31:41.494Z,1761586301.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336820,0.925256,0.174512],[-0.941304,-0.326493,-0.085728],[-0.022343,-0.193144,0.980916]]
2025-10-27T17:31:41.918Z,1761586301.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334297,0.926941,0.170371],[-0.942224,-0.324598,-0.082763],[-0.021414,-0.188195,0.981898]]
2025-10-27T17:31:42.306Z,1761586302.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334104,0.927973,0.165050],[-0.942317,-0.325084,-0.079745],[-0.020346,-0.182172,0.983056]]
2025-10-27T17:31:42.374Z,1761586302.374 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:31:42.375Z,1761586302.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:31:42.375Z,1761586302.375 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:31:42.376Z,1761586302.376 [marl:UpdateRudder:A] Stopped
2025-10-27T17:31:42.376Z,1761586302.376 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:31:42.376Z,1761586302.376 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:31:42.377Z,1761586302.377 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:31:42.377Z,1761586302.377 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:31:42.378Z,1761586302.378 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:31:42.378Z,1761586302.378 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:31:42.378Z,1761586302.378 [marl:UpdateCommandMode] Stopped
2025-10-27T17:31:42.378Z,1761586302.378 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:31:42.379Z,1761586302.379 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:31:42.379Z,1761586302.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:31:42.387Z,1761586302.387 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:31:42.387Z,1761586302.387 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:31:42.387Z,1761586302.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:31:42.388Z,1761586302.388 [marl:UpdateSpeed] Stopped
2025-10-27T17:31:42.388Z,1761586302.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:31:42.710Z,1761586302.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336262,0.928078,0.159999],[-0.941569,-0.327810,-0.077381],[-0.019367,-0.176671,0.984079]]
2025-10-27T17:31:42.802Z,1761586302.802 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:31:42.802Z,1761586302.802 [marl:UpdateRudder:B] Stopped
2025-10-27T17:31:42.802Z,1761586302.802 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:31:42.802Z,1761586302.802 [marl:UpdateRudder] Stopped
2025-10-27T17:31:42.802Z,1761586302.802 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:31:43.114Z,1761586303.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340319,0.927351,0.155574],[-0.940124,-0.332269,-0.075924],[-0.018716,-0.172097,0.984902]]
2025-10-27T17:31:43.518Z,1761586303.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345653,0.925577,0.154371],[-0.938186,-0.337693,-0.075960],[-0.018177,-0.171084,0.985089]]
2025-10-27T17:31:43.922Z,1761586303.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352165,0.922843,0.156013],[-0.935767,-0.343988,-0.077539],[-0.017890,-0.173299,0.984707]]
2025-10-27T17:31:44.327Z,1761586304.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359359,0.919357,0.160134],[-0.933038,-0.350773,-0.079992],[-0.017371,-0.178157,0.983849]]
2025-10-27T17:31:44.738Z,1761586304.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366676,0.915685,0.164530],[-0.930200,-0.357680,-0.082415],[-0.016617,-0.183265,0.982923]]
2025-10-27T17:31:45.134Z,1761586305.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373016,0.911929,0.171010],[-0.927695,-0.363494,-0.085167],[-0.015506,-0.190414,0.981581]]
2025-10-27T17:31:45.538Z,1761586305.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376985,0.909074,0.177388],[-0.926109,-0.367009,-0.087327],[-0.014284,-0.197202,0.980259]]
2025-10-27T17:31:45.946Z,1761586305.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378755,0.906761,0.185281],[-0.925408,-0.368286,-0.089358],[-0.012790,-0.205305,0.978614]]
2025-10-27T17:31:46.023Z,1761586306.023 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:31:46.346Z,1761586306.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378597,0.905034,0.193849],[-0.925501,-0.367778,-0.090485],[-0.010599,-0.213665,0.976850]]
2025-10-27T17:31:46.563Z,1761586306.563 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:31:46.563Z,1761586306.563 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:31:46.756Z,1761586306.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376591,0.904349,0.200828],[-0.926350,-0.365887,-0.089459],[-0.007422,-0.219726,0.975533]]
2025-10-27T17:31:47.559Z,1761586307.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368533,0.904891,0.212968],[-0.929613,-0.359186,-0.082498],[0.001843,-0.228381,0.973570]]
2025-10-27T17:31:47.961Z,1761586307.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362696,0.906380,0.216625],[-0.931880,-0.354530,-0.076860],[0.007135,-0.229746,0.973225]]
2025-10-27T17:31:48.372Z,1761586308.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355604,0.908656,0.218839],[-0.934558,-0.348726,-0.070646],[0.012122,-0.229640,0.973200]]
2025-10-27T17:31:48.770Z,1761586308.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347285,0.911762,0.219280],[-0.937622,-0.341617,-0.064523],[0.016080,-0.228010,0.973526]]
2025-10-27T17:31:49.173Z,1761586309.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337921,0.916202,0.215369],[-0.940995,-0.333363,-0.058291],[0.018389,-0.222359,0.974791]]
2025-10-27T17:31:49.436Z,1761586309.436 [DAT](INFO): DAT read: 

2025-10-27T17:31:49.436Z,1761586309.436 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:31:49.577Z,1761586309.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328095,0.921512,0.207774],[-0.944462,-0.324320,-0.052984],[0.018560,-0.213619,0.976741]]
2025-10-27T17:31:49.982Z,1761586309.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318044,0.927704,0.195484],[-0.947930,-0.314774,-0.048427],[0.016608,-0.200707,0.979511]]
2025-10-27T17:31:50.396Z,1761586310.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308375,0.933916,0.180849],[-0.951178,-0.305290,-0.045371],[0.012839,-0.186011,0.982464]]
2025-10-27T17:31:50.790Z,1761586310.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299984,0.939392,0.165991],[-0.953911,-0.296850,-0.043978],[0.007962,-0.171533,0.985146]]
2025-10-27T17:31:50.949Z,1761586310.949 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:31:50.950Z,1761586310.950 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:31:50.951Z,1761586310.951 [DAT](INFO): DAT read: Oct 27 2025 17:31:45 

2025-10-27T17:31:51.194Z,1761586311.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294682,0.942966,0.154849],[-0.955589,-0.291378,-0.044143],[0.003494,-0.160980,0.986952]]
2025-10-27T17:31:51.599Z,1761586311.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294935,0.944215,0.146534],[-0.955517,-0.291609,-0.044183],[0.001013,-0.153046,0.988218]]
2025-10-27T17:31:51.956Z,1761586311.956 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:31:51.957Z,1761586311.957 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:31:51.958Z,1761586311.958 [DAT](INFO): commRate: 600
2025-10-27T17:31:52.001Z,1761586312.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300889,0.942548,0.145148],[-0.953659,-0.297520,-0.044911],[0.000854,-0.151935,0.988390]]
2025-10-27T17:31:52.407Z,1761586312.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308290,0.939545,0.149040],[-0.951291,-0.304715,-0.046835],[0.001411,-0.156219,0.987721]]
2025-10-27T17:31:52.853Z,1761586312.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314601,0.936202,0.156693],[-0.949222,-0.310648,-0.049758],[0.002093,-0.164390,0.986393]]
2025-10-27T17:31:53.217Z,1761586313.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319471,0.932826,0.166657],[-0.947591,-0.315070,-0.052940],[0.003124,-0.174835,0.984593]]
2025-10-27T17:31:54.022Z,1761586314.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323307,0.927544,0.187445],[-0.946280,-0.317999,-0.058579],[0.005273,-0.196314,0.980527]]
2025-10-27T17:31:54.023Z,1761586314.023 [DAT](INFO): entering command mode
2025-10-27T17:31:54.224Z,1761586314.224 [DAT](INFO): DAT read: 

2025-10-27T17:31:54.224Z,1761586314.224 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:54.225Z,1761586314.225 [DAT](INFO): setting verbose to 3
2025-10-27T17:31:54.426Z,1761586314.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322782,0.926038,0.195616],[-0.946456,-0.317070,-0.060734],[0.005782,-0.204746,0.978798]]
2025-10-27T17:31:54.476Z,1761586314.476 [DAT](INFO): DAT read: user:1>

2025-10-27T17:31:54.477Z,1761586314.477 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:31:54.477Z,1761586314.477 [DAT](INFO): set verbose to 3
2025-10-27T17:31:54.477Z,1761586314.477 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:31:54.728Z,1761586314.728 [DAT](INFO): DAT read: user:2>

2025-10-27T17:31:54.729Z,1761586314.729 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:31:54.730Z,1761586314.730 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:31:54.730Z,1761586314.730 [DAT](INFO): setting transmit power to 8
2025-10-27T17:31:54.886Z,1761586314.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321470,0.925212,0.201594],[-0.946899,-0.315491,-0.062021],[0.006219,-0.210827,0.977504]]
2025-10-27T17:31:54.981Z,1761586314.981 [DAT](INFO): DAT read: user:3>

2025-10-27T17:31:54.982Z,1761586314.982 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:31:54.982Z,1761586314.982 [DAT](INFO): set transmit power to 8
2025-10-27T17:31:54.982Z,1761586314.982 [DAT](INFO): setting local address to 11
2025-10-27T17:31:55.232Z,1761586315.232 [DAT](INFO): DAT read: user:4>

2025-10-27T17:31:55.233Z,1761586315.233 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:31:55.233Z,1761586315.233 [DAT](INFO): set local address to 11
2025-10-27T17:31:55.234Z,1761586315.234 [DAT](INFO): Setting time to: 17:31:55 And date to:10/27/2025
2025-10-27T17:31:55.246Z,1761586315.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319207,0.924928,0.206435],[-0.947662,-0.313042,-0.062777],[0.006558,-0.215669,0.976444]]
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateRudder:A] Stopped
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:31:55.309Z,1761586315.309 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode] Stopped
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:31:55.310Z,1761586315.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:31:55.311Z,1761586315.311 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:31:55.315Z,1761586315.315 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:31:55.315Z,1761586315.315 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:31:55.315Z,1761586315.315 [marl:UpdateSpeed] Stopped
2025-10-27T17:31:55.316Z,1761586315.316 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:31:55.484Z,1761586315.484 [DAT](INFO): DAT read: user:5>

2025-10-27T17:31:55.485Z,1761586315.485 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:31:55  

2025-10-27T17:31:55.485Z,1761586315.485 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:31:55  

2025-10-27T17:31:55.486Z,1761586315.486 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:55.486Z,1761586315.486 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:55.486Z,1761586315.486 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:55.638Z,1761586315.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316144,0.925307,0.209427],[-0.948684,-0.310007,-0.062401],[0.007184,-0.218408,0.975831]]
2025-10-27T17:31:55.694Z,1761586315.694 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-10-27T17:31:55.718Z,1761586315.718 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:31:55.718Z,1761586315.718 [marl:UpdateRudder:B] Stopped
2025-10-27T17:31:55.719Z,1761586315.719 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:31:55.719Z,1761586315.719 [marl:UpdateRudder] Stopped
2025-10-27T17:31:55.719Z,1761586315.719 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:31:55.737Z,1761586315.737 [DAT](INFO): DAT read: user:6>

2025-10-27T17:31:55.738Z,1761586315.738 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:31:55.739Z,1761586315.739 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:31:55.739Z,1761586315.739 [DAT] Communications Fault, FailCount= 7
2025-10-27T17:31:55.740Z,1761586315.740 [DAT](ERROR): Communications Fault
2025-10-27T17:31:55.741Z,1761586315.741 [DAT](INFO): DAT read: user:7>

2025-10-27T17:31:55.742Z,1761586315.742 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:31:55.742Z,1761586315.742 [DAT](INFO): set remote address to 0
2025-10-27T17:31:55.751Z,1761586315.751 [DAT](INFO): setting remote address to 6
2025-10-27T17:31:55.752Z,1761586315.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:31:55.753Z,1761586315.753 [DAT](INFO): setting remote address to 0
2025-10-27T17:31:55.895Z,1761586315.895 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:31:56.042Z,1761586316.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312124,0.926228,0.211378],[-0.950008,-0.306158,-0.061256],[0.007978,-0.219930,0.975483]]
2025-10-27T17:31:56.160Z,1761586316.160 [DAT](INFO): Powering down
2025-10-27T17:31:56.890Z,1761586316.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300986,0.929268,0.214169],[-0.953572,-0.295725,-0.056983],[0.010382,-0.221377,0.975133]]
2025-10-27T17:31:57.246Z,1761586317.246 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:31:57.246Z,1761586317.246 [DAT] No Fault, FailCount= 7
2025-10-27T17:31:57.277Z,1761586317.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293925,0.931595,0.213866],[-0.955759,-0.289152,-0.053998],[0.011536,-0.220276,0.975369]]
2025-10-27T17:31:57.669Z,1761586317.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285820,0.934381,0.212693],[-0.958205,-0.281507,-0.050963],[0.012255,-0.218370,0.975789]]
2025-10-27T17:31:58.074Z,1761586318.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277515,0.937069,0.211865],[-0.960647,-0.273403,-0.049069],[0.011943,-0.217145,0.976066]]
2025-10-27T17:31:58.897Z,1761586318.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271839,0.937215,0.218476],[-0.962274,-0.267429,-0.050099],[0.011473,-0.223852,0.974556]]
2025-10-27T17:31:59.289Z,1761586319.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278566,0.930576,0.237547],[-0.960318,-0.273429,-0.055000],[0.013771,-0.243442,0.969818]]
2025-10-27T17:31:59.373Z,1761586319.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:31:59.404Z,1761586319.404 [DAT](INFO): Powering up
2025-10-27T17:31:59.404Z,1761586319.404 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:31:59.690Z,1761586319.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289954,0.920454,0.262090],[-0.956881,-0.283821,-0.061839],[0.017467,-0.268719,0.963060]]
2025-10-27T17:32:00.096Z,1761586320.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303619,0.908042,0.288575],[-0.952533,-0.296359,-0.069653],[0.022274,-0.296026,0.954920]]
2025-10-27T17:32:00.375Z,1761586320.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:32:00.498Z,1761586320.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318388,0.894005,0.315252],[-0.947560,-0.309804,-0.078433],[0.027547,-0.323693,0.945761]]
2025-10-27T17:32:00.899Z,1761586320.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333014,0.880113,0.338384],[-0.942347,-0.323168,-0.086856],[0.032911,-0.347799,0.936991]]
2025-10-27T17:32:01.409Z,1761586321.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360509,0.854512,0.373955],[-0.931748,-0.348538,-0.101814],[0.043337,-0.385137,0.921841]]
2025-10-27T17:32:01.816Z,1761586321.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374142,0.844169,0.383922],[-0.926099,-0.361787,-0.107008],[0.048565,-0.395585,0.917144]]
2025-10-27T17:32:02.239Z,1761586322.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388420,0.835030,0.389685],[-0.919905,-0.376112,-0.110972],[0.053900,-0.401577,0.914238]]
2025-10-27T17:32:02.637Z,1761586322.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404128,0.827299,0.390201],[-0.912783,-0.392363,-0.113480],[0.059218,-0.402030,0.913710]]
2025-10-27T17:32:03.068Z,1761586323.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420933,0.820553,0.386662],[-0.904792,-0.410143,-0.114604],[0.064547,-0.398089,0.915073]]
2025-10-27T17:32:03.466Z,1761586323.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439482,0.813276,0.381364],[-0.895534,-0.429702,-0.115649],[0.069818,-0.392350,0.917163]]
2025-10-27T17:32:03.980Z,1761586323.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459387,0.804838,0.375764],[-0.885083,-0.450391,-0.117372],[0.074775,-0.386501,0.919253]]
2025-10-27T17:32:04.382Z,1761586324.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479821,0.794621,0.371955],[-0.873788,-0.471049,-0.120864],[0.079168,-0.383002,0.920349]]
2025-10-27T17:32:04.787Z,1761586324.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500274,0.783060,0.369518],[-0.861853,-0.491380,-0.125524],[0.083281,-0.381266,0.920706]]
2025-10-27T17:32:05.189Z,1761586325.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519102,0.770770,0.369387],[-0.850270,-0.509695,-0.131348],[0.087036,-0.382262,0.919946]]
2025-10-27T17:32:05.631Z,1761586325.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535435,0.757850,0.372790],[-0.839684,-0.525112,-0.138523],[0.090776,-0.387196,0.917518]]
2025-10-27T17:32:06.029Z,1761586326.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549433,0.745732,0.376838],[-0.830201,-0.538142,-0.145499],[0.094289,-0.392793,0.914780]]
2025-10-27T17:32:06.519Z,1761586326.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561853,0.734331,0.380892],[-0.821541,-0.549258,-0.152925],[0.096911,-0.398840,0.911885]]
2025-10-27T17:32:07.029Z,1761586327.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583490,0.715384,0.384401],[-0.806027,-0.568004,-0.166409],[0.099295,-0.406936,0.908044]]
2025-10-27T17:32:07.418Z,1761586327.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593055,0.708440,0.382621],[-0.799047,-0.576307,-0.171447],[0.099047,-0.407410,0.907859]]
2025-10-27T17:32:07.818Z,1761586327.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602553,0.702173,0.379319],[-0.792025,-0.584552,-0.176053],[0.098113,-0.406512,0.908362]]
2025-10-27T17:32:08.225Z,1761586328.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613020,0.696611,0.372746],[-0.784077,-0.594395,-0.178655],[0.097105,-0.401780,0.910573]]
2025-10-27T17:32:08.682Z,1761586328.682 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:32:08.682Z,1761586328.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:32:08.682Z,1761586328.682 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:32:08.683Z,1761586328.683 [marl:UpdateRudder:A] Stopped
2025-10-27T17:32:08.683Z,1761586328.683 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:32:08.699Z,1761586328.699 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:32:08.699Z,1761586328.699 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:32:08.699Z,1761586328.699 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:32:08.699Z,1761586328.699 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateCommandMode] Stopped
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:32:08.700Z,1761586328.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:32:08.701Z,1761586328.701 [marl:UpdateSpeed] Stopped
2025-10-27T17:32:08.701Z,1761586328.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:32:09.097Z,1761586329.097 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:32:09.097Z,1761586329.097 [marl:UpdateRudder:B] Stopped
2025-10-27T17:32:09.097Z,1761586329.097 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:32:09.097Z,1761586329.097 [marl:UpdateRudder] Stopped
2025-10-27T17:32:09.097Z,1761586329.097 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:32:09.481Z,1761586329.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651462,0.672981,0.350277],[-0.752609,-0.631545,-0.186362],[0.095798,-0.385030,0.917919]]
2025-10-27T17:32:09.881Z,1761586329.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664432,0.663877,0.343216],[-0.741331,-0.643630,-0.190180],[0.094649,-0.380798,0.919801]]
2025-10-27T17:32:10.285Z,1761586330.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676177,0.655097,0.337095],[-0.730824,-0.654283,-0.194448],[0.093173,-0.377838,0.921172]]
2025-10-27T17:32:10.690Z,1761586330.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686885,0.646775,0.331469],[-0.721006,-0.663745,-0.198977],[0.091318,-0.375665,0.922245]]
2025-10-27T17:32:11.004Z,1761586331.004 [DAT](INFO): DAT read: 

2025-10-27T17:32:11.004Z,1761586331.004 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:32:11.095Z,1761586331.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696391,0.638589,0.327482],[-0.712084,-0.671629,-0.204573],[0.089308,-0.375657,0.922446]]
2025-10-27T17:32:11.498Z,1761586331.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705369,0.630818,0.323300],[-0.703428,-0.679191,-0.209497],[0.087427,-0.375191,0.922815]]
2025-10-27T17:32:11.901Z,1761586331.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714005,0.623327,0.318842],[-0.694921,-0.686436,-0.214222],[0.085334,-0.374525,0.923282]]
2025-10-27T17:32:12.520Z,1761586332.520 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:32:12.521Z,1761586332.521 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:32:12.522Z,1761586332.522 [DAT](INFO): DAT read: Oct 27 2025 17:32:07 

2025-10-27T17:32:12.730Z,1761586332.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732068,0.608145,0.306979],[-0.676416,-0.702391,-0.221605],[0.080851,-0.369875,0.925557]]
2025-10-27T17:32:13.249Z,1761586333.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742146,0.599590,0.299516],[-0.665594,-0.711832,-0.224231],[0.078758,-0.365769,0.927367]]
2025-10-27T17:32:13.528Z,1761586333.528 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:32:13.529Z,1761586333.529 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:32:13.530Z,1761586333.530 [DAT](INFO): commRate: 600
2025-10-27T17:32:13.713Z,1761586333.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753333,0.589300,0.291915],[-0.653137,-0.722281,-0.227427],[0.076822,-0.361989,0.929012]]
2025-10-27T17:32:14.219Z,1761586334.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779947,0.562891,0.273562],[-0.621692,-0.747113,-0.235205],[0.071987,-0.353519,0.932653]]
2025-10-27T17:32:14.703Z,1761586334.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794965,0.546244,0.263910],[-0.602713,-0.760666,-0.241090],[0.069053,-0.350720,0.933931]]
2025-10-27T17:32:15.132Z,1761586335.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810276,0.527816,0.254683],[-0.582342,-0.773945,-0.248771],[0.065805,-0.349886,0.934478]]
2025-10-27T17:32:15.554Z,1761586335.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825089,0.509033,0.245179],[-0.561572,-0.786585,-0.256750],[0.062160,-0.349528,0.934862]]
2025-10-27T17:32:15.595Z,1761586335.595 [DAT](INFO): entering command mode
2025-10-27T17:32:15.795Z,1761586335.795 [DAT](INFO): DAT read: 

2025-10-27T17:32:15.796Z,1761586335.796 [DAT](INFO): DAT read: user:1>

2025-10-27T17:32:15.796Z,1761586335.796 [DAT](INFO): setting verbose to 3
2025-10-27T17:32:15.951Z,1761586335.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838885,0.490081,0.236841],[-0.541173,-0.797598,-0.266401],[0.058346,-0.351652,0.934311]]
2025-10-27T17:32:16.048Z,1761586336.048 [DAT](INFO): DAT read: user:1>

2025-10-27T17:32:16.049Z,1761586336.049 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:32:16.050Z,1761586336.050 [DAT](INFO): set verbose to 3
2025-10-27T17:32:16.050Z,1761586336.050 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:32:16.300Z,1761586336.300 [DAT](INFO): DAT read: user:2>

2025-10-27T17:32:16.301Z,1761586336.301 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:32:16.302Z,1761586336.302 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:32:16.303Z,1761586336.303 [DAT](INFO): setting transmit power to 8
2025-10-27T17:32:16.368Z,1761586336.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851663,0.471468,0.228883],[-0.521275,-0.807236,-0.276844],[0.054239,-0.355089,0.933258]]
2025-10-27T17:32:16.552Z,1761586336.552 [DAT](INFO): DAT read: user:3>

2025-10-27T17:32:16.553Z,1761586336.553 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:32:16.553Z,1761586336.553 [DAT](INFO): set transmit power to 8
2025-10-27T17:32:16.553Z,1761586336.553 [DAT](INFO): setting local address to 11
2025-10-27T17:32:16.805Z,1761586336.805 [DAT](INFO): DAT read: user:4>

2025-10-27T17:32:16.807Z,1761586336.807 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:32:16.808Z,1761586336.808 [DAT](INFO): set local address to 11
2025-10-27T17:32:16.812Z,1761586336.812 [DAT](INFO): Setting time to: 17:32:16 And date to:10/27/2025
2025-10-27T17:32:17.056Z,1761586337.056 [DAT](INFO): DAT read: user:5>

2025-10-27T17:32:17.056Z,1761586337.056 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:32:16  

2025-10-27T17:32:17.057Z,1761586337.057 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:32:16  

2025-10-27T17:32:17.057Z,1761586337.057 [DAT](INFO): setting remote address to 6
2025-10-27T17:32:17.058Z,1761586337.058 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:32:17.058Z,1761586337.058 [DAT](INFO): setting remote address to 0
2025-10-27T17:32:17.212Z,1761586337.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873194,0.437843,0.214068],[-0.485245,-0.822024,-0.298016],[0.045485,-0.364102,0.930248]]
2025-10-27T17:32:17.309Z,1761586337.309 [DAT](INFO): DAT read: user:6>

2025-10-27T17:32:17.311Z,1761586337.311 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:32:17.312Z,1761586337.312 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:32:17.312Z,1761586337.312 [DAT] Communications Fault, FailCount= 8
2025-10-27T17:32:17.312Z,1761586337.312 [DAT](ERROR): Communications Fault
2025-10-27T17:32:17.314Z,1761586337.314 [DAT](INFO): DAT read: user:7>

2025-10-27T17:32:17.316Z,1761586337.316 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:32:17.317Z,1761586337.317 [DAT](INFO): set remote address to 0
2025-10-27T17:32:17.317Z,1761586337.317 [DAT](INFO): setting remote address to 6
2025-10-27T17:32:17.319Z,1761586337.319 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:32:17.320Z,1761586337.320 [DAT](INFO): setting remote address to 0
2025-10-27T17:32:17.566Z,1761586337.566 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:32:17.567Z,1761586337.567 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-27T17:32:17.610Z,1761586337.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882146,0.423341,0.206400],[-0.469189,-0.828057,-0.306894],[0.040990,-0.367565,0.929094]]
2025-10-27T17:32:17.728Z,1761586337.728 [DAT](INFO): Powering down
2025-10-27T17:32:18.014Z,1761586338.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889636,0.410806,0.199463],[-0.455202,-0.832709,-0.315256],[0.036586,-0.371259,0.927808]]
2025-10-27T17:32:18.419Z,1761586338.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896124,0.399972,0.192312],[-0.442617,-0.837128,-0.321414],[0.032433,-0.373148,0.927205]]
2025-10-27T17:32:18.878Z,1761586338.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901874,0.390491,0.184771],[-0.431083,-0.841341,-0.326058],[0.028133,-0.373715,0.927117]]
2025-10-27T17:32:19.254Z,1761586339.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907275,0.381372,0.177221],[-0.419832,-0.845795,-0.329198],[0.024346,-0.373077,0.927481]]
2025-10-27T17:32:19.700Z,1761586339.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912661,0.372264,0.168728],[-0.408189,-0.851157,-0.330020],[0.020759,-0.370070,0.928772]]
2025-10-27T17:32:20.103Z,1761586340.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918250,0.362203,0.160081],[-0.395609,-0.857047,-0.330096],[0.017635,-0.366441,0.930274]]
2025-10-27T17:32:20.506Z,1761586340.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924040,0.350992,0.151506],[-0.382011,-0.863018,-0.330557],[0.014729,-0.363325,0.931546]]
2025-10-27T17:32:20.895Z,1761586340.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930075,0.338242,0.143365],[-0.367166,-0.868877,-0.332027],[0.012261,-0.361449,0.932311]]
2025-10-27T17:32:21.310Z,1761586341.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936321,0.324093,0.135157],[-0.351003,-0.874811,-0.333921],[0.010016,-0.360097,0.932861]]
2025-10-27T17:32:21.701Z,1761586341.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942265,0.309843,0.127017],[-0.334780,-0.880302,-0.336141],[0.007662,-0.359257,0.933207]]
2025-10-27T17:32:22.131Z,1761586342.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947655,0.296019,0.119678],[-0.319251,-0.884741,-0.339575],[0.005363,-0.360007,0.932934]]
2025-10-27T17:32:22.177Z,1761586342.177 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:32:22.177Z,1761586342.177 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:32:22.177Z,1761586342.177 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateRudder:A] Stopped
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode] Stopped
2025-10-27T17:32:22.178Z,1761586342.178 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:32:22.179Z,1761586342.179 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:32:22.179Z,1761586342.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:32:22.179Z,1761586342.179 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:32:22.179Z,1761586342.179 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:32:22.179Z,1761586342.179 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:32:22.180Z,1761586342.180 [marl:UpdateSpeed] Stopped
2025-10-27T17:32:22.180Z,1761586342.180 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:32:22.526Z,1761586342.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952645,0.282522,0.112465],[-0.304070,-0.888682,-0.343200],[0.002984,-0.361145,0.932505]]
2025-10-27T17:32:22.550Z,1761586342.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:32:22.550Z,1761586342.550 [marl:UpdateRudder:B] Stopped
2025-10-27T17:32:22.550Z,1761586342.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:32:22.550Z,1761586342.550 [marl:UpdateRudder] Stopped
2025-10-27T17:32:22.550Z,1761586342.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:32:22.928Z,1761586342.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957453,0.268814,0.104992],[-0.288590,-0.892501,-0.346637],[0.000525,-0.362189,0.932105]]
2025-10-27T17:32:23.333Z,1761586343.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961813,0.255411,0.098394],[-0.273704,-0.895534,-0.350863],[-0.001499,-0.364396,0.931243]]
2025-10-27T17:32:23.744Z,1761586343.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966010,0.241988,0.090920],[-0.258478,-0.899124,-0.353222],[-0.003727,-0.364717,0.931111]]
2025-10-27T17:32:24.143Z,1761586344.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969845,0.228817,0.083930],[-0.243656,-0.902129,-0.356083],[-0.005762,-0.365795,0.930678]]
2025-10-27T17:32:24.544Z,1761586344.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973604,0.214960,0.076735],[-0.228121,-0.905340,-0.358217],[-0.007531,-0.366266,0.930480]]
2025-10-27T17:32:24.948Z,1761586344.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977380,0.199987,0.068796],[-0.211287,-0.909118,-0.358973],[-0.009246,-0.365389,0.930809]]
2025-10-27T17:32:25.352Z,1761586345.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981135,0.183720,0.060178],[-0.192998,-0.912718,-0.360135],[-0.011239,-0.364955,0.930957]]
2025-10-27T17:32:25.762Z,1761586345.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984700,0.166604,0.051084],[-0.173765,-0.916695,-0.359827],[-0.013120,-0.363198,0.931620]]
2025-10-27T17:32:26.160Z,1761586346.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988068,0.148418,0.041144],[-0.153237,-0.920517,-0.359397],[-0.015467,-0.361414,0.932277]]
2025-10-27T17:32:26.564Z,1761586346.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991131,0.129392,0.030271],[-0.131621,-0.924531,-0.357658],[-0.018291,-0.358470,0.933362]]
2025-10-27T17:32:26.968Z,1761586346.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993759,0.109880,0.019208],[-0.109490,-0.927963,-0.356225],[-0.021318,-0.356105,0.934203]]
2025-10-27T17:32:27.373Z,1761586347.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995866,0.090467,0.008194],[-0.087447,-0.930376,-0.356023],[-0.024585,-0.355268,0.934441]]
2025-10-27T17:32:27.824Z,1761586347.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998391,0.055451,-0.011895],[-0.047557,-0.932864,-0.357076],[-0.030897,-0.355935,0.934000]]
2025-10-27T17:32:28.258Z,1761586348.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998977,0.040276,-0.020579],[-0.030202,-0.932715,-0.359347],[-0.033667,-0.358358,0.932977]]
2025-10-27T17:32:28.648Z,1761586348.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999242,0.026691,-0.028337],[-0.014638,-0.932135,-0.361815],[-0.036071,-0.361126,0.931819]]
2025-10-27T17:32:29.052Z,1761586349.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999277,0.014434,-0.035161],[-0.000597,-0.930935,-0.365185],[-0.038004,-0.364900,0.930271]]
2025-10-27T17:32:29.454Z,1761586349.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999153,0.003213,-0.041021],[0.012082,-0.930087,-0.367140],[-0.039333,-0.367325,0.929261]]
2025-10-27T17:32:29.858Z,1761586349.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998871,-0.007984,-0.046822],[0.024653,-0.929737,-0.367398],[-0.040599,-0.368138,0.928884]]
2025-10-27T17:32:30.262Z,1761586350.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998442,-0.019562,-0.052256],[0.037377,-0.929837,-0.366069],[-0.041429,-0.367452,0.929119]]
2025-10-27T17:32:30.495Z,1761586350.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:32:30.672Z,1761586350.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997839,-0.031127,-0.057859],[0.050184,-0.929488,-0.365422],[-0.042405,-0.367536,0.929042]]
2025-10-27T17:32:31.070Z,1761586351.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997009,-0.043524,-0.063861],[0.063836,-0.929569,-0.363080],[-0.043561,-0.366070,0.929567]]
2025-10-27T17:32:31.474Z,1761586351.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995813,-0.057756,-0.070855],[0.079551,-0.929373,-0.360469],[-0.045032,-0.364596,0.930076]]
2025-10-27T17:32:31.499Z,1761586351.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:32:31.878Z,1761586351.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994204,-0.073415,-0.078547],[0.096875,-0.928564,-0.358306],[-0.046631,-0.363838,0.930294]]
2025-10-27T17:32:32.321Z,1761586352.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992216,-0.089668,-0.086411],[0.114768,-0.927755,-0.355105],[-0.048326,-0.362258,0.930824]]
2025-10-27T17:32:32.725Z,1761586352.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989880,-0.105932,-0.094421],[0.132760,-0.926326,-0.352556],[-0.050118,-0.361523,0.931015]]
2025-10-27T17:32:33.142Z,1761586353.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987435,-0.121122,-0.101498],[0.149432,-0.924604,-0.350396],[-0.051405,-0.361160,0.931086]]
2025-10-27T17:32:33.561Z,1761586353.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984559,-0.137105,-0.108843],[0.166980,-0.922212,-0.348774],[-0.052558,-0.361563,0.930865]]
2025-10-27T17:32:33.961Z,1761586353.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981229,-0.153640,-0.116556],[0.185233,-0.919026,-0.347966],[-0.053656,-0.363024,0.930234]]
2025-10-27T17:32:34.369Z,1761586354.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977664,-0.169874,-0.123757],[0.202997,-0.915780,-0.346612],[-0.054454,-0.363993,0.929809]]
2025-10-27T17:32:34.786Z,1761586354.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973776,-0.186208,-0.130714],[0.220797,-0.912014,-0.345658],[-0.054849,-0.365455,0.929212]]
2025-10-27T17:32:35.187Z,1761586355.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969429,-0.202576,-0.138457],[0.238957,-0.907606,-0.345182],[-0.055739,-0.367715,0.928267]]
2025-10-27T17:32:35.263Z,1761586355.263 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:32:35.263Z,1761586355.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:32:35.264Z,1761586355.264 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:32:35.265Z,1761586355.265 [marl:UpdateRudder:A] Stopped
2025-10-27T17:32:35.265Z,1761586355.265 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:32:35.265Z,1761586355.265 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:32:35.265Z,1761586355.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:32:35.266Z,1761586355.266 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:32:35.266Z,1761586355.266 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:32:35.266Z,1761586355.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:32:35.271Z,1761586355.271 [marl:UpdateCommandMode] Stopped
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:32:35.272Z,1761586355.272 [marl:UpdateSpeed] Stopped
2025-10-27T17:32:35.273Z,1761586355.273 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:32:35.613Z,1761586355.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964615,-0.219638,-0.145869],[0.257512,-0.903609,-0.342313],[-0.056623,-0.367763,0.928194]]
2025-10-27T17:32:35.643Z,1761586355.643 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:32:35.644Z,1761586355.644 [marl:UpdateRudder:B] Stopped
2025-10-27T17:32:35.644Z,1761586355.644 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:32:35.644Z,1761586355.644 [marl:UpdateRudder] Stopped
2025-10-27T17:32:35.644Z,1761586355.644 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:32:36.009Z,1761586356.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959382,-0.236580,-0.153674],[0.276112,-0.899170,-0.339493],[-0.057862,-0.368135,0.927970]]
2025-10-27T17:32:36.413Z,1761586356.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954030,-0.252552,-0.161382],[0.293753,-0.894766,-0.336307],[-0.059464,-0.368253,0.927822]]
2025-10-27T17:32:36.843Z,1761586356.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948778,-0.267204,-0.168587],[0.309889,-0.890996,-0.331806],[-0.061550,-0.367053,0.928161]]
2025-10-27T17:32:37.229Z,1761586357.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944425,-0.278272,-0.175003],[0.322267,-0.888776,-0.325916],[-0.064845,-0.364201,0.929060]]
2025-10-27T17:32:38.030Z,1761586358.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939568,-0.291326,-0.179839],[0.333948,-0.895598,-0.293909],[-0.075440,-0.336205,0.938763]]
2025-10-27T17:32:38.434Z,1761586358.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938620,-0.294603,-0.179447],[0.335104,-0.902150,-0.271717],[-0.081839,-0.315173,0.945499]]
2025-10-27T17:32:38.877Z,1761586358.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938086,-0.296505,-0.179106],[0.334895,-0.908447,-0.250140],[-0.088540,-0.294635,0.951499]]
2025-10-27T17:32:39.242Z,1761586359.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938067,-0.296594,-0.179060],[0.333150,-0.914076,-0.231249],[-0.095087,-0.276581,0.956275]]
2025-10-27T17:32:39.646Z,1761586359.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938225,-0.296392,-0.178568],[0.330958,-0.919276,-0.213071],[-0.101001,-0.259007,0.960580]]
2025-10-27T17:32:40.455Z,1761586360.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937890,-0.296622,-0.179940],[0.328681,-0.925705,-0.187185],[-0.111048,-0.234702,0.965704]]
2025-10-27T17:32:40.884Z,1761586360.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937496,-0.297051,-0.181279],[0.328447,-0.927435,-0.178851],[-0.114997,-0.227212,0.967032]]
2025-10-27T17:32:41.304Z,1761586361.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936815,-0.298175,-0.182946],[0.329100,-0.928521,-0.171878],[-0.118619,-0.221226,0.967982]]
2025-10-27T17:32:41.708Z,1761586361.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935843,-0.299372,-0.185945],[0.330712,-0.928324,-0.169837],[-0.121772,-0.220435,0.967771]]
2025-10-27T17:32:42.110Z,1761586362.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934373,-0.302157,-0.188809],[0.333781,-0.927712,-0.167157],[-0.124653,-0.219208,0.967683]]
2025-10-27T17:32:42.514Z,1761586362.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932695,-0.305152,-0.192258],[0.337374,-0.926629,-0.165942],[-0.127514,-0.219636,0.967213]]
2025-10-27T17:32:42.917Z,1761586362.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930713,-0.308268,-0.196838],[0.341430,-0.925246,-0.165362],[-0.131147,-0.221111,0.966390]]
2025-10-27T17:32:43.733Z,1761586363.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925983,-0.315852,-0.206864],[0.350686,-0.922510,-0.161228],[-0.139910,-0.221838,0.964994]]
2025-10-27T17:32:44.129Z,1761586364.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923480,-0.319362,-0.212585],[0.355004,-0.921433,-0.157905],[-0.145454,-0.221291,0.964300]]
2025-10-27T17:32:44.534Z,1761586364.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920946,-0.322321,-0.219014],[0.358960,-0.920419,-0.154842],[-0.151676,-0.221218,0.963357]]
2025-10-27T17:32:44.940Z,1761586364.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918625,-0.324529,-0.225408],[0.362150,-0.919675,-0.151807],[-0.158036,-0.221086,0.962365]]
2025-10-27T17:32:45.341Z,1761586365.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916638,-0.325757,-0.231638],[0.364501,-0.919057,-0.149913],[-0.164053,-0.221849,0.961181]]
2025-10-27T17:32:45.762Z,1761586365.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915513,-0.325644,-0.236203],[0.365331,-0.918836,-0.149243],[-0.168432,-0.222927,0.960174]]
2025-10-27T17:32:46.150Z,1761586366.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915397,-0.324192,-0.238637],[0.364601,-0.918980,-0.150138],[-0.170630,-0.224443,0.959432]]
2025-10-27T17:32:46.209Z,1761586366.209 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:32:46.555Z,1761586366.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915804,-0.322564,-0.239283],[0.363373,-0.919232,-0.151567],[-0.171067,-0.225754,0.959047]]
2025-10-27T17:32:46.725Z,1761586366.725 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:32:46.725Z,1761586366.725 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:32:47.361Z,1761586367.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917434,-0.318974,-0.237846],[0.360481,-0.919372,-0.157507],[-0.168428,-0.230241,0.958447]]
2025-10-27T17:32:47.777Z,1761586367.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918468,-0.317645,-0.235623],[0.359209,-0.919278,-0.160925],[-0.165486,-0.232442,0.958428]]
2025-10-27T17:32:48.169Z,1761586368.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919729,-0.316408,-0.232346],[0.357708,-0.919310,-0.164057],[-0.161689,-0.234000,0.958697]]
2025-10-27T17:32:48.271Z,1761586368.271 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateRudder:A] Stopped
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:32:48.272Z,1761586368.272 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateCommandMode] Stopped
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:32:48.273Z,1761586368.273 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:32:48.274Z,1761586368.274 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:32:48.274Z,1761586368.274 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:32:48.274Z,1761586368.274 [marl:UpdateSpeed] Stopped
2025-10-27T17:32:48.274Z,1761586368.274 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:32:48.573Z,1761586368.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920912,-0.316103,-0.228036],[0.356501,-0.919622,-0.164932],[-0.157571,-0.233183,0.959582]]
2025-10-27T17:32:48.639Z,1761586368.639 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:32:48.639Z,1761586368.639 [marl:UpdateRudder:B] Stopped
2025-10-27T17:32:48.639Z,1761586368.639 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:32:48.639Z,1761586368.639 [marl:UpdateRudder] Stopped
2025-10-27T17:32:48.640Z,1761586368.640 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:32:48.985Z,1761586368.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922093,-0.316151,-0.223146],[0.355526,-0.919820,-0.165928],[-0.152796,-0.232335,0.960559]]
2025-10-27T17:32:49.381Z,1761586369.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922717,-0.317850,-0.218095],[0.355948,-0.919726,-0.165544],[-0.147969,-0.230381,0.961785]]
2025-10-27T17:32:49.786Z,1761586369.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922481,-0.321470,-0.213742],[0.358297,-0.919080,-0.164056],[-0.143707,-0.227921,0.963016]]
2025-10-27T17:32:50.193Z,1761586370.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921924,-0.325516,-0.209987],[0.361204,-0.918237,-0.162398],[-0.139955,-0.225567,0.964122]]
2025-10-27T17:32:50.596Z,1761586370.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921177,-0.329784,-0.206582],[0.364318,-0.917431,-0.159974],[-0.136768,-0.222626,0.965263]]
2025-10-27T17:32:50.998Z,1761586370.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920281,-0.334108,-0.203604],[0.367522,-0.916676,-0.156946],[-0.134202,-0.219263,0.966392]]
2025-10-27T17:32:51.402Z,1761586371.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919422,-0.337719,-0.201520],[0.370328,-0.915945,-0.154605],[-0.132368,-0.216776,0.967206]]
2025-10-27T17:32:51.806Z,1761586371.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918451,-0.341312,-0.199885],[0.373106,-0.915356,-0.151375],[-0.131300,-0.213609,0.968056]]
2025-10-27T17:32:52.214Z,1761586372.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917431,-0.344343,-0.199372],[0.375708,-0.914664,-0.149109],[-0.131014,-0.211702,0.968513]]
2025-10-27T17:32:52.614Z,1761586372.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916344,-0.347190,-0.199432],[0.378225,-0.914026,-0.146638],[-0.131375,-0.209801,0.968878]]
2025-10-27T17:32:53.423Z,1761586373.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915998,-0.347843,-0.199883],[0.378756,-0.914062,-0.145031],[-0.132257,-0.208555,0.969027]]
2025-10-27T17:32:53.826Z,1761586373.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917388,-0.344411,-0.199449],[0.375654,-0.914852,-0.148085],[-0.131464,-0.210776,0.968654]]
2025-10-27T17:32:54.252Z,1761586374.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919119,-0.340502,-0.198189],[0.371930,-0.915831,-0.151398],[-0.129956,-0.212865,0.968401]]
2025-10-27T17:32:54.634Z,1761586374.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920755,-0.337482,-0.195743],[0.368734,-0.916687,-0.154017],[-0.127457,-0.213989,0.968485]]
2025-10-27T17:32:55.046Z,1761586375.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922561,-0.334263,-0.192744],[0.365414,-0.917298,-0.158232],[-0.123913,-0.216411,0.968407]]
2025-10-27T17:32:55.450Z,1761586375.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926781,-0.328420,-0.182253],[0.358509,-0.918198,-0.168474],[-0.112014,-0.221479,0.968710]]
2025-10-27T17:32:55.854Z,1761586375.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928547,-0.326704,-0.176252],[0.356215,-0.917793,-0.175404],[-0.104458,-0.225654,0.968591]]
2025-10-27T17:32:56.258Z,1761586376.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929815,-0.326596,-0.169646],[0.355082,-0.917297,-0.180228],[-0.096755,-0.227817,0.968885]]
2025-10-27T17:32:56.658Z,1761586376.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930582,-0.327336,-0.163914],[0.355014,-0.916199,-0.185860],[-0.089339,-0.231150,0.968808]]
2025-10-27T17:32:57.062Z,1761586377.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930959,-0.328660,-0.159051],[0.355719,-0.914633,-0.192120],[-0.082331,-0.235434,0.968397]]
2025-10-27T17:32:57.868Z,1761586377.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930296,-0.334473,-0.150590],[0.359992,-0.911302,-0.199835],[-0.070394,-0.240117,0.968188]]
2025-10-27T17:32:58.276Z,1761586378.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929560,-0.338527,-0.146002],[0.362850,-0.910173,-0.199811],[-0.065246,-0.238713,0.968896]]
2025-10-27T17:32:58.675Z,1761586378.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928500,-0.343078,-0.142074],[0.366326,-0.908899,-0.199268],[-0.060766,-0.237066,0.969591]]
2025-10-27T17:32:59.078Z,1761586379.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927441,-0.347283,-0.138736],[0.369696,-0.907338,-0.200156],[-0.056369,-0.236923,0.969892]]
2025-10-27T17:32:59.482Z,1761586379.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926471,-0.351507,-0.134511],[0.372760,-0.906343,-0.198980],[-0.051970,-0.234490,0.970728]]
2025-10-27T17:32:59.889Z,1761586379.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925858,-0.354784,-0.130061],[0.374906,-0.905506,-0.198759],[-0.047254,-0.232783,0.971380]]
2025-10-27T17:33:00.291Z,1761586380.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925547,-0.357179,-0.125639],[0.376269,-0.904670,-0.199985],[-0.042231,-0.232369,0.971710]]
2025-10-27T17:33:00.694Z,1761586380.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925604,-0.358692,-0.120816],[0.376704,-0.904033,-0.202035],[-0.036753,-0.232516,0.971898]]
2025-10-27T17:33:01.098Z,1761586381.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925794,-0.360139,-0.114917],[0.376745,-0.904021,-0.202014],[-0.031134,-0.230317,0.972617]]
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateRudder:A] Stopped
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:33:01.165Z,1761586381.165 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateCommandMode] Stopped
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:33:01.166Z,1761586381.166 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:33:01.167Z,1761586381.167 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:33:01.167Z,1761586381.167 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:33:01.167Z,1761586381.167 [marl:UpdateSpeed] Stopped
2025-10-27T17:33:01.167Z,1761586381.167 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:33:01.503Z,1761586381.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926262,-0.360843,-0.108765],[0.376038,-0.904140,-0.202798],[-0.025161,-0.228744,0.973161]]
2025-10-27T17:33:01.528Z,1761586381.528 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:33:01.528Z,1761586381.528 [marl:UpdateRudder:B] Stopped
2025-10-27T17:33:01.528Z,1761586381.528 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:33:01.528Z,1761586381.528 [marl:UpdateRudder] Stopped
2025-10-27T17:33:01.528Z,1761586381.528 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:33:01.640Z,1761586381.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:33:01.908Z,1761586381.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926604,-0.361661,-0.102989],[0.375539,-0.904109,-0.203856],[-0.019387,-0.227570,0.973569]]
2025-10-27T17:33:02.310Z,1761586382.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927024,-0.362159,-0.097301],[0.374745,-0.904268,-0.204609],[-0.013885,-0.226140,0.973996]]
2025-10-27T17:33:02.643Z,1761586382.643 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:33:02.730Z,1761586382.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927184,-0.363194,-0.091759],[0.374498,-0.904535,-0.203879],[-0.008951,-0.223397,0.974686]]
2025-10-27T17:33:03.117Z,1761586383.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927039,-0.364839,-0.086554],[0.374942,-0.904547,-0.203009],[-0.004227,-0.220650,0.975344]]
2025-10-27T17:33:03.522Z,1761586383.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926939,-0.366367,-0.080993],[0.375212,-0.904739,-0.201651],[0.000601,-0.217307,0.976103]]
2025-10-27T17:33:03.929Z,1761586383.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926883,-0.367581,-0.075978],[0.375316,-0.904825,-0.201073],[0.005164,-0.214887,0.976625]]
2025-10-27T17:33:04.331Z,1761586384.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927258,-0.367618,-0.071069],[0.374294,-0.905070,-0.201871],[0.009889,-0.213788,0.976830]]
2025-10-27T17:33:04.746Z,1761586384.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927808,-0.367074,-0.066549],[0.372764,-0.905131,-0.204414],[0.014799,-0.214464,0.976620]]
2025-10-27T17:33:05.542Z,1761586385.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929316,-0.364580,-0.058759],[0.368458,-0.904786,-0.213543],[0.024690,-0.220099,0.975165]]
2025-10-27T17:33:05.953Z,1761586385.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930095,-0.363238,-0.054602],[0.366092,-0.904547,-0.218566],[0.030001,-0.223277,0.974293]]
2025-10-27T17:33:06.349Z,1761586386.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930626,-0.362449,-0.050662],[0.364290,-0.904167,-0.223103],[0.035056,-0.226081,0.973477]]
2025-10-27T17:33:06.758Z,1761586386.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931010,-0.361970,-0.046875],[0.362794,-0.903666,-0.227528],[0.039999,-0.228837,0.972643]]
2025-10-27T17:33:07.159Z,1761586387.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930893,-0.362791,-0.042669],[0.362567,-0.903384,-0.229004],[0.044535,-0.228648,0.972490]]
2025-10-27T17:33:07.561Z,1761586387.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930447,-0.364380,-0.038669],[0.363195,-0.903107,-0.229102],[0.048558,-0.227212,0.972634]]
2025-10-27T17:33:07.965Z,1761586387.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929816,-0.366303,-0.035564],[0.364335,-0.902537,-0.229534],[0.051981,-0.226382,0.972651]]
2025-10-27T17:33:08.370Z,1761586388.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929023,-0.368585,-0.032573],[0.365913,-0.902058,-0.228911],[0.054990,-0.224582,0.972902]]
2025-10-27T17:33:08.775Z,1761586388.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928331,-0.370500,-0.030515],[0.367315,-0.901501,-0.228857],[0.057282,-0.223663,0.972982]]
2025-10-27T17:33:09.216Z,1761586389.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927741,-0.372099,-0.028953],[0.368479,-0.900856,-0.229523],[0.059323,-0.223607,0.972872]]
2025-10-27T17:33:09.599Z,1761586389.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927268,-0.373356,-0.027931],[0.369391,-0.900152,-0.230817],[0.061034,-0.224346,0.972596]]
2025-10-27T17:33:10.002Z,1761586390.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926896,-0.374328,-0.027235],[0.370022,-0.899262,-0.233264],[0.062825,-0.226289,0.972032]]
2025-10-27T17:33:10.406Z,1761586390.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926759,-0.374697,-0.026817],[0.369995,-0.898120,-0.237666],[0.064968,-0.230182,0.970977]]
2025-10-27T17:33:10.830Z,1761586390.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926765,-0.374758,-0.025768],[0.369465,-0.896986,-0.242717],[0.067846,-0.234462,0.969755]]
2025-10-27T17:33:11.222Z,1761586391.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926877,-0.374583,-0.024235],[0.368502,-0.895738,-0.248718],[0.071457,-0.239462,0.968273]]
2025-10-27T17:33:11.618Z,1761586391.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926808,-0.374905,-0.021776],[0.367869,-0.894699,-0.253350],[0.075499,-0.242817,0.967130]]
2025-10-27T17:33:12.022Z,1761586392.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926496,-0.375802,-0.019423],[0.367777,-0.893370,-0.258127],[0.079653,-0.246297,0.965916]]
2025-10-27T17:33:12.428Z,1761586392.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925687,-0.377952,-0.016004],[0.368841,-0.892361,-0.260093],[0.084021,-0.246667,0.965451]]
2025-10-27T17:33:12.872Z,1761586392.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924121,-0.381873,-0.013145],[0.371926,-0.891100,-0.260022],[0.087582,-0.245181,0.965513]]
2025-10-27T17:33:13.242Z,1761586393.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921771,-0.387581,-0.010901],[0.376993,-0.889309,-0.258857],[0.090633,-0.242716,0.965854]]
2025-10-27T17:33:13.638Z,1761586393.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919095,-0.393923,-0.009462],[0.382815,-0.886971,-0.258332],[0.093370,-0.241053,0.966010]]
2025-10-27T17:33:14.048Z,1761586394.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916433,-0.400098,-0.008550],[0.388690,-0.884812,-0.256958],[0.095244,-0.238808,0.966385]]
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateRudder:A] Stopped
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:33:14.073Z,1761586394.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateCommandMode] Stopped
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:33:14.074Z,1761586394.074 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:33:14.075Z,1761586394.075 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:33:14.075Z,1761586394.075 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:33:14.075Z,1761586394.075 [marl:UpdateSpeed] Stopped
2025-10-27T17:33:14.075Z,1761586394.075 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:33:14.446Z,1761586394.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913876,-0.405917,-0.007868],[0.394393,-0.882999,-0.254494],[0.096355,-0.235679,0.967042]]
2025-10-27T17:33:14.476Z,1761586394.476 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:33:14.476Z,1761586394.476 [marl:UpdateRudder:B] Stopped
2025-10-27T17:33:14.477Z,1761586394.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:33:14.477Z,1761586394.477 [marl:UpdateRudder] Stopped
2025-10-27T17:33:14.477Z,1761586394.477 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:33:14.881Z,1761586394.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911477,-0.411270,-0.008143],[0.399953,-0.881421,-0.251266],[0.096161,-0.232280,0.967884]]
2025-10-27T17:33:15.254Z,1761586395.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909187,-0.416279,-0.009508],[0.405421,-0.879805,-0.248147],[0.094933,-0.229466,0.968676]]
2025-10-27T17:33:15.658Z,1761586395.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907374,-0.420173,-0.011281],[0.409820,-0.878417,-0.245827],[0.093381,-0.227680,0.969248]]
2025-10-27T17:33:16.069Z,1761586396.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906296,-0.422430,-0.013438],[0.412614,-0.877456,-0.244583],[0.091528,-0.227210,0.969535]]
2025-10-27T17:33:16.466Z,1761586396.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905882,-0.423262,-0.015082],[0.413924,-0.877233,-0.243165],[0.089692,-0.226522,0.969868]]
2025-10-27T17:33:16.885Z,1761586396.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905851,-0.423260,-0.016853],[0.414359,-0.877135,-0.242777],[0.087975,-0.226904,0.969936]]
2025-10-27T17:33:17.274Z,1761586397.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906000,-0.422883,-0.018286],[0.414394,-0.877350,-0.241937],[0.086268,-0.226773,0.970120]]
2025-10-27T17:33:17.691Z,1761586397.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906489,-0.421734,-0.020461],[0.413696,-0.877428,-0.242848],[0.084464,-0.228604,0.969848]]
2025-10-27T17:33:18.486Z,1761586398.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907869,-0.418656,-0.022369],[0.411184,-0.878709,-0.242481],[0.081860,-0.229339,0.969898]]
2025-10-27T17:33:18.893Z,1761586398.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908653,-0.416908,-0.023196],[0.409626,-0.879253,-0.243148],[0.080975,-0.230438,0.969712]]
2025-10-27T17:33:19.296Z,1761586399.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909401,-0.415276,-0.023127],[0.408116,-0.880239,-0.242117],[0.080188,-0.229620,0.969971]]
2025-10-27T17:33:19.704Z,1761586399.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910039,-0.413913,-0.022493],[0.406804,-0.881351,-0.240274],[0.079628,-0.227809,0.970445]]
2025-10-27T17:33:20.103Z,1761586400.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910316,-0.413342,-0.021751],[0.406272,-0.882223,-0.237961],[0.079170,-0.225456,0.971031]]
2025-10-27T17:33:20.506Z,1761586400.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909845,-0.414365,-0.021984],[0.407401,-0.881983,-0.236919],[0.078781,-0.224516,0.971281]]
2025-10-27T17:33:20.912Z,1761586400.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909063,-0.416055,-0.022443],[0.409163,-0.881237,-0.236659],[0.078685,-0.224321,0.971334]]
2025-10-27T17:33:21.318Z,1761586401.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907420,-0.419552,-0.023784],[0.412856,-0.879522,-0.236623],[0.078357,-0.224535,0.971310]]
2025-10-27T17:33:21.719Z,1761586401.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905390,-0.423789,-0.025913],[0.417405,-0.877255,-0.237057],[0.077730,-0.225445,0.971150]]
2025-10-27T17:33:21.917Z,1761586401.917 [DockingStepper](ERROR): getADC uart error serial timeout
2025-10-27T17:33:21.917Z,1761586401.917 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-10-27T17:33:21.917Z,1761586401.917 [DockingStepper] Communications Fault, FailCount= 1
2025-10-27T17:33:21.917Z,1761586401.917 [DockingStepper](ERROR): Communications Fault
2025-10-27T17:33:21.934Z,1761586401.934 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-27T17:33:22.122Z,1761586402.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903049,-0.428603,-0.028319],[0.422572,-0.874648,-0.237536],[0.077039,-0.226473,0.970966]]
2025-10-27T17:33:22.199Z,1761586402.199 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-27T17:33:22.200Z,1761586402.200 [DockingStepper](INFO): Powering down
2025-10-27T17:33:22.528Z,1761586402.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900658,-0.433394,-0.031383],[0.427759,-0.871610,-0.239413],[0.076407,-0.229053,0.970411]]
2025-10-27T17:33:22.930Z,1761586402.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898243,-0.438173,-0.034127],[0.432984,-0.868932,-0.239754],[0.075400,-0.230133,0.970234]]
2025-10-27T17:33:23.340Z,1761586403.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896508,-0.441475,-0.037045],[0.436800,-0.866842,-0.240395],[0.074016,-0.231698,0.969968]]
2025-10-27T17:33:23.748Z,1761586403.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895470,-0.443347,-0.039707],[0.439279,-0.865788,-0.239677],[0.071882,-0.232066,0.970040]]
2025-10-27T17:33:24.144Z,1761586404.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895087,-0.443926,-0.041819],[0.440432,-0.865602,-0.238228],[0.069557,-0.231653,0.970308]]
2025-10-27T17:33:24.546Z,1761586404.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895362,-0.443265,-0.042936],[0.440301,-0.866647,-0.234645],[0.066800,-0.228997,0.971132]]
2025-10-27T17:33:24.950Z,1761586404.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896267,-0.441308,-0.044192],[0.438904,-0.868204,-0.231485],[0.063789,-0.226868,0.971834]]
2025-10-27T17:33:25.360Z,1761586405.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897358,-0.438952,-0.045489],[0.437157,-0.870094,-0.227662],[0.060353,-0.224181,0.972677]]
2025-10-27T17:33:25.764Z,1761586405.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898323,-0.436758,-0.047509],[0.435647,-0.871579,-0.224861],[0.056802,-0.222695,0.973232]]
2025-10-27T17:33:26.174Z,1761586406.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898865,-0.435459,-0.049164],[0.434912,-0.872668,-0.222039],[0.053785,-0.220965,0.973798]]
2025-10-27T17:33:26.566Z,1761586406.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898853,-0.435275,-0.050985],[0.435186,-0.872772,-0.221093],[0.051738,-0.220918,0.973919]]
2025-10-27T17:33:26.971Z,1761586406.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898364,-0.436085,-0.052653],[0.436276,-0.871912,-0.222336],[0.051049,-0.222710,0.973547]]
2025-10-27T17:33:27.034Z,1761586407.034 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:33:27.034Z,1761586407.034 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:33:27.034Z,1761586407.034 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:33:27.034Z,1761586407.034 [marl:UpdateRudder:A] Stopped
2025-10-27T17:33:27.035Z,1761586407.035 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:33:27.035Z,1761586407.035 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:33:27.039Z,1761586407.039 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:33:27.039Z,1761586407.039 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:33:27.039Z,1761586407.039 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateCommandMode] Stopped
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:33:27.040Z,1761586407.040 [marl:UpdateSpeed] Stopped
2025-10-27T17:33:27.041Z,1761586407.041 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:33:27.378Z,1761586407.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897441,-0.438010,-0.052422],[0.438022,-0.870701,-0.223644],[0.052314,-0.223669,0.973260]]
2025-10-27T17:33:27.444Z,1761586407.444 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:33:27.444Z,1761586407.444 [marl:UpdateRudder:B] Stopped
2025-10-27T17:33:27.445Z,1761586407.445 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:33:27.445Z,1761586407.445 [marl:UpdateRudder] Stopped
2025-10-27T17:33:27.445Z,1761586407.445 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:33:27.778Z,1761586407.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896170,-0.440652,-0.052010],[0.440252,-0.868446,-0.227990],[0.055297,-0.227215,0.972273]]
2025-10-27T17:33:28.187Z,1761586408.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894324,-0.444512,-0.050921],[0.443458,-0.865535,-0.232796],[0.059407,-0.230776,0.971192]]
2025-10-27T17:33:28.586Z,1761586408.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891375,-0.450489,-0.050101],[0.448793,-0.861682,-0.236831],[0.063518,-0.233590,0.970258]]
2025-10-27T17:33:28.990Z,1761586408.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887636,-0.457769,-0.050491],[0.455691,-0.857108,-0.240232],[0.066694,-0.236247,0.969401]]
2025-10-27T17:33:29.394Z,1761586409.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884104,-0.464433,-0.051602],[0.462198,-0.852859,-0.242910],[0.068806,-0.238608,0.968675]]
2025-10-27T17:33:29.800Z,1761586409.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881090,-0.470046,-0.052324],[0.467744,-0.849677,-0.243443],[0.069971,-0.238969,0.968503]]
2025-10-27T17:33:30.214Z,1761586410.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878648,-0.474463,-0.053506],[0.472320,-0.847279,-0.242965],[0.069943,-0.238752,0.968558]]
2025-10-27T17:33:30.606Z,1761586410.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876539,-0.478049,-0.056108],[0.476522,-0.845429,-0.241197],[0.067869,-0.238155,0.968853]]
2025-10-27T17:33:31.010Z,1761586411.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874693,-0.480922,-0.060221],[0.480491,-0.844122,-0.237879],[0.063567,-0.237006,0.969426]]
2025-10-27T17:33:31.418Z,1761586411.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873145,-0.483247,-0.063958],[0.484003,-0.843858,-0.231611],[0.057954,-0.233186,0.970704]]
2025-10-27T17:33:31.820Z,1761586411.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872111,-0.484548,-0.068079],[0.486588,-0.844179,-0.224932],[0.051520,-0.229292,0.971993]]
2025-10-27T17:33:32.222Z,1761586412.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872393,-0.483475,-0.071993],[0.486716,-0.845585,-0.219303],[0.045151,-0.226358,0.972997]]
2025-10-27T17:33:32.626Z,1761586412.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873699,-0.480649,-0.075010],[0.484874,-0.847957,-0.214164],[0.039332,-0.223485,0.973913]]
2025-10-27T17:33:32.764Z,1761586412.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:33:33.436Z,1761586413.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876393,-0.474912,-0.079962],[0.480757,-0.852920,-0.203469],[0.028429,-0.216761,0.975811]]
2025-10-27T17:33:33.767Z,1761586413.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:33:33.838Z,1761586413.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877342,-0.472729,-0.082449],[0.479298,-0.854926,-0.198431],[0.023316,-0.213610,0.976641]]
2025-10-27T17:33:34.243Z,1761586414.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878113,-0.470780,-0.085340],[0.478071,-0.856225,-0.195773],[0.019096,-0.212710,0.976929]]
2025-10-27T17:33:34.661Z,1761586414.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878708,-0.469261,-0.087560],[0.477103,-0.857314,-0.193352],[0.015666,-0.211675,0.977215]]
2025-10-27T17:33:35.052Z,1761586415.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879309,-0.467808,-0.089280],[0.476060,-0.858075,-0.192547],[0.013466,-0.211811,0.977218]]
2025-10-27T17:33:35.858Z,1761586415.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880354,-0.465571,-0.090665],[0.474130,-0.858426,-0.195716],[0.013291,-0.215286,0.976461]]
2025-10-27T17:33:36.263Z,1761586416.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880888,-0.464334,-0.091818],[0.473094,-0.857680,-0.201414],[0.014773,-0.220862,0.975193]]
2025-10-27T17:33:36.672Z,1761586416.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881258,-0.463465,-0.092655],[0.472336,-0.856629,-0.207570],[0.016831,-0.226687,0.973822]]
2025-10-27T17:33:37.070Z,1761586417.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880304,-0.464971,-0.094169],[0.474064,-0.854559,-0.212115],[0.018154,-0.231368,0.972697]]
2025-10-27T17:33:37.474Z,1761586417.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877945,-0.468801,-0.097148],[0.478421,-0.851433,-0.214885],[0.018023,-0.235135,0.971795]]
2025-10-27T17:33:37.878Z,1761586417.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874968,-0.473535,-0.100974],[0.483884,-0.847895,-0.216636],[0.016969,-0.238409,0.971017]]
2025-10-27T17:33:38.284Z,1761586418.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871787,-0.478672,-0.104216],[0.489652,-0.844851,-0.215565],[0.015138,-0.238956,0.970912]]
2025-10-27T17:33:38.688Z,1761586418.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868624,-0.483683,-0.107441],[0.495312,-0.842154,-0.213173],[0.012626,-0.238384,0.971089]]
2025-10-27T17:33:39.096Z,1761586419.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862665,-0.492757,-0.114021],[0.505753,-0.838246,-0.203857],[0.004874,-0.233527,0.972338]]
2025-10-27T17:33:39.500Z,1761586419.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860159,-0.496492,-0.116709],[0.510025,-0.837262,-0.197147],[0.000166,-0.229102,0.973402]]
2025-10-27T17:33:39.905Z,1761586419.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858275,-0.499225,-0.118908],[0.513168,-0.837040,-0.189794],[-0.004780,-0.223915,0.974597]]
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateRudder:A] Stopped
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:33:39.966Z,1761586419.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:33:39.967Z,1761586419.967 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:33:39.971Z,1761586419.971 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:33:39.971Z,1761586419.971 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:33:39.971Z,1761586419.971 [marl:UpdateCommandMode] Stopped
2025-10-27T17:33:39.971Z,1761586419.971 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed] Stopped
2025-10-27T17:33:39.972Z,1761586419.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:33:40.307Z,1761586420.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857328,-0.500151,-0.121810],[0.514681,-0.837247,-0.184718],[-0.009598,-0.221057,0.975214]]
2025-10-27T17:33:40.350Z,1761586420.350 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:33:40.350Z,1761586420.350 [marl:UpdateRudder:B] Stopped
2025-10-27T17:33:40.350Z,1761586420.350 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:33:40.350Z,1761586420.350 [marl:UpdateRudder] Stopped
2025-10-27T17:33:40.350Z,1761586420.350 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:33:40.709Z,1761586420.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857270,-0.499766,-0.123783],[0.514674,-0.838398,-0.179442],[-0.014101,-0.217538,0.975950]]
2025-10-27T17:33:41.112Z,1761586421.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857713,-0.498419,-0.126122],[0.513801,-0.839740,-0.175630],[-0.018372,-0.215442,0.976344]]
2025-10-27T17:33:41.514Z,1761586421.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858560,-0.496387,-0.128354],[0.512244,-0.841165,-0.173341],[-0.021922,-0.214572,0.976462]]
2025-10-27T17:33:41.921Z,1761586421.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859507,-0.494339,-0.129914],[0.510540,-0.842480,-0.171976],[-0.024436,-0.214140,0.976497]]
2025-10-27T17:33:42.322Z,1761586422.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860379,-0.492528,-0.131013],[0.509019,-0.843267,-0.172626],[-0.025455,-0.215212,0.976235]]
2025-10-27T17:33:42.732Z,1761586422.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861145,-0.491008,-0.131681],[0.507743,-0.843493,-0.175261],[-0.025017,-0.217785,0.975676]]
2025-10-27T17:33:42.887Z,1761586422.887 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-27T17:33:42.887Z,1761586422.887 [DockingStepper] No Fault, FailCount= 1
2025-10-27T17:33:43.146Z,1761586423.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861736,-0.490063,-0.131338],[0.506823,-0.843365,-0.178513],[-0.023283,-0.220396,0.975133]]
2025-10-27T17:33:43.222Z,1761586423.222 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T17:33:43.223Z,1761586423.223 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T17:33:43.938Z,1761586423.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861420,-0.490816,-0.130596],[0.507573,-0.841065,-0.187028],[-0.018043,-0.227397,0.973635]]
2025-10-27T17:33:44.344Z,1761586424.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859875,-0.493512,-0.130619],[0.510262,-0.838749,-0.190085],[-0.015747,-0.230099,0.973040]]
2025-10-27T17:33:44.765Z,1761586424.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857512,-0.497402,-0.131392],[0.514268,-0.835802,-0.192259],[-0.014188,-0.232435,0.972508]]
2025-10-27T17:33:45.153Z,1761586425.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854656,-0.502329,-0.131258],[0.519019,-0.833186,-0.190842],[-0.013497,-0.231230,0.972806]]
2025-10-27T17:33:45.554Z,1761586425.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851863,-0.506671,-0.132717],[0.523585,-0.830417,-0.190439],[-0.013720,-0.231716,0.972687]]
2025-10-27T17:33:45.960Z,1761586425.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849293,-0.510661,-0.133887],[0.527708,-0.828397,-0.187836],[-0.014991,-0.230181,0.973032]]
2025-10-27T17:33:46.363Z,1761586426.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847104,-0.513727,-0.136013],[0.531140,-0.826863,-0.184899],[-0.017476,-0.228870,0.973300]]
2025-10-27T17:33:46.462Z,1761586426.462 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:33:46.771Z,1761586426.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845500,-0.515859,-0.137911],[0.533570,-0.826254,-0.180574],[-0.020799,-0.226261,0.973845]]
2025-10-27T17:33:46.904Z,1761586426.904 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T17:33:47.043Z,1761586427.043 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:33:47.044Z,1761586427.044 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:33:47.170Z,1761586427.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844858,-0.516395,-0.139825],[0.534415,-0.826732,-0.175826],[-0.024802,-0.223272,0.974440]]
2025-10-27T17:33:47.575Z,1761586427.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845287,-0.515192,-0.141660],[0.533525,-0.828234,-0.171406],[-0.029020,-0.220466,0.974963]]
2025-10-27T17:33:47.978Z,1761586427.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846388,-0.512706,-0.144082],[0.531531,-0.830098,-0.168559],[-0.033181,-0.219250,0.975104]]
2025-10-27T17:33:48.382Z,1761586428.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847501,-0.510072,-0.146865],[0.529490,-0.831800,-0.166583],[-0.037193,-0.218942,0.975029]]
2025-10-27T17:33:48.790Z,1761586428.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848248,-0.508056,-0.149514],[0.528036,-0.833020,-0.165095],[-0.040671,-0.218990,0.974879]]
2025-10-27T17:33:49.192Z,1761586429.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848519,-0.507220,-0.150806],[0.527397,-0.833889,-0.162732],[-0.043215,-0.217616,0.975077]]
2025-10-27T17:33:49.595Z,1761586429.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848627,-0.506778,-0.151687],[0.527144,-0.834100,-0.162470],[-0.044186,-0.217837,0.974984]]
2025-10-27T17:33:49.998Z,1761586429.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848868,-0.506538,-0.151140],[0.526841,-0.834057,-0.163670],[-0.043154,-0.218561,0.974869]]
2025-10-27T17:33:50.403Z,1761586430.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849248,-0.506383,-0.149513],[0.526475,-0.833614,-0.167071],[-0.040034,-0.220600,0.974542]]
2025-10-27T17:33:50.865Z,1761586430.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849922,-0.505919,-0.147236],[0.525759,-0.832731,-0.173601],[-0.034780,-0.224958,0.973748]]
2025-10-27T17:33:51.626Z,1761586431.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849201,-0.509185,-0.139959],[0.527641,-0.828853,-0.186005],[-0.021295,-0.231803,0.972530]]
2025-10-27T17:33:52.018Z,1761586432.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845811,-0.515407,-0.137698],[0.533230,-0.824709,-0.188466],[-0.016424,-0.232831,0.972378]]
2025-10-27T17:33:52.424Z,1761586432.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842239,-0.521386,-0.137076],[0.538948,-0.820429,-0.190870],[-0.012944,-0.234635,0.971997]]
2025-10-27T17:33:52.886Z,1761586432.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839191,-0.526308,-0.136962],[0.543736,-0.816838,-0.192684],[-0.010464,-0.236170,0.971655]]
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateRudder:A] Stopped
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:33:52.929Z,1761586432.929 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode] Stopped
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:33:52.930Z,1761586432.930 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:33:52.931Z,1761586432.931 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:33:52.931Z,1761586432.931 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:33:52.931Z,1761586432.931 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:33:52.931Z,1761586432.931 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:33:52.931Z,1761586432.931 [marl:UpdateSpeed] Stopped
2025-10-27T17:33:52.932Z,1761586432.932 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:33:53.231Z,1761586433.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836534,-0.530263,-0.137959],[0.547837,-0.813739,-0.194176],[-0.009299,-0.238014,0.971217]]
2025-10-27T17:33:53.284Z,1761586433.284 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:33:53.284Z,1761586433.284 [marl:UpdateRudder:B] Stopped
2025-10-27T17:33:53.284Z,1761586433.284 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:33:53.284Z,1761586433.284 [marl:UpdateRudder] Stopped
2025-10-27T17:33:53.284Z,1761586433.284 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:33:53.636Z,1761586433.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833974,-0.534032,-0.138912],[0.551716,-0.811466,-0.192699],[-0.009815,-0.237346,0.971376]]
2025-10-27T17:33:54.038Z,1761586434.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831652,-0.537119,-0.140920],[0.555162,-0.809839,-0.189622],[-0.012273,-0.235933,0.971692]]
2025-10-27T17:33:54.444Z,1761586434.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830107,-0.539162,-0.142222],[0.557386,-0.809480,-0.184561],[-0.015618,-0.232478,0.972476]]
2025-10-27T17:33:54.890Z,1761586434.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830065,-0.539072,-0.142809],[0.557348,-0.810585,-0.179763],[-0.018854,-0.228809,0.973289]]
2025-10-27T17:33:55.250Z,1761586435.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831718,-0.536561,-0.142645],[0.554790,-0.813061,-0.176465],[-0.021294,-0.225907,0.973916]]
2025-10-27T17:33:55.654Z,1761586435.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834405,-0.532865,-0.140796],[0.550647,-0.816911,-0.171593],[-0.023582,-0.220707,0.975055]]
2025-10-27T17:33:56.060Z,1761586436.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838413,-0.528097,-0.134821],[0.544398,-0.823366,-0.160308],[-0.026349,-0.207801,0.977816]]
2025-10-27T17:33:56.463Z,1761586436.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844758,-0.521040,-0.122073],[0.534358,-0.833672,-0.139477],[-0.029096,-0.183055,0.982672]]
2025-10-27T17:33:56.888Z,1761586436.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853530,-0.510706,-0.103277],[0.520137,-0.846832,-0.111053],[-0.030743,-0.148505,0.988434]]
2025-10-27T17:33:57.281Z,1761586437.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863723,-0.497030,-0.083326],[0.503032,-0.860319,-0.082522],[-0.030671,-0.113192,0.993100]]
2025-10-27T17:33:57.687Z,1761586437.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874472,-0.480976,-0.062938],[0.484239,-0.873204,-0.055027],[-0.028491,-0.078597,0.996499]]
2025-10-27T17:33:58.498Z,1761586438.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896332,-0.442489,-0.028162],[0.442983,-0.896415,-0.014403],[-0.018871,-0.025385,0.999500]]
2025-10-27T17:33:58.902Z,1761586438.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905395,-0.424290,-0.015436],[0.424353,-0.905497,-0.000855],[-0.013614,-0.007325,0.999880]]
2025-10-27T17:33:59.307Z,1761586439.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912164,-0.409768,-0.006934],[0.409710,-0.912177,0.008383],[-0.009760,0.004805,0.999941]]
2025-10-27T17:33:59.709Z,1761586439.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917684,-0.397309,-0.001020],[0.397245,-0.917577,0.015807],[-0.007216,0.014101,0.999875]]
2025-10-27T17:34:00.118Z,1761586440.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922848,-0.385153,0.003073],[0.385129,-0.922624,0.021004],[-0.005255,0.020567,0.999775]]
2025-10-27T17:34:00.518Z,1761586440.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927677,-0.373349,0.005082],[0.373362,-0.927394,0.023276],[-0.003977,0.023490,0.999716]]
2025-10-27T17:34:00.921Z,1761586440.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932486,-0.361165,0.005456],[0.361193,-0.932218,0.022573],[-0.003067,0.023019,0.999730]]
2025-10-27T17:34:01.325Z,1761586441.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937188,-0.348771,0.006163],[0.348819,-0.936916,0.022671],[-0.002132,0.023396,0.999724]]
2025-10-27T17:34:01.736Z,1761586441.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942114,-0.335224,0.006705],[0.335290,-0.941865,0.021697],[-0.000958,0.022689,0.999742]]
2025-10-27T17:34:02.135Z,1761586442.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947124,-0.320781,0.007448],[0.320867,-0.946886,0.021232],[0.000241,0.022499,0.999747]]
2025-10-27T17:34:02.537Z,1761586442.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952297,-0.305075,0.007703],[0.305168,-0.952113,0.018813],[0.001595,0.020266,0.999793]]
2025-10-27T17:34:02.942Z,1761586442.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957337,-0.288849,0.008446],[0.288956,-0.957185,0.017373],[0.003066,0.019072,0.999813]]
2025-10-27T17:34:03.345Z,1761586443.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962164,-0.272289,0.009963],[0.272427,-0.962021,0.017319],[0.004869,0.019378,0.999800]]
2025-10-27T17:34:03.757Z,1761586443.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966748,-0.255472,0.011484],[0.255641,-0.966622,0.017035],[0.006749,0.019405,0.999789]]
2025-10-27T17:34:03.888Z,1761586443.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:34:04.154Z,1761586444.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970850,-0.239328,0.013127],[0.239531,-0.970738,0.017085],[0.008654,0.019732,0.999768]]
2025-10-27T17:34:04.557Z,1761586444.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974685,-0.223089,0.014848],[0.223335,-0.974581,0.017710],[0.010520,0.020578,0.999733]]
2025-10-27T17:34:04.892Z,1761586444.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:34:05.368Z,1761586445.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981204,-0.192095,0.018398],[0.192476,-0.981060,0.021793],[0.013863,0.024924,0.999593]]
2025-10-27T17:34:05.769Z,1761586445.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984118,-0.176469,0.019264],[0.176886,-0.983971,0.022631],[0.014962,0.025679,0.999558]]
2025-10-27T17:34:06.173Z,1761586446.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986809,-0.160692,0.019632],[0.161127,-0.986664,0.023069],[0.015663,0.025928,0.999541]]
2025-10-27T17:34:06.225Z,1761586446.225 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:34:06.225Z,1761586446.225 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateRudder:A] Stopped
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:34:06.226Z,1761586446.226 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:34:06.231Z,1761586446.231 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:34:06.231Z,1761586446.231 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:34:06.231Z,1761586446.231 [marl:UpdateCommandMode] Stopped
2025-10-27T17:34:06.231Z,1761586446.231 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:34:06.231Z,1761586446.231 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed] Stopped
2025-10-27T17:34:06.232Z,1761586446.232 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:34:06.598Z,1761586446.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989319,-0.144428,0.019696],[0.144849,-0.989210,0.021953],[0.016313,0.024571,0.999565]]
2025-10-27T17:34:06.645Z,1761586446.645 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:34:06.646Z,1761586446.646 [marl:UpdateRudder:B] Stopped
2025-10-27T17:34:06.646Z,1761586446.646 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:34:06.646Z,1761586446.646 [marl:UpdateRudder] Stopped
2025-10-27T17:34:06.646Z,1761586446.646 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:34:06.994Z,1761586446.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991624,-0.127680,0.019465],[0.128058,-0.991573,0.019618],[0.016796,0.021946,0.999618]]
2025-10-27T17:34:07.390Z,1761586447.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993734,-0.110073,0.019404],[0.110409,-0.993738,0.017184],[0.017391,0.019219,0.999664]]
2025-10-27T17:34:07.793Z,1761586447.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995561,-0.092024,0.019768],[0.092320,-0.995621,0.014670],[0.018331,0.016430,0.999697]]
2025-10-27T17:34:08.197Z,1761586448.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997076,-0.073627,0.020467],[0.073898,-0.997184,0.012806],[0.019466,0.014281,0.999708]]
2025-10-27T17:34:08.605Z,1761586448.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998241,-0.055110,0.021848],[0.055363,-0.998404,0.011152],[0.021198,0.012342,0.999699]]
2025-10-27T17:34:09.006Z,1761586449.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999031,-0.036887,0.024028],[0.037148,-0.999255,0.010480],[0.023623,0.011362,0.999656]]
2025-10-27T17:34:09.410Z,1761586449.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999456,-0.019198,0.026818],[0.019449,-0.999769,0.009129],[0.026637,0.009646,0.999599]]
2025-10-27T17:34:10.218Z,1761586450.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999386,0.011686,0.033035],[-0.011326,-0.999875,0.011039],[0.033160,0.010658,0.999393]]
2025-10-27T17:34:10.622Z,1761586450.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999067,0.024019,0.035901],[-0.023539,-0.999629,0.013714],[0.036217,0.012856,0.999261]]
2025-10-27T17:34:11.025Z,1761586451.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998614,0.035552,0.038821],[-0.034950,-0.999260,0.016071],[0.039364,0.014691,0.999117]]
2025-10-27T17:34:11.836Z,1761586451.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997399,0.057224,0.043819],[-0.056513,-0.998252,0.017296],[0.044732,0.014775,0.998890]]
2025-10-27T17:34:12.238Z,1761586452.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996652,0.067750,0.045761],[-0.067059,-0.997613,0.016462],[0.046767,0.013338,0.998817]]
2025-10-27T17:34:12.320Z,1761586452.320 [marl:SendObservationData] Running Loop=1
2025-10-27T17:34:12.320Z,1761586452.320 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:34:12.321Z,1761586452.321 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:34:12.321Z,1761586452.321 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:34:12.326Z,1761586452.326 [marl:SendObservationData:A](INFO): Got test_good :  41da3feb000000004051400000000000404263a99e6b6415c05e773ac54a1448401f540fa000000040804e6660000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:34:12.327Z,1761586452.327 [marl:SendObservationData:A] Stopped
2025-10-27T17:34:12.328Z,1761586452.328 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:34:12.642Z,1761586452.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995816,0.078097,0.047454],[-0.077510,-0.996892,0.014087],[0.048407,0.010350,0.998774]]
2025-10-27T17:34:12.710Z,1761586452.710 [marl:SendObservationData:B] Stopped
2025-10-27T17:34:12.710Z,1761586452.710 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:34:13.054Z,1761586453.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994921,0.088218,0.048484],[-0.087848,-0.996086,0.009731],[0.049152,0.005423,0.998777]]
2025-10-27T17:34:13.160Z,1761586453.160 [marl:SendObservationData:C] Stopped
2025-10-27T17:34:13.160Z,1761586453.160 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:34:13.453Z,1761586453.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993943,0.098617,0.048491],[-0.098410,-0.995124,0.006657],[0.048911,0.001845,0.998801]]
2025-10-27T17:34:13.533Z,1761586453.533 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008345 min 
2025-10-27T17:34:13.533Z,1761586453.533 [marl:SendObservationData:E] Stopped
2025-10-27T17:34:13.534Z,1761586453.534 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:34:13.534Z,1761586453.534 [marl:SendObservationData] Stopped
2025-10-27T17:34:13.534Z,1761586453.534 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:34:13.534Z,1761586453.534 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:34:14.257Z,1761586454.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991535,0.121418,0.046009],[-0.121361,-0.992600,0.004042],[0.046160,-0.001576,0.998933]]
2025-10-27T17:34:14.662Z,1761586454.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989821,0.135424,0.043749],[-0.135358,-0.990787,0.004475],[0.043952,-0.001493,0.999032]]
2025-10-27T17:34:15.077Z,1761586455.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987497,0.152231,0.040944],[-0.152074,-0.988345,0.006937],[0.041523,0.000624,0.999137]]
2025-10-27T17:34:15.470Z,1761586455.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984483,0.171241,0.038346],[-0.170934,-0.985219,0.011191],[0.039695,0.004463,0.999202]]
2025-10-27T17:34:15.874Z,1761586455.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980761,0.191993,0.035302],[-0.191490,-0.981345,0.017161],[0.037939,0.010071,0.999229]]
2025-10-27T17:34:16.278Z,1761586456.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976459,0.213267,0.032327],[-0.212564,-0.976856,0.023864],[0.036669,0.016430,0.999192]]
2025-10-27T17:34:16.684Z,1761586456.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971571,0.234894,0.029570],[-0.234024,-0.971764,0.030125],[0.035812,0.022349,0.999109]]
2025-10-27T17:34:17.086Z,1761586457.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966240,0.256285,0.026444],[-0.255230,-0.966148,0.037630],[0.035193,0.029611,0.998942]]
2025-10-27T17:34:17.490Z,1761586457.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960330,0.277869,0.023558],[-0.276636,-0.959908,0.045262],[0.035190,0.036950,0.998697]]
2025-10-27T17:34:17.894Z,1761586457.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954077,0.298826,0.020983],[-0.297422,-0.953292,0.052678],[0.035745,0.044018,0.998391]]
2025-10-27T17:34:18.302Z,1761586458.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948027,0.317619,0.019035],[-0.316113,-0.946978,0.057494],[0.036287,0.048489,0.998164]]
2025-10-27T17:34:18.701Z,1761586458.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942802,0.332849,0.018354],[-0.331293,-0.941663,0.059294],[0.037020,0.049822,0.998072]]
2025-10-27T17:34:19.105Z,1761586459.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938880,0.343702,0.019311],[-0.342134,-0.937859,0.058011],[0.038049,0.047858,0.998129]]
2025-10-27T17:34:19.199Z,1761586459.199 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateRudder:A] Stopped
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:34:19.200Z,1761586459.200 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateCommandMode] Stopped
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:34:19.201Z,1761586459.201 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:34:19.202Z,1761586459.202 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:34:19.202Z,1761586459.202 [marl:UpdateSpeed] Stopped
2025-10-27T17:34:19.202Z,1761586459.202 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:34:19.510Z,1761586459.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936044,0.351209,0.021773],[-0.349715,-0.935352,0.053059],[0.039000,0.042051,0.998354]]
2025-10-27T17:34:19.569Z,1761586459.569 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:34:19.569Z,1761586459.569 [marl:UpdateRudder:B] Stopped
2025-10-27T17:34:19.569Z,1761586459.569 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:34:19.569Z,1761586459.569 [marl:UpdateRudder] Stopped
2025-10-27T17:34:19.569Z,1761586459.569 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:34:19.913Z,1761586459.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934124,0.356148,0.023918],[-0.354744,-0.933702,0.048552],[0.039624,0.036869,0.998534]]
2025-10-27T17:34:20.317Z,1761586460.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932586,0.359951,0.026803],[-0.358697,-0.932492,0.042356],[0.040240,0.029887,0.998743]]
2025-10-27T17:34:20.724Z,1761586460.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930950,0.363938,0.029669],[-0.362858,-0.931140,0.036233],[0.040813,0.022965,0.998903]]
2025-10-27T17:34:21.138Z,1761586461.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928842,0.369052,0.032461],[-0.368143,-0.929260,0.030767],[0.041520,0.016627,0.998999]]
2025-10-27T17:34:22.346Z,1761586462.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911644,0.408978,0.040522],[-0.409043,-0.912488,0.007055],[0.039861,-0.010143,0.999154]]
2025-10-27T17:34:22.757Z,1761586462.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908212,0.415755,0.047948],[-0.416662,-0.909003,-0.010322],[0.039294,-0.029353,0.998797]]
2025-10-27T17:34:23.156Z,1761586463.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906121,0.419061,0.057721],[-0.421272,-0.906325,-0.033233],[0.038388,-0.054429,0.997779]]
2025-10-27T17:34:23.564Z,1761586463.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904828,0.420101,0.069287],[-0.424110,-0.903657,-0.059448],[0.037638,-0.083175,0.995824]]
2025-10-27T17:34:23.955Z,1761586463.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903856,0.420163,0.080666],[-0.426253,-0.900565,-0.085391],[0.036767,-0.111565,0.993077]]
2025-10-27T17:34:24.358Z,1761586464.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903498,0.418989,0.090223],[-0.427089,-0.897770,-0.107718],[0.035867,-0.135857,0.990079]]
2025-10-27T17:34:24.765Z,1761586464.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903693,0.416875,0.097744],[-0.426756,-0.895509,-0.126264],[0.034895,-0.155817,0.987169]]
2025-10-27T17:34:25.165Z,1761586465.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904182,0.414627,0.102663],[-0.425787,-0.894049,-0.139220],[0.034062,-0.169593,0.984925]]
2025-10-27T17:34:25.570Z,1761586465.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905030,0.412191,0.104975],[-0.424040,-0.893678,-0.146729],[0.033334,-0.177307,0.983591]]
2025-10-27T17:34:26.380Z,1761586466.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907033,0.407395,0.106397],[-0.419822,-0.894373,-0.154421],[0.032248,-0.184732,0.982260]]
2025-10-27T17:34:26.781Z,1761586466.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907811,0.405801,0.105851],[-0.418175,-0.895008,-0.155209],[0.031753,-0.185165,0.982194]]
2025-10-27T17:34:27.185Z,1761586467.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907992,0.405234,0.106472],[-0.417836,-0.894602,-0.158433],[0.031048,-0.188343,0.981612]]
2025-10-27T17:34:27.590Z,1761586467.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907855,0.405487,0.106673],[-0.418158,-0.894255,-0.159535],[0.030704,-0.189441,0.981412]]
2025-10-27T17:34:27.996Z,1761586467.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907030,0.407165,0.107296],[-0.419986,-0.893069,-0.161365],[0.030121,-0.191426,0.981045]]
2025-10-27T17:34:28.398Z,1761586468.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905324,0.410474,0.109087],[-0.423686,-0.890750,-0.164482],[0.029653,-0.195128,0.980329]]
2025-10-27T17:34:29.205Z,1761586469.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900831,0.419633,0.111412],[-0.433256,-0.885482,-0.167959],[0.028172,-0.199572,0.979478]]
2025-10-27T17:34:29.615Z,1761586469.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897963,0.425467,0.112430],[-0.439221,-0.882362,-0.168884],[0.027350,-0.201033,0.979202]]
2025-10-27T17:34:30.022Z,1761586470.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895148,0.431328,0.112542],[-0.444998,-0.879492,-0.168732],[0.026202,-0.201121,0.979216]]
2025-10-27T17:34:30.418Z,1761586470.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892400,0.437118,0.112026],[-0.450567,-0.876766,-0.168138],[0.024724,-0.200522,0.979377]]
2025-10-27T17:34:30.859Z,1761586470.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889641,0.443179,0.110145],[-0.456070,-0.874523,-0.164952],[0.023221,-0.196982,0.980132]]
2025-10-27T17:34:31.225Z,1761586471.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886912,0.449268,0.107447],[-0.461428,-0.872559,-0.160387],[0.021697,-0.191829,0.981189]]
2025-10-27T17:34:31.635Z,1761586471.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884230,0.455149,0.104765],[-0.466614,-0.870596,-0.155995],[0.020207,-0.186820,0.982186]]
2025-10-27T17:34:32.044Z,1761586472.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881891,0.460308,0.101906],[-0.471074,-0.869029,-0.151257],[0.018935,-0.181397,0.983228]]
2025-10-27T17:34:32.068Z,1761586472.068 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:34:32.068Z,1761586472.068 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:34:32.068Z,1761586472.068 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:34:32.068Z,1761586472.068 [marl:UpdateRudder:A] Stopped
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode] Stopped
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:34:32.069Z,1761586472.069 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed] Stopped
2025-10-27T17:34:32.070Z,1761586472.070 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:34:32.438Z,1761586472.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880822,0.462878,0.099481],[-0.473113,-0.868446,-0.148206],[0.017793,-0.177608,0.983940]]
2025-10-27T17:34:32.482Z,1761586472.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:34:32.482Z,1761586472.482 [marl:UpdateRudder:B] Stopped
2025-10-27T17:34:32.482Z,1761586472.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:34:32.482Z,1761586472.482 [marl:UpdateRudder] Stopped
2025-10-27T17:34:32.482Z,1761586472.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:34:32.876Z,1761586472.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881127,0.463071,0.095812],[-0.472596,-0.869341,-0.144563],[0.016350,-0.172659,0.984846]]
2025-10-27T17:34:33.248Z,1761586473.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882755,0.460870,0.091341],[-0.469605,-0.871562,-0.140896],[0.014675,-0.167271,0.985802]]
2025-10-27T17:34:33.650Z,1761586473.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885209,0.456916,0.087369],[-0.465026,-0.874186,-0.139819],[0.012491,-0.164398,0.986315]]
2025-10-27T17:34:34.053Z,1761586474.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888078,0.451823,0.084700],[-0.459582,-0.876721,-0.141932],[0.010131,-0.164973,0.986246]]
2025-10-27T17:34:34.458Z,1761586474.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891359,0.445624,0.083058],[-0.453232,-0.879285,-0.146422],[0.007783,-0.168159,0.985729]]
2025-10-27T17:34:34.883Z,1761586474.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894821,0.438956,0.081322],[-0.446392,-0.882027,-0.150875],[0.005501,-0.171308,0.985202]]
2025-10-27T17:34:35.016Z,1761586475.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:34:35.266Z,1761586475.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898120,0.432291,0.080654],[-0.439738,-0.884253,-0.157251],[0.003340,-0.176697,0.984260]]
2025-10-27T17:34:36.020Z,1761586476.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:34:36.074Z,1761586476.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904485,0.419173,0.078744],[-0.426504,-0.888574,-0.168909],[-0.000832,-0.186361,0.982481]]
2025-10-27T17:34:36.479Z,1761586476.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906623,0.414780,0.077409],[-0.421933,-0.890071,-0.172469],[-0.002637,-0.189025,0.981969]]
2025-10-27T17:34:36.938Z,1761586476.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907485,0.413042,0.076602],[-0.420056,-0.890049,-0.177104],[-0.004972,-0.192896,0.981207]]
2025-10-27T17:34:37.286Z,1761586477.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907143,0.413766,0.076746],[-0.420767,-0.888815,-0.181558],[-0.006910,-0.196991,0.980381]]
2025-10-27T17:34:37.689Z,1761586477.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906258,0.415555,0.077525],[-0.422634,-0.886901,-0.186511],[-0.008748,-0.201792,0.979389]]
2025-10-27T17:34:38.094Z,1761586478.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904525,0.418954,0.079444],[-0.426297,-0.883961,-0.192053],[-0.010236,-0.207584,0.978164]]
2025-10-27T17:34:38.508Z,1761586478.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902300,0.423481,0.080737],[-0.430953,-0.880981,-0.195327],[-0.011589,-0.211037,0.977409]]
2025-10-27T17:34:38.902Z,1761586478.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899718,0.428827,0.081337],[-0.436282,-0.878071,-0.196595],[-0.012885,-0.212365,0.977105]]
2025-10-27T17:34:39.306Z,1761586479.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896522,0.435375,0.081830],[-0.442765,-0.874623,-0.197469],[-0.014403,-0.213266,0.976888]]
2025-10-27T17:34:39.716Z,1761586479.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893008,0.442827,0.080256],[-0.449756,-0.871791,-0.194168],[-0.016017,-0.209489,0.977680]]
2025-10-27T17:34:40.116Z,1761586480.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889155,0.450879,0.078176],[-0.457238,-0.868521,-0.191323],[-0.018366,-0.205860,0.978409]]
2025-10-27T17:34:40.525Z,1761586480.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885324,0.458883,0.075017],[-0.464511,-0.865660,-0.186714],[-0.020741,-0.200149,0.979546]]
2025-10-27T17:34:40.921Z,1761586480.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882049,0.465736,0.071268],[-0.470598,-0.863501,-0.181395],[-0.022942,-0.193538,0.980825]]
2025-10-27T17:34:41.326Z,1761586481.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879273,0.471613,0.066787],[-0.475652,-0.861949,-0.175497],[-0.025200,-0.186077,0.982212]]
2025-10-27T17:34:41.752Z,1761586481.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877489,0.475516,0.062431],[-0.478846,-0.861375,-0.169527],[-0.026837,-0.178653,0.983546]]
2025-10-27T17:34:42.133Z,1761586482.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875895,0.478855,0.059214],[-0.481682,-0.860643,-0.165153],[-0.028122,-0.173179,0.984489]]
2025-10-27T17:34:42.538Z,1761586482.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874459,0.481761,0.056817],[-0.484197,-0.859683,-0.162785],[-0.029579,-0.169859,0.985024]]
2025-10-27T17:34:42.942Z,1761586482.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873575,0.483569,0.055017],[-0.485721,-0.859123,-0.161193],[-0.030682,-0.167537,0.985388]]
2025-10-27T17:34:43.348Z,1761586483.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872892,0.484925,0.053928],[-0.486914,-0.858690,-0.159894],[-0.031229,-0.165829,0.985660]]
2025-10-27T17:34:43.768Z,1761586483.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872051,0.486287,0.055244],[-0.488437,-0.857614,-0.161019],[-0.030923,-0.167400,0.985404]]
2025-10-27T17:34:44.154Z,1761586484.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871393,0.487328,0.056439],[-0.489619,-0.856688,-0.162354],[-0.030769,-0.169108,0.985117]]
2025-10-27T17:34:44.558Z,1761586484.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871575,0.486840,0.057828],[-0.489282,-0.856303,-0.165372],[-0.030992,-0.172428,0.984535]]
2025-10-27T17:34:44.963Z,1761586484.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871897,0.486086,0.059298],[-0.488702,-0.856051,-0.168366],[-0.031078,-0.175777,0.983939]]
2025-10-27T17:34:45.045Z,1761586485.045 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:34:45.046Z,1761586485.046 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:34:45.046Z,1761586485.046 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:34:45.046Z,1761586485.046 [marl:UpdateRudder:A] Stopped
2025-10-27T17:34:45.046Z,1761586485.046 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:34:45.046Z,1761586485.046 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:34:45.047Z,1761586485.047 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:34:45.051Z,1761586485.051 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:34:45.051Z,1761586485.051 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:34:45.051Z,1761586485.051 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:34:45.051Z,1761586485.051 [marl:UpdateCommandMode] Stopped
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed] Stopped
2025-10-27T17:34:45.052Z,1761586485.052 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:34:45.421Z,1761586485.421 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:34:45.421Z,1761586485.421 [marl:UpdateRudder:B] Stopped
2025-10-27T17:34:45.422Z,1761586485.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:34:45.422Z,1761586485.422 [marl:UpdateRudder] Stopped
2025-10-27T17:34:45.422Z,1761586485.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:34:45.773Z,1761586485.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873863,0.482588,0.058928],[-0.485135,-0.857658,-0.170488],[-0.031736,-0.177571,0.983596]]
2025-10-27T17:34:46.174Z,1761586486.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875655,0.479468,0.057780],[-0.481850,-0.859388,-0.171095],[-0.032379,-0.177662,0.983559]]
2025-10-27T17:34:46.579Z,1761586486.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877621,0.476141,0.055426],[-0.478199,-0.861605,-0.170183],[-0.033276,-0.175861,0.983853]]
2025-10-27T17:34:46.604Z,1761586486.604 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:34:46.994Z,1761586486.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879112,0.473554,0.053929],[-0.475395,-0.863142,-0.170250],[-0.034075,-0.175306,0.983924]]
2025-10-27T17:34:47.360Z,1761586487.360 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:34:47.360Z,1761586487.360 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:34:47.386Z,1761586487.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880073,0.471907,0.052686],[-0.473545,-0.864072,-0.170690],[-0.035025,-0.175169,0.983915]]
2025-10-27T17:34:47.793Z,1761586487.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879842,0.472425,0.051897],[-0.473897,-0.863774,-0.171218],[-0.036060,-0.175238,0.983865]]
2025-10-27T17:34:48.196Z,1761586488.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877260,0.477494,0.049140],[-0.478581,-0.862134,-0.166392],[-0.037086,-0.169486,0.984834]]
2025-10-27T17:34:48.597Z,1761586488.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871985,0.487882,0.040156],[-0.488000,-0.859843,-0.150089],[-0.038698,-0.150471,0.987857]]
2025-10-27T17:34:49.008Z,1761586489.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865209,0.500757,0.025609],[-0.499760,-0.857093,-0.125024],[-0.040658,-0.120970,0.991823]]
2025-10-27T17:34:49.406Z,1761586489.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857931,0.513710,0.007487],[-0.512006,-0.853699,-0.095121],[-0.042473,-0.085441,0.995438]]
2025-10-27T17:34:49.818Z,1761586489.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851164,0.524751,-0.012524],[-0.523048,-0.849920,-0.063694],[-0.044068,-0.047664,0.997891]]
2025-10-27T17:34:50.215Z,1761586490.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844914,0.534075,-0.029738],[-0.532984,-0.845286,-0.037676],[-0.045258,-0.015983,0.998847]]
2025-10-27T17:34:50.618Z,1761586490.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839243,0.542024,-0.043359],[-0.541788,-0.840321,-0.018041],[-0.046214,0.008351,0.998897]]
2025-10-27T17:34:51.021Z,1761586491.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833672,0.549724,-0.052871],[-0.550300,-0.834956,-0.004269],[-0.046492,0.025536,0.998592]]
2025-10-27T17:34:51.427Z,1761586491.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827972,0.557689,-0.058700],[-0.558859,-0.829251,0.004358],[-0.046246,0.036414,0.998266]]
2025-10-27T17:34:51.829Z,1761586491.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821330,0.567279,-0.060104],[-0.568650,-0.822547,0.007248],[-0.045327,0.040131,0.998166]]
2025-10-27T17:34:52.638Z,1761586492.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804984,0.590851,-0.053813],[-0.591844,-0.806046,0.003208],[-0.041480,0.034431,0.998546]]
2025-10-27T17:34:53.042Z,1761586493.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795366,0.604070,-0.049920],[-0.604876,-0.796318,0.001312],[-0.038960,0.031239,0.998752]]
2025-10-27T17:34:53.446Z,1761586493.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784837,0.617888,-0.047387],[-0.618620,-0.785690,0.000997],[-0.036616,0.030097,0.998876]]
2025-10-27T17:34:53.850Z,1761586493.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773299,0.632372,-0.045989],[-0.633094,-0.774074,0.001472],[-0.034668,0.030254,0.998941]]
2025-10-27T17:34:54.255Z,1761586494.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761028,0.647079,-0.046108],[-0.647862,-0.761753,0.002744],[-0.033347,0.031959,0.998933]]
2025-10-27T17:34:54.658Z,1761586494.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747941,0.662042,-0.047802],[-0.662965,-0.748635,0.004847],[-0.032578,0.035316,0.998845]]
2025-10-27T17:34:55.062Z,1761586495.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734147,0.677096,-0.050682],[-0.678216,-0.734829,0.007119],[-0.032423,0.039599,0.998689]]
2025-10-27T17:34:55.477Z,1761586495.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719725,0.692179,-0.053700],[-0.693497,-0.720405,0.008904],[-0.032523,0.043649,0.998517]]
2025-10-27T17:34:55.877Z,1761586495.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704711,0.707244,-0.056474],[-0.708745,-0.705391,0.010203],[-0.032620,0.047216,0.998352]]
2025-10-27T17:34:56.274Z,1761586496.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689201,0.722168,-0.058956],[-0.723860,-0.689845,0.011888],[-0.032085,0.050869,0.998190]]
2025-10-27T17:34:56.678Z,1761586496.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672746,0.737500,-0.059214],[-0.739219,-0.673360,0.011878],[-0.031112,0.051763,0.998175]]
2025-10-27T17:34:57.083Z,1761586497.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655881,0.752629,-0.058048],[-0.754272,-0.656472,0.010903],[-0.029901,0.050935,0.998254]]
2025-10-27T17:34:57.490Z,1761586497.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638293,0.767632,-0.057645],[-0.769248,-0.638869,0.010226],[-0.028978,0.050871,0.998285]]
2025-10-27T17:34:57.889Z,1761586497.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620527,0.782122,-0.056841],[-0.783666,-0.621122,0.008663],[-0.028530,0.049920,0.998346]]
2025-10-27T17:34:58.330Z,1761586498.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603825,0.795113,-0.056488],[-0.796616,-0.604440,0.007408],[-0.028254,0.049472,0.998376]]
2025-10-27T17:34:58.405Z,1761586498.405 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:34:58.405Z,1761586498.405 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:34:58.405Z,1761586498.405 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateRudder:A] Stopped
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode] Stopped
2025-10-27T17:34:58.406Z,1761586498.406 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:34:58.407Z,1761586498.407 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:34:58.411Z,1761586498.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:34:58.411Z,1761586498.411 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:34:58.411Z,1761586498.411 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:34:58.411Z,1761586498.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:34:58.412Z,1761586498.412 [marl:UpdateSpeed] Stopped
2025-10-27T17:34:58.412Z,1761586498.412 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:34:58.699Z,1761586498.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589562,0.805695,-0.057196],[-0.807240,-0.590178,0.007249],[-0.027916,0.050444,0.998337]]
2025-10-27T17:34:58.729Z,1761586498.729 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:34:58.729Z,1761586498.729 [marl:UpdateRudder:B] Stopped
2025-10-27T17:34:58.730Z,1761586498.730 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:34:58.730Z,1761586498.730 [marl:UpdateRudder] Stopped
2025-10-27T17:34:58.730Z,1761586498.730 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:34:59.102Z,1761586499.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578843,0.813383,-0.057869],[-0.814974,-0.579451,0.007368],[-0.027539,0.051426,0.998297]]
2025-10-27T17:34:59.917Z,1761586499.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564379,0.823470,-0.058079],[-0.825063,-0.565001,0.006657],[-0.027333,0.051676,0.998290]]
2025-10-27T17:35:00.317Z,1761586500.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559134,0.827280,-0.054553],[-0.828638,-0.559769,0.004289],[-0.026989,0.047603,0.998502]]
2025-10-27T17:35:00.718Z,1761586500.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555024,0.830327,-0.050055],[-0.831424,-0.555635,0.002016],[-0.026138,0.042736,0.998744]]
2025-10-27T17:35:01.122Z,1761586501.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551755,0.832784,-0.045129],[-0.833633,-0.552318,-0.000020],[-0.024942,0.037610,0.998981]]
2025-10-27T17:35:01.526Z,1761586501.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549595,0.834630,-0.036576],[-0.835109,-0.550072,-0.003692],[-0.023201,0.028516,0.999324]]
2025-10-27T17:35:02.004Z,1761586502.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552947,0.833216,0.001184],[-0.832995,-0.552766,-0.023871],[-0.019235,-0.014186,0.999714]]
2025-10-27T17:35:02.411Z,1761586502.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555616,0.830914,0.029542],[-0.831263,-0.554416,-0.040311],[-0.017116,-0.046954,0.998750]]
2025-10-27T17:35:02.831Z,1761586502.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556998,0.828404,0.059160],[-0.830381,-0.554219,-0.057516],[-0.014859,-0.081162,0.996590]]
2025-10-27T17:35:03.319Z,1761586503.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556928,0.826010,0.086824],[-0.830467,-0.552243,-0.073167],[-0.012488,-0.112853,0.993533]]
2025-10-27T17:35:04.097Z,1761586504.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552356,0.823705,0.128112],[-0.833571,-0.544307,-0.094288],[-0.007934,-0.158871,0.987268]]
2025-10-27T17:35:04.502Z,1761586504.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547999,0.824483,0.141154],[-0.836454,-0.538831,-0.100027],[-0.006412,-0.172884,0.984921]]
2025-10-27T17:35:05.314Z,1761586505.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538353,0.828343,0.154996],[-0.842709,-0.528224,-0.104028],[-0.004299,-0.186620,0.982423]]
2025-10-27T17:35:05.718Z,1761586505.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534195,0.830746,0.156512],[-0.845351,-0.524069,-0.103597],[-0.004040,-0.187648,0.982228]]
2025-10-27T17:35:06.121Z,1761586506.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531186,0.832623,0.156784],[-0.847247,-0.521167,-0.102751],[-0.003842,-0.187415,0.982273]]
2025-10-27T17:35:06.143Z,1761586506.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:35:06.527Z,1761586506.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529123,0.833915,0.156892],[-0.848537,-0.519194,-0.102088],[-0.003676,-0.187146,0.982325]]
2025-10-27T17:35:06.930Z,1761586506.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527218,0.835038,0.157326],[-0.849724,-0.517409,-0.101278],[-0.003169,-0.187080,0.982340]]
2025-10-27T17:35:07.150Z,1761586507.150 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:35:07.333Z,1761586507.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525543,0.835881,0.158456],[-0.850765,-0.515932,-0.100065],[-0.001889,-0.187397,0.982282]]
2025-10-27T17:35:07.744Z,1761586507.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523157,0.836891,0.160996],[-0.852236,-0.513787,-0.098570],[0.000225,-0.188774,0.982021]]
2025-10-27T17:35:08.142Z,1761586508.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519869,0.838470,0.163416],[-0.854241,-0.510885,-0.096268],[0.002769,-0.189644,0.981849]]
2025-10-27T17:35:08.545Z,1761586508.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515711,0.840688,0.165186],[-0.856743,-0.507342,-0.092715],[0.005862,-0.189336,0.981895]]
2025-10-27T17:35:08.964Z,1761586508.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510471,0.843680,0.166203],[-0.859848,-0.502842,-0.088386],[0.009004,-0.188028,0.982122]]
2025-10-27T17:35:09.363Z,1761586509.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504590,0.847411,0.165178],[-0.863278,-0.497837,-0.083120],[0.011795,-0.184536,0.982755]]
2025-10-27T17:35:09.768Z,1761586509.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498153,0.851978,0.161175],[-0.866974,-0.492434,-0.076580],[0.014123,-0.177884,0.983950]]
2025-10-27T17:35:10.167Z,1761586510.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491579,0.856880,0.155267],[-0.870692,-0.486830,-0.069937],[0.015661,-0.169569,0.985394]]
2025-10-27T17:35:10.569Z,1761586510.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485303,0.861787,0.147663],[-0.874190,-0.481437,-0.063327],[0.016516,-0.159818,0.987008]]
2025-10-27T17:35:10.978Z,1761586510.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479843,0.866375,0.138366],[-0.877190,-0.476799,-0.056569],[0.016963,-0.148517,0.988764]]
2025-10-27T17:35:11.385Z,1761586511.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475788,0.869796,0.130695],[-0.879395,-0.473300,-0.051499],[0.017064,-0.139435,0.990084]]
2025-10-27T17:35:11.409Z,1761586511.409 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateRudder:A] Stopped
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:35:11.410Z,1761586511.410 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateCommandMode] Stopped
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:35:11.411Z,1761586511.411 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:35:11.412Z,1761586511.412 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:35:11.412Z,1761586511.412 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:35:11.412Z,1761586511.412 [marl:UpdateSpeed] Stopped
2025-10-27T17:35:11.412Z,1761586511.412 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:35:11.786Z,1761586511.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473689,0.871868,0.124360],[-0.880529,-0.471577,-0.047797],[0.016973,-0.132144,0.991085]]
2025-10-27T17:35:11.826Z,1761586511.826 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:35:11.826Z,1761586511.826 [marl:UpdateRudder:B] Stopped
2025-10-27T17:35:11.826Z,1761586511.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:35:11.826Z,1761586511.826 [marl:UpdateRudder] Stopped
2025-10-27T17:35:11.826Z,1761586511.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:35:12.186Z,1761586512.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473887,0.871967,0.122901],[-0.880426,-0.471824,-0.047252],[0.016785,-0.130597,0.991293]]
2025-10-27T17:35:12.590Z,1761586512.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476670,0.870710,0.121038],[-0.878929,-0.474619,-0.047122],[0.016417,-0.128845,0.991529]]
2025-10-27T17:35:13.005Z,1761586513.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481899,0.867759,0.121524],[-0.876087,-0.479645,-0.049125],[0.015659,-0.130139,0.991372]]
2025-10-27T17:35:13.398Z,1761586513.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489311,0.863124,0.124871],[-0.871989,-0.486582,-0.053601],[0.014496,-0.135114,0.990724]]
2025-10-27T17:35:13.806Z,1761586513.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498360,0.857580,0.127256],[-0.866866,-0.495181,-0.057791],[0.013455,-0.139114,0.990185]]
2025-10-27T17:35:14.205Z,1761586514.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508719,0.850817,0.131590],[-0.860836,-0.504972,-0.062959],[0.012883,-0.145306,0.989303]]
2025-10-27T17:35:14.611Z,1761586514.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519922,0.843140,0.137095],[-0.854112,-0.515595,-0.068224],[0.013163,-0.152566,0.988206]]
2025-10-27T17:35:15.018Z,1761586515.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531186,0.834792,0.144791],[-0.847131,-0.526220,-0.073904],[0.014497,-0.161913,0.986698]]
2025-10-27T17:35:15.425Z,1761586515.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541471,0.826537,0.153771],[-0.840551,-0.535891,-0.079336],[0.016830,-0.172211,0.984916]]
2025-10-27T17:35:15.825Z,1761586515.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549491,0.819412,0.163165],[-0.835258,-0.543451,-0.083699],[0.020088,-0.182277,0.983042]]
2025-10-27T17:35:16.227Z,1761586516.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554247,0.814227,0.172757],[-0.832009,-0.547912,-0.086905],[0.023896,-0.191902,0.981123]]
2025-10-27T17:35:16.630Z,1761586516.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555269,0.811122,0.183730],[-0.831199,-0.548683,-0.089754],[0.028008,-0.202554,0.978871]]
2025-10-27T17:35:17.037Z,1761586517.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553466,0.810186,0.193066],[-0.832251,-0.546940,-0.090637],[0.032162,-0.210844,0.976991]]
2025-10-27T17:35:17.455Z,1761586517.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549613,0.811013,0.200459],[-0.834639,-0.543428,-0.089802],[0.036104,-0.216667,0.975578]]
2025-10-27T17:35:17.858Z,1761586517.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544055,0.813892,0.203922],[-0.838114,-0.538629,-0.086276],[0.039619,-0.217849,0.975178]]
2025-10-27T17:35:18.387Z,1761586518.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537312,0.818705,0.202530],[-0.842317,-0.533004,-0.080058],[0.042405,-0.213610,0.975998]]
2025-10-27T17:35:18.913Z,1761586518.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521815,0.831277,0.191539],[-0.851929,-0.519370,-0.066875],[0.043888,-0.198073,0.979204]]
2025-10-27T17:35:19.443Z,1761586519.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513570,0.838813,0.180663],[-0.857000,-0.511844,-0.059715],[0.042382,-0.185496,0.981731]]
2025-10-27T17:35:20.245Z,1761586520.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496847,0.853674,0.156156],[-0.867072,-0.495864,-0.048005],[0.036451,-0.159249,0.986565]]
2025-10-27T17:35:20.645Z,1761586520.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488637,0.860215,0.145823],[-0.871875,-0.487685,-0.044686],[0.032676,-0.148974,0.988301]]
2025-10-27T17:35:21.050Z,1761586521.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480678,0.865624,0.140159],[-0.876425,-0.479487,-0.044398],[0.028772,-0.144180,0.989133]]
2025-10-27T17:35:21.453Z,1761586521.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473851,0.869693,0.138201],[-0.880253,-0.472226,-0.046435],[0.024878,-0.143655,0.989315]]
2025-10-27T17:35:21.865Z,1761586521.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471738,0.870592,0.139762],[-0.881449,-0.469684,-0.049441],[0.022601,-0.146516,0.988950]]
2025-10-27T17:35:22.261Z,1761586522.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472587,0.869712,0.142348],[-0.881028,-0.470144,-0.052491],[0.021272,-0.150219,0.988424]]
2025-10-27T17:35:22.666Z,1761586522.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474465,0.868105,0.145868],[-0.880035,-0.471647,-0.055571],[0.020557,-0.154736,0.987742]]
2025-10-27T17:35:23.070Z,1761586523.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475564,0.866735,0.150363],[-0.879465,-0.472239,-0.059428],[0.019499,-0.160501,0.986843]]
2025-10-27T17:35:23.475Z,1761586523.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475787,0.865813,0.154901],[-0.879367,-0.471947,-0.063093],[0.018479,-0.166233,0.985913]]
2025-10-27T17:35:23.878Z,1761586523.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475243,0.865396,0.158852],[-0.879684,-0.470896,-0.066429],[0.017316,-0.171309,0.985065]]
2025-10-27T17:35:24.282Z,1761586524.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474856,0.865291,0.160573],[-0.879900,-0.470313,-0.067681],[0.016956,-0.173427,0.984701]]
2025-10-27T17:35:24.686Z,1761586524.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473899,0.865513,0.162192],[-0.880436,-0.469038,-0.069538],[0.015889,-0.175754,0.984306]]
2025-10-27T17:35:24.753Z,1761586524.753 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:35:24.754Z,1761586524.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:35:24.754Z,1761586524.754 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:35:24.755Z,1761586524.755 [marl:UpdateRudder:A] Stopped
2025-10-27T17:35:24.755Z,1761586524.755 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:35:24.755Z,1761586524.755 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:35:24.755Z,1761586524.755 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:35:24.755Z,1761586524.755 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateCommandMode] Stopped
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:35:24.756Z,1761586524.756 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:35:24.757Z,1761586524.757 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:35:24.757Z,1761586524.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:35:24.757Z,1761586524.757 [marl:UpdateSpeed] Stopped
2025-10-27T17:35:24.757Z,1761586524.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:35:25.101Z,1761586525.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473603,0.865909,0.160945],[-0.880612,-0.468662,-0.069846],[0.014949,-0.174809,0.984489]]
2025-10-27T17:35:25.175Z,1761586525.175 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:35:25.175Z,1761586525.175 [marl:UpdateRudder:B] Stopped
2025-10-27T17:35:25.175Z,1761586525.175 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:35:25.175Z,1761586525.175 [marl:UpdateRudder] Stopped
2025-10-27T17:35:25.176Z,1761586525.176 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:35:25.494Z,1761586525.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473886,0.865954,0.159862],[-0.880475,-0.468833,-0.070420],[0.013968,-0.174126,0.984624]]
2025-10-27T17:35:25.907Z,1761586525.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474803,0.865872,0.157568],[-0.879998,-0.469700,-0.070612],[0.012868,-0.172186,0.984980]]
2025-10-27T17:35:26.302Z,1761586526.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476948,0.865219,0.154651],[-0.878849,-0.471865,-0.070479],[0.011994,-0.169530,0.985452]]
2025-10-27T17:35:27.113Z,1761586527.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486289,0.860910,0.149521],[-0.873731,-0.481193,-0.071040],[0.010789,-0.165187,0.986203]]
2025-10-27T17:35:27.514Z,1761586527.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492905,0.857832,0.145497],[-0.870029,-0.487807,-0.071376],[0.009746,-0.161768,0.986781]]
2025-10-27T17:35:27.926Z,1761586527.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498469,0.855418,0.140674],[-0.866868,-0.493382,-0.071509],[0.008236,-0.157591,0.987470]]
2025-10-27T17:35:28.348Z,1761586528.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499659,0.856605,0.128718],[-0.866199,-0.495192,-0.066967],[0.006376,-0.144956,0.989418]]
2025-10-27T17:35:28.730Z,1761586528.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496145,0.861418,0.108622],[-0.868229,-0.492866,-0.057111],[0.004340,-0.122644,0.992441]]
2025-10-27T17:35:29.133Z,1761586529.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488787,0.868295,0.084560],[-0.872399,-0.486782,-0.044305],[0.002692,-0.095426,0.995433]]
2025-10-27T17:35:29.535Z,1761586529.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478772,0.875795,0.061322],[-0.877937,-0.477761,-0.031160],[0.002008,-0.068755,0.997631]]
2025-10-27T17:35:29.938Z,1761586529.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466619,0.883417,0.042916],[-0.884454,-0.466220,-0.019499],[0.002782,-0.047056,0.998888]]
2025-10-27T17:35:30.342Z,1761586530.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452399,0.891349,0.028854],[-0.891804,-0.452324,-0.009451],[0.004628,-0.030008,0.999539]]
2025-10-27T17:35:30.753Z,1761586530.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436350,0.899579,0.018866],[-0.899746,-0.436413,-0.000834],[0.007483,-0.017339,0.999822]]
2025-10-27T17:35:31.200Z,1761586531.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321234976,35.0   0.0,1500.3,  0
2025-10-27T17:35:31.957Z,1761586531.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379712,0.925052,-0.009856],[-0.924930,-0.379412,0.023482],[0.017982,0.018033,0.999676]]
2025-10-27T17:35:32.361Z,1761586532.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358708,0.933275,-0.018089],[-0.933231,-0.358137,0.028582],[0.020197,0.027133,0.999428]]
2025-10-27T17:35:32.768Z,1761586532.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337203,0.941024,-0.027719],[-0.941204,-0.336327,0.031924],[0.020719,0.036854,0.999106]]
2025-10-27T17:35:33.574Z,1761586533.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294975,0.954432,-0.045263],[-0.955361,-0.293776,0.031320],[0.016595,0.052481,0.998484]]
2025-10-27T17:35:34.397Z,1761586534.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253619,0.966009,-0.050046],[-0.967277,-0.252880,0.020675],[0.007317,0.053652,0.998533]]
2025-10-27T17:35:34.786Z,1761586534.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232953,0.971369,-0.046641],[-0.972486,-0.232582,0.013311],[0.002082,0.048459,0.998823]]
2025-10-27T17:35:35.594Z,1761586535.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195128,0.980201,-0.033631],[-0.980767,-0.195173,0.001974],[-0.004629,0.033370,0.999432]]
2025-10-27T17:35:35.999Z,1761586535.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180104,0.983274,-0.027106],[-0.983637,-0.180162,0.000325],[-0.004564,0.026721,0.999632]]
2025-10-27T17:35:36.411Z,1761586536.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165234,0.986025,-0.021280],[-0.986245,-0.165286,-0.000696],[-0.004203,0.020872,0.999773]]
2025-10-27T17:35:37.210Z,1761586537.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137468,0.990318,-0.019296],[-0.990499,-0.137514,-0.001061],[-0.003704,0.018967,0.999813]]
2025-10-27T17:35:37.287Z,1761586537.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:35:37.620Z,1761586537.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125905,0.991832,-0.020433],[-0.992033,-0.125967,-0.001780],[-0.004339,0.020046,0.999790]]
2025-10-27T17:35:37.645Z,1761586537.645 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:35:37.645Z,1761586537.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:35:37.645Z,1761586537.645 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateRudder:A] Stopped
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:35:37.646Z,1761586537.646 [marl:UpdateCommandMode] Stopped
2025-10-27T17:35:37.647Z,1761586537.647 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:35:37.647Z,1761586537.647 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:35:37.647Z,1761586537.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:35:37.647Z,1761586537.647 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:35:37.647Z,1761586537.647 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:35:37.648Z,1761586537.648 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:35:37.648Z,1761586537.648 [marl:UpdateSpeed] Stopped
2025-10-27T17:35:37.648Z,1761586537.648 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:35:38.025Z,1761586538.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106731,0.994015,-0.023285],[-0.994250,-0.106902,-0.006201],[-0.008653,0.022489,0.999710]]
2025-10-27T17:35:38.049Z,1761586538.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:35:38.049Z,1761586538.049 [marl:UpdateRudder:B] Stopped
2025-10-27T17:35:38.050Z,1761586538.050 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:35:38.050Z,1761586538.050 [marl:UpdateRudder] Stopped
2025-10-27T17:35:38.050Z,1761586538.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:35:38.291Z,1761586538.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:35:38.426Z,1761586538.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099254,0.994786,-0.023456],[-0.995000,-0.099484,-0.008872],[-0.011159,0.022458,0.999685]]
2025-10-27T17:35:38.873Z,1761586538.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093136,0.995398,-0.022533],[-0.995569,-0.093398,-0.010872],[-0.012926,0.021420,0.999687]]
2025-10-27T17:35:39.237Z,1761586539.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087965,0.995906,-0.020795],[-0.996038,-0.088212,-0.011298],[-0.013087,0.019719,0.999720]]
2025-10-27T17:35:39.637Z,1761586539.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082895,0.996396,-0.017980],[-0.996495,-0.083078,-0.009736],[-0.011194,0.017110,0.999791]]
2025-10-27T17:35:40.038Z,1761586540.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075888,0.997015,-0.014215],[-0.997085,-0.075992,-0.006888],[-0.007948,0.013651,0.999875]]
2025-10-27T17:35:40.442Z,1761586540.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066505,0.997746,-0.008970],[-0.997779,-0.066535,-0.003112],[-0.003702,0.008743,0.999955]]
2025-10-27T17:35:40.885Z,1761586540.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057415,0.998340,0.004590],[-0.998349,-0.057421,0.001283],[0.001544,-0.004509,0.999989]]
2025-10-27T17:35:41.266Z,1761586541.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051119,0.998363,0.025670],[-0.998663,-0.051299,0.006398],[0.007705,-0.025308,0.999650]]
2025-10-27T17:35:41.671Z,1761586541.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046370,0.997382,0.055480],[-0.998830,-0.047058,0.011159],[0.013740,-0.054898,0.998397]]
2025-10-27T17:35:42.073Z,1761586542.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042289,0.995155,0.088760],[-0.998923,-0.043814,0.015297],[0.019112,-0.088018,0.995936]]
2025-10-27T17:35:42.478Z,1761586542.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037884,0.991938,0.120928],[-0.999014,-0.040396,0.018392],[0.023128,-0.120112,0.992491]]
2025-10-27T17:35:42.892Z,1761586542.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032502,0.988445,0.148057],[-0.999152,-0.035880,0.020200],[0.025279,-0.147275,0.988773]]
2025-10-27T17:35:43.293Z,1761586543.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026172,0.985433,0.168040],[-0.999336,-0.030054,0.020600],[0.025351,-0.167390,0.985565]]
2025-10-27T17:35:43.689Z,1761586543.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018907,0.983525,0.179782],[-0.999548,-0.022795,0.019587],[0.023362,-0.179331,0.983511]]
2025-10-27T17:35:44.093Z,1761586544.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010769,0.982546,0.185708],[-0.999747,-0.014248,0.017407],[0.019749,-0.185473,0.982451]]
2025-10-27T17:35:44.498Z,1761586544.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003106,0.982086,0.188406],[-0.999873,-0.005993,0.014754],[0.015619,-0.188336,0.981980]]
2025-10-27T17:35:44.902Z,1761586544.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003818,0.981628,0.190766],[-0.999923,0.001500,0.012296],[0.011784,-0.190798,0.981559]]
2025-10-27T17:35:45.312Z,1761586545.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006810,0.982047,0.188515],[-0.999930,0.004866,0.010772],[0.009661,-0.188575,0.982011]]
2025-10-27T17:35:45.710Z,1761586545.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006658,0.982488,0.186209],[-0.999933,0.004770,0.010586],[0.009513,-0.186267,0.982453]]
2025-10-27T17:35:46.114Z,1761586546.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006036,0.982673,0.185249],[-0.999931,0.004070,0.010996],[0.010051,-0.185302,0.982630]]
2025-10-27T17:35:46.518Z,1761586546.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005967,0.982757,0.184806],[-0.999926,0.003905,0.011520],[0.010600,-0.184861,0.982707]]
2025-10-27T17:35:46.923Z,1761586546.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006747,0.982870,0.184178],[-0.999919,0.004649,0.011823],[0.010764,-0.184243,0.982822]]
2025-10-27T17:35:46.988Z,1761586546.988 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:35:47.326Z,1761586547.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007766,0.982719,0.184941],[-0.999914,0.005678,0.011816],[0.010562,-0.185017,0.982679]]
2025-10-27T17:35:47.543Z,1761586547.543 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:35:47.543Z,1761586547.543 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:35:47.736Z,1761586547.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008364,0.982181,0.187753],[-0.999917,0.006372,0.011213],[0.009817,-0.187831,0.982152]]
2025-10-27T17:35:48.134Z,1761586548.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007947,0.981509,0.191249],[-0.999932,0.006168,0.009895],[0.008533,-0.191315,0.981492]]
2025-10-27T17:35:48.539Z,1761586548.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006091,0.981156,0.193123],[-0.999957,0.004616,0.008086],[0.007042,-0.193164,0.981141]]
2025-10-27T17:35:48.946Z,1761586548.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002480,0.980928,0.194356],[-0.999982,0.001362,0.005888],[0.005511,-0.194367,0.980913]]
2025-10-27T17:35:49.357Z,1761586549.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001820,0.980863,0.194689],[-0.999990,-0.002568,0.003592],[0.004024,-0.194681,0.980858]]
2025-10-27T17:35:49.756Z,1761586549.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006073,0.981136,0.193222],[-0.999977,-0.006559,0.001875],[0.003107,-0.193206,0.981153]]
2025-10-27T17:35:50.155Z,1761586550.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009401,0.981558,0.190932],[-0.999952,-0.009771,0.000993],[0.002840,-0.190913,0.981603]]
2025-10-27T17:35:50.557Z,1761586550.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010686,0.981921,0.188987],[-0.999939,-0.011050,0.000873],[0.002946,-0.188967,0.981979]]
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateRudder:A] Stopped
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:35:50.601Z,1761586550.601 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateCommandMode] Stopped
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:35:50.602Z,1761586550.602 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:35:50.603Z,1761586550.603 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:35:50.603Z,1761586550.603 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:35:50.603Z,1761586550.603 [marl:UpdateSpeed] Stopped
2025-10-27T17:35:50.603Z,1761586550.603 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:35:50.962Z,1761586550.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009561,0.982269,0.187234],[-0.999949,-0.009996,0.001378],[0.003226,-0.187211,0.982314]]
2025-10-27T17:35:51.016Z,1761586551.016 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:35:51.016Z,1761586551.016 [marl:UpdateRudder:B] Stopped
2025-10-27T17:35:51.016Z,1761586551.016 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:35:51.016Z,1761586551.016 [marl:UpdateRudder] Stopped
2025-10-27T17:35:51.016Z,1761586551.016 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:35:51.377Z,1761586551.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006689,0.982621,0.185505],[-0.999971,-0.007229,0.002236],[0.003538,-0.185484,0.982641]]
2025-10-27T17:35:51.771Z,1761586551.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002452,0.982553,0.185969],[-0.999990,-0.003097,0.003178],[0.003699,-0.185960,0.982550]]
2025-10-27T17:35:52.173Z,1761586552.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002690,0.982193,0.187855],[-0.999991,0.002020,0.003755],[0.003308,-0.187863,0.982190]]
2025-10-27T17:35:52.577Z,1761586552.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007957,0.981918,0.189137],[-0.999967,0.007475,0.003263],[0.001790,-0.189157,0.981945]]
2025-10-27T17:35:53.790Z,1761586553.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013177,0.981252,0.192281],[-0.999903,0.013784,-0.001819],[-0.004435,-0.192238,0.981338]]
2025-10-27T17:35:54.193Z,1761586554.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010778,0.981277,0.192300],[-0.999925,0.011679,-0.003553],[-0.005732,-0.192247,0.981330]]
2025-10-27T17:35:55.415Z,1761586555.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007779,0.981523,0.191188],[-0.999941,0.009093,-0.005994],[-0.007621,-0.191130,0.981535]]
2025-10-27T17:35:56.213Z,1761586556.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012007,0.980531,0.195999],[-0.999918,0.012666,-0.002106],[-0.004548,-0.195958,0.980602]]
2025-10-27T17:35:56.618Z,1761586556.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015879,0.979388,0.201362],[-0.999873,0.015876,0.001632],[-0.001599,-0.201362,0.979516]]
2025-10-27T17:35:57.026Z,1761586557.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020615,0.978477,0.205324],[-0.999786,0.019824,0.005909],[0.001711,-0.205402,0.978676]]
2025-10-27T17:35:57.840Z,1761586557.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032950,0.976342,0.213708],[-0.999428,0.030556,0.014496],[0.007623,-0.214063,0.976790]]
2025-10-27T17:35:58.234Z,1761586558.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040106,0.975803,0.214941],[-0.999152,0.037164,0.017711],[0.009294,-0.215469,0.976466]]
2025-10-27T17:35:58.637Z,1761586558.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047330,0.975318,0.215672],[-0.998829,0.044039,0.020043],[0.010051,-0.216368,0.976260]]
2025-10-27T17:35:59.446Z,1761586559.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059892,0.976006,0.209345],[-0.998171,0.056827,0.020634],[0.008243,-0.210198,0.977624]]
2025-10-27T17:35:59.857Z,1761586559.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063794,0.977236,0.202337],[-0.997943,0.061174,0.019181],[0.006366,-0.203144,0.979128]]
2025-10-27T17:36:00.254Z,1761586560.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065253,0.978529,0.195508],[-0.997858,0.063092,0.017268],[0.004563,-0.196216,0.980550]]
2025-10-27T17:36:00.658Z,1761586560.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063811,0.980307,0.186884],[-0.997957,0.062076,0.015129],[0.003230,-0.187468,0.982265]]
2025-10-27T17:36:01.473Z,1761586561.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053321,0.983798,0.171166],[-0.998572,0.051967,0.012382],[0.003286,-0.171581,0.985164]]
2025-10-27T17:36:01.870Z,1761586561.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045789,0.984797,0.167564],[-0.998938,0.044291,0.012668],[0.005054,-0.167966,0.985780]]
2025-10-27T17:36:02.273Z,1761586562.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038982,0.985201,0.166909],[-0.999208,0.037093,0.014421],[0.008016,-0.167339,0.985867]]
2025-10-27T17:36:02.679Z,1761586562.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035607,0.985130,0.168080],[-0.999314,0.033378,0.016066],[0.010217,-0.168536,0.985642]]
2025-10-27T17:36:03.081Z,1761586563.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034899,0.984245,0.173331],[-0.999306,0.032112,0.018861],[0.012998,-0.173869,0.984683]]
2025-10-27T17:36:03.485Z,1761586563.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036581,0.983331,0.178106],[-0.999205,0.033161,0.022140],[0.015865,-0.178775,0.983762]]
2025-10-27T17:36:03.537Z,1761586563.537 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:36:03.537Z,1761586563.537 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:36:03.537Z,1761586563.537 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:36:03.537Z,1761586563.537 [marl:UpdateRudder:A] Stopped
2025-10-27T17:36:03.537Z,1761586563.537 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode] Stopped
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:36:03.538Z,1761586563.538 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:36:03.539Z,1761586563.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:36:03.539Z,1761586563.539 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:36:03.540Z,1761586563.540 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:36:03.540Z,1761586563.540 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:36:03.540Z,1761586563.540 [marl:UpdateSpeed] Stopped
2025-10-27T17:36:03.540Z,1761586563.540 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:36:03.964Z,1761586563.964 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:36:03.964Z,1761586563.964 [marl:UpdateRudder:B] Stopped
2025-10-27T17:36:03.964Z,1761586563.964 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:36:03.964Z,1761586563.964 [marl:UpdateRudder] Stopped
2025-10-27T17:36:03.964Z,1761586563.964 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:36:04.293Z,1761586564.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042770,0.980955,0.189470],[-0.998836,0.037750,0.030029],[0.022305,-0.190534,0.981427]]
2025-10-27T17:36:04.698Z,1761586564.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047014,0.979698,0.194890],[-0.998565,0.041086,0.034352],[0.025647,-0.196225,0.980223]]
2025-10-27T17:36:05.506Z,1761586565.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056499,0.977591,0.202791],[-0.997896,0.048821,0.042673],[0.031817,-0.204775,0.978292]]
2025-10-27T17:36:05.909Z,1761586565.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061606,0.976409,0.206956],[-0.997505,0.053071,0.046546],[0.034464,-0.209307,0.977242]]
2025-10-27T17:36:06.326Z,1761586566.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067442,0.975173,0.210926],[-0.997056,0.058147,0.049974],[0.036469,-0.213675,0.976224]]
2025-10-27T17:36:06.721Z,1761586566.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075311,0.974810,0.209939],[-0.996465,0.065714,0.052332],[0.037218,-0.213138,0.976313]]
2025-10-27T17:36:07.526Z,1761586567.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105243,0.979891,0.169523],[-0.993900,0.097994,0.050597],[0.032967,-0.173814,0.984226]]
2025-10-27T17:36:07.930Z,1761586567.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125677,0.982332,0.138669],[-0.991666,0.120396,0.045868],[0.028363,-0.143278,0.989276]]
2025-10-27T17:36:08.338Z,1761586568.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146010,0.983456,0.107214],[-0.988999,0.142512,0.039632],[0.023697,-0.111822,0.993446]]
2025-10-27T17:36:08.431Z,1761586568.431 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:36:08.746Z,1761586568.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163313,0.983479,0.078089],[-0.986360,0.161117,0.033684],[0.020546,-0.082525,0.996377]]
2025-10-27T17:36:09.435Z,1761586569.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:36:09.546Z,1761586569.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190776,0.981232,0.028091],[-0.981445,0.190100,0.025069],[0.019258,-0.032352,0.999291]]
2025-10-27T17:36:09.950Z,1761586569.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203984,0.978908,0.011395],[-0.978767,0.203687,0.022929],[0.020124,-0.015830,0.999672]]
2025-10-27T17:36:10.355Z,1761586570.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217966,0.975956,0.000338],[-0.975723,0.217906,0.021949],[0.021348,-0.005114,0.999759]]
2025-10-27T17:36:10.762Z,1761586570.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232480,0.972565,-0.008346],[-0.972324,0.232610,0.021853],[0.023195,0.003035,0.999726]]
2025-10-27T17:36:11.566Z,1761586571.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265376,0.963960,-0.018873],[-0.963745,0.265779,0.023597],[0.027762,0.011926,0.999543]]
2025-10-27T17:36:11.971Z,1761586571.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283196,0.958786,-0.022995],[-0.958571,0.283736,0.025184],[0.030671,0.014910,0.999418]]
2025-10-27T17:36:12.374Z,1761586572.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301185,0.953230,-0.025306],[-0.952991,0.301819,0.026715],[0.033104,0.016071,0.999323]]
2025-10-27T17:36:12.778Z,1761586572.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319373,0.947291,-0.025331],[-0.946972,0.320033,0.028696],[0.035291,0.014823,0.999267]]
2025-10-27T17:36:13.182Z,1761586573.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337389,0.940992,-0.026524],[-0.940634,0.338103,0.029908],[0.037111,0.014858,0.999201]]
2025-10-27T17:36:13.990Z,1761586573.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371533,0.928068,-0.025568],[-0.927590,0.372224,0.032028],[0.039241,0.011817,0.999160]]
2025-10-27T17:36:14.394Z,1761586574.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386586,0.921951,-0.023621],[-0.921392,0.387205,0.033308],[0.039854,0.008888,0.999166]]
2025-10-27T17:36:14.822Z,1761586574.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399772,0.916378,-0.020833],[-0.915717,0.400283,0.035163],[0.040562,0.005020,0.999164]]
2025-10-27T17:36:15.605Z,1761586575.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421547,0.906692,-0.014427],[-0.905815,0.421776,0.040062],[0.042409,-0.003820,0.999093]]
2025-10-27T17:36:16.010Z,1761586576.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431538,0.902005,-0.012760],[-0.901045,0.431674,0.042131],[0.043511,-0.006684,0.999031]]
2025-10-27T17:36:16.414Z,1761586576.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441527,0.897162,-0.012404],[-0.896126,0.441624,0.043886],[0.044850,-0.008261,0.998960]]
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateRudder:A] Stopped
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:36:16.476Z,1761586576.476 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateCommandMode] Stopped
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:36:16.477Z,1761586576.477 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:36:16.478Z,1761586576.478 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:36:16.478Z,1761586576.478 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:36:16.478Z,1761586576.478 [marl:UpdateSpeed] Stopped
2025-10-27T17:36:16.478Z,1761586576.478 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:36:16.863Z,1761586576.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451935,0.891941,-0.013967],[-0.890842,0.452082,0.044968],[0.046423,-0.007880,0.998891]]
2025-10-27T17:36:16.919Z,1761586576.919 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:36:16.919Z,1761586576.919 [marl:UpdateRudder:B] Stopped
2025-10-27T17:36:16.919Z,1761586576.919 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:36:16.919Z,1761586576.919 [marl:UpdateRudder] Stopped
2025-10-27T17:36:16.919Z,1761586576.919 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:36:17.625Z,1761586577.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474904,0.879792,-0.020781],[-0.878633,0.475347,0.045267],[0.049703,-0.003238,0.998759]]
2025-10-27T17:36:18.030Z,1761586578.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488340,0.872298,-0.024915],[-0.871186,0.488975,0.044021],[0.050582,0.000208,0.998720]]
2025-10-27T17:36:18.433Z,1761586578.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502838,0.863855,-0.030148],[-0.862846,0.503717,0.042022],[0.051487,0.004883,0.998662]]
2025-10-27T17:36:19.646Z,1761586579.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549760,0.834385,-0.039565],[-0.833569,0.551058,0.038707],[0.054099,0.011701,0.998467]]
2025-10-27T17:36:20.049Z,1761586580.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562417,0.826132,-0.034532],[-0.825053,0.563457,0.042468],[0.054541,0.004606,0.998501]]
2025-10-27T17:36:20.454Z,1761586580.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571142,0.820564,-0.021741],[-0.819018,0.571435,0.051693],[0.054841,-0.011718,0.998426]]
2025-10-27T17:36:20.882Z,1761586580.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580629,0.813788,0.024892],[-0.812365,0.577039,0.084196],[0.054154,-0.069107,0.996138]]
2025-10-27T17:36:21.673Z,1761586581.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583781,0.808339,0.076075],[-0.810137,0.573750,0.120369],[0.053651,-0.131900,0.989810]]
2025-10-27T17:36:22.075Z,1761586582.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583957,0.805873,0.097789],[-0.810012,0.570481,0.135763],[0.053621,-0.158490,0.985904]]
2025-10-27T17:36:22.478Z,1761586582.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583654,0.803846,0.114804],[-0.810228,0.567186,0.147751],[0.053654,-0.179253,0.982339]]
2025-10-27T17:36:22.888Z,1761586582.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582659,0.802857,0.126211],[-0.810925,0.564015,0.155844],[0.053936,-0.193151,0.979685]]
2025-10-27T17:36:23.297Z,1761586583.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581421,0.802347,0.134871],[-0.811802,0.561082,0.161753],[0.054108,-0.203535,0.977571]]
2025-10-27T17:36:23.685Z,1761586583.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579990,0.802405,0.140562],[-0.812831,0.558592,0.165172],[0.054018,-0.210051,0.976197]]
2025-10-27T17:36:24.495Z,1761586584.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575544,0.805174,0.142985],[-0.815978,0.553863,0.165579],[0.054126,-0.211970,0.975776]]
2025-10-27T17:36:24.897Z,1761586584.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572872,0.807370,0.141322],[-0.817857,0.551676,0.163598],[0.054120,-0.209302,0.976352]]
2025-10-27T17:36:25.705Z,1761586585.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568752,0.811078,0.136652],[-0.820810,0.549017,0.157640],[0.052834,-0.201824,0.977996]]
2025-10-27T17:36:26.514Z,1761586586.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569294,0.811737,0.130338],[-0.820588,0.551319,0.150605],[0.050394,-0.192692,0.979964]]
2025-10-27T17:36:26.917Z,1761586586.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571234,0.810529,0.129363],[-0.819316,0.553651,0.148968],[0.049121,-0.191085,0.980344]]
2025-10-27T17:36:27.732Z,1761586587.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576645,0.806349,0.131462],[-0.815748,0.559377,0.147147],[0.045115,-0.192091,0.980340]]
2025-10-27T17:36:28.144Z,1761586588.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580625,0.803167,0.133407],[-0.813048,0.563381,0.146819],[0.042761,-0.193712,0.980126]]
2025-10-27T17:36:28.534Z,1761586588.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584679,0.799664,0.136704],[-0.810266,0.567252,0.147289],[0.040236,-0.196883,0.979601]]
2025-10-27T17:36:28.938Z,1761586588.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588837,0.796069,0.139801],[-0.807411,0.571472,0.146656],[0.036857,-0.199233,0.979259]]
2025-10-27T17:36:29.342Z,1761586589.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592498,0.792966,0.141956],[-0.804892,0.575494,0.144761],[0.033096,-0.200030,0.979231]]
2025-10-27T17:36:29.367Z,1761586589.367 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:36:29.367Z,1761586589.367 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:36:29.367Z,1761586589.367 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateRudder:A] Stopped
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:36:29.368Z,1761586589.368 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateCommandMode] Stopped
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed] Stopped
2025-10-27T17:36:29.369Z,1761586589.369 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:36:29.758Z,1761586589.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595341,0.790675,0.142834],[-0.802937,0.578974,0.141711],[0.029350,-0.199053,0.979549]]
2025-10-27T17:36:29.819Z,1761586589.819 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:36:29.819Z,1761586589.819 [marl:UpdateRudder:B] Stopped
2025-10-27T17:36:29.819Z,1761586589.819 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:36:29.820Z,1761586589.820 [marl:UpdateRudder] Stopped
2025-10-27T17:36:29.820Z,1761586589.820 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:36:30.154Z,1761586590.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597229,0.789004,0.144185],[-0.801658,0.581430,0.138866],[0.025733,-0.198522,0.979759]]
2025-10-27T17:36:30.554Z,1761586590.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598064,0.788492,0.143525],[-0.801125,0.583075,0.134988],[0.022751,-0.195713,0.980397]]
2025-10-27T17:36:31.362Z,1761586591.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599595,0.788192,0.138705],[-0.800096,0.586425,0.126302],[0.018210,-0.186708,0.982247]]
2025-10-27T17:36:31.781Z,1761586591.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600282,0.788049,0.136528],[-0.799616,0.587799,0.122908],[0.016607,-0.182950,0.982982]]
2025-10-27T17:36:32.173Z,1761586592.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601687,0.787283,0.134755],[-0.798588,0.589754,0.120195],[0.015155,-0.179934,0.983562]]
2025-10-27T17:36:32.573Z,1761586592.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603197,0.786076,0.135048],[-0.797466,0.591380,0.119654],[0.014192,-0.179871,0.983588]]
2025-10-27T17:36:32.978Z,1761586592.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605053,0.784447,0.136210],[-0.796080,0.593281,0.119475],[0.012911,-0.180723,0.983449]]
2025-10-27T17:36:33.409Z,1761586593.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606539,0.782364,0.141479],[-0.794976,0.594313,0.121679],[0.011115,-0.186275,0.982435]]
2025-10-27T17:36:33.787Z,1761586593.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607784,0.780710,0.145226],[-0.794050,0.595397,0.122420],[0.009107,-0.189722,0.981796]]
2025-10-27T17:36:34.594Z,1761586594.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608877,0.778267,0.153521],[-0.793249,0.596147,0.123955],[0.004949,-0.197254,0.980340]]
2025-10-27T17:36:35.402Z,1761586595.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609573,0.777003,0.157123],[-0.792729,0.597187,0.122264],[0.001168,-0.199084,0.979982]]
2025-10-27T17:36:35.807Z,1761586595.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609555,0.776926,0.157571],[-0.792743,0.597508,0.120588],[-0.000462,-0.198418,0.980117]]
2025-10-27T17:36:36.213Z,1761586596.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609460,0.776979,0.157678],[-0.792814,0.597773,0.118801],[-0.001950,-0.197414,0.980318]]
2025-10-27T17:36:36.614Z,1761586596.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609244,0.776893,0.158931],[-0.792977,0.597635,0.118405],[-0.002995,-0.198167,0.980164]]
2025-10-27T17:36:37.018Z,1761586597.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609060,0.776953,0.159341],[-0.793112,0.597769,0.116819],[-0.004486,-0.197525,0.980288]]
2025-10-27T17:36:37.424Z,1761586597.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608918,0.776788,0.160683],[-0.793212,0.597730,0.116331],[-0.005680,-0.198292,0.980127]]
2025-10-27T17:36:37.825Z,1761586597.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609103,0.776319,0.162242],[-0.793063,0.597934,0.116299],[-0.006724,-0.199506,0.979874]]
2025-10-27T17:36:38.230Z,1761586598.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609427,0.775702,0.163969],[-0.792802,0.598319,0.116103],[-0.008044,-0.200751,0.979609]]
2025-10-27T17:36:38.634Z,1761586598.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610841,0.774459,0.164582],[-0.791693,0.600015,0.114907],[-0.009761,-0.200488,0.979647]]
2025-10-27T17:36:39.039Z,1761586599.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612844,0.773057,0.163723],[-0.790122,0.602466,0.112879],[-0.011376,-0.198538,0.980027]]
2025-10-27T17:36:39.441Z,1761586599.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615843,0.771010,0.162115],[-0.787770,0.605856,0.111160],[-0.012513,-0.196167,0.980491]]
2025-10-27T17:36:39.556Z,1761586599.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:36:39.845Z,1761586599.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619648,0.768522,0.159405],[-0.784767,0.610098,0.109189],[-0.013338,-0.192754,0.981156]]
2025-10-27T17:36:40.270Z,1761586600.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624102,0.765579,0.156159],[-0.781213,0.615056,0.106832],[-0.014258,-0.188667,0.981938]]
2025-10-27T17:36:40.559Z,1761586600.559 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:36:40.654Z,1761586600.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628629,0.762038,0.155316],[-0.777553,0.619790,0.106168],[-0.015359,-0.187506,0.982143]]
2025-10-27T17:36:41.057Z,1761586601.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632953,0.758588,0.154644],[-0.774009,0.624376,0.105192],[-0.016759,-0.186278,0.982354]]
2025-10-27T17:36:41.461Z,1761586601.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636947,0.755216,0.154753],[-0.770671,0.628767,0.103532],[-0.019114,-0.185208,0.982513]]
2025-10-27T17:36:41.866Z,1761586601.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639831,0.752300,0.157039],[-0.768216,0.631792,0.103359],[-0.021459,-0.186772,0.982169]]
2025-10-27T17:36:42.281Z,1761586602.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640984,0.750748,0.159742],[-0.767178,0.633156,0.102719],[-0.024025,-0.188392,0.981800]]
2025-10-27T17:36:42.305Z,1761586602.305 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:36:42.305Z,1761586602.305 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:36:42.305Z,1761586602.305 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateRudder:A] Stopped
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:36:42.306Z,1761586602.306 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:36:42.307Z,1761586602.307 [marl:UpdateCommandMode] Stopped
2025-10-27T17:36:42.307Z,1761586602.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:36:42.307Z,1761586602.307 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:36:42.307Z,1761586602.307 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:36:42.307Z,1761586602.307 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:36:42.308Z,1761586602.308 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:36:42.308Z,1761586602.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:36:42.308Z,1761586602.308 [marl:UpdateSpeed] Stopped
2025-10-27T17:36:42.308Z,1761586602.308 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:36:42.673Z,1761586602.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640017,0.750769,0.163474],[-0.767919,0.632216,0.102973],[-0.026043,-0.191439,0.981159]]
2025-10-27T17:36:42.725Z,1761586602.725 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:36:42.726Z,1761586602.726 [marl:UpdateRudder:B] Stopped
2025-10-27T17:36:42.726Z,1761586602.726 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:36:42.726Z,1761586602.726 [marl:UpdateRudder] Stopped
2025-10-27T17:36:42.726Z,1761586602.726 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:36:43.077Z,1761586603.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638024,0.751533,0.167703],[-0.769527,0.630080,0.104056],[-0.027465,-0.195442,0.980331]]
2025-10-27T17:36:43.482Z,1761586603.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635470,0.752998,0.170801],[-0.771606,0.627427,0.104690],[-0.028334,-0.198318,0.979728]]
2025-10-27T17:36:43.887Z,1761586603.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633745,0.754209,0.171861],[-0.773023,0.625625,0.105017],[-0.028316,-0.199407,0.979508]]
2025-10-27T17:36:44.290Z,1761586604.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633052,0.754661,0.172430],[-0.773582,0.624948,0.104933],[-0.028571,-0.199817,0.979417]]
2025-10-27T17:36:44.694Z,1761586604.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633383,0.754440,0.172178],[-0.773299,0.625382,0.104434],[-0.028888,-0.199292,0.979514]]
2025-10-27T17:36:45.099Z,1761586605.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634805,0.753447,0.171290],[-0.772116,0.626974,0.103635],[-0.029312,-0.198044,0.979755]]
2025-10-27T17:36:45.503Z,1761586605.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636193,0.752249,0.171403],[-0.770933,0.628551,0.102889],[-0.030338,-0.197597,0.979814]]
2025-10-27T17:36:45.905Z,1761586605.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637690,0.751223,0.170338],[-0.769657,0.630371,0.101293],[-0.031282,-0.195695,0.980166]]
2025-10-27T17:36:46.309Z,1761586606.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639181,0.749945,0.170383],[-0.768365,0.632130,0.100140],[-0.032605,-0.194924,0.980276]]
2025-10-27T17:36:46.717Z,1761586606.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640799,0.748743,0.169589],[-0.766955,0.634139,0.098219],[-0.034002,-0.193006,0.980608]]
2025-10-27T17:36:47.118Z,1761586607.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642546,0.747531,0.168318],[-0.765445,0.636242,0.096383],[-0.035042,-0.190769,0.981009]]
2025-10-27T17:36:47.169Z,1761586607.169 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:36:47.521Z,1761586607.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644399,0.746100,0.167588],[-0.763851,0.638307,0.095374],[-0.035815,-0.189471,0.981233]]
2025-10-27T17:36:47.673Z,1761586607.673 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:36:47.674Z,1761586607.674 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:36:48.744Z,1761586608.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651636,0.740444,0.164662],[-0.757645,0.645851,0.094084],[-0.036684,-0.186064,0.981853]]
2025-10-27T17:36:49.138Z,1761586609.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653208,0.738541,0.166962],[-0.756264,0.647194,0.095940],[-0.037201,-0.188937,0.981284]]
2025-10-27T17:36:49.543Z,1761586609.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653558,0.737403,0.170583],[-0.755914,0.647293,0.098008],[-0.038146,-0.192999,0.980457]]
2025-10-27T17:36:49.946Z,1761586609.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652672,0.737288,0.174428],[-0.756621,0.646227,0.099577],[-0.039303,-0.196967,0.979622]]
2025-10-27T17:36:50.350Z,1761586610.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650789,0.738207,0.177551],[-0.758179,0.644311,0.100141],[-0.040474,-0.199786,0.979003]]
2025-10-27T17:36:50.759Z,1761586610.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648639,0.739526,0.179913],[-0.759937,0.642337,0.099493],[-0.041987,-0.201258,0.978638]]
2025-10-27T17:36:51.159Z,1761586611.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646657,0.741078,0.180658],[-0.761545,0.640715,0.097636],[-0.043395,-0.200716,0.978688]]
2025-10-27T17:36:51.561Z,1761586611.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645350,0.742655,0.178847],[-0.762597,0.639955,0.094359],[-0.044378,-0.197283,0.979342]]
2025-10-27T17:36:51.965Z,1761586611.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645639,0.742977,0.176452],[-0.762294,0.640785,0.091122],[-0.045366,-0.193340,0.980082]]
2025-10-27T17:36:52.370Z,1761586612.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647737,0.742135,0.172257],[-0.760467,0.643493,0.087213],[-0.046122,-0.187487,0.981184]]
2025-10-27T17:36:52.774Z,1761586612.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650678,0.740395,0.168623],[-0.757944,0.646780,0.084833],[-0.046252,-0.183006,0.982023]]
2025-10-27T17:36:53.179Z,1761586613.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654238,0.737883,0.165833],[-0.754880,0.650504,0.083673],[-0.046134,-0.179926,0.982598]]
2025-10-27T17:36:53.582Z,1761586613.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658133,0.734908,0.163621],[-0.751509,0.654429,0.083408],[-0.045781,-0.177856,0.982991]]
2025-10-27T17:36:53.985Z,1761586613.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662110,0.731257,0.163931],[-0.748019,0.658185,0.085212],[-0.045586,-0.179043,0.982785]]
2025-10-27T17:36:54.799Z,1761586614.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668504,0.724759,0.166814],[-0.742301,0.664029,0.089745],[-0.045725,-0.183821,0.981896]]
2025-10-27T17:36:55.203Z,1761586615.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671041,0.721775,0.169543],[-0.740009,0.666121,0.093112],[-0.045730,-0.187945,0.981114]]
2025-10-27T17:36:55.287Z,1761586615.287 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:36:55.287Z,1761586615.287 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:36:55.287Z,1761586615.287 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateRudder:A] Stopped
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode] Stopped
2025-10-27T17:36:55.288Z,1761586615.288 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed] Stopped
2025-10-27T17:36:55.289Z,1761586615.289 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:36:55.602Z,1761586615.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673313,0.718983,0.172374],[-0.737956,0.667867,0.096830],[-0.045504,-0.192401,0.980261]]
2025-10-27T17:36:55.626Z,1761586615.626 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:36:55.626Z,1761586615.626 [marl:UpdateRudder:B] Stopped
2025-10-27T17:36:55.627Z,1761586615.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:36:55.627Z,1761586615.627 [marl:UpdateRudder] Stopped
2025-10-27T17:36:55.643Z,1761586615.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:36:56.409Z,1761586616.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677787,0.713742,0.176572],[-0.733946,0.671120,0.104503],[-0.043912,-0.200425,0.978724]]
2025-10-27T17:36:56.847Z,1761586616.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680406,0.710828,0.178243],[-0.731577,0.673086,0.108397],[-0.042922,-0.204153,0.977998]]
2025-10-27T17:36:57.227Z,1761586617.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682962,0.707520,0.181600],[-0.729244,0.674729,0.113777],[-0.042031,-0.210136,0.976768]]
2025-10-27T17:36:57.623Z,1761586617.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685411,0.704281,0.184932],[-0.726967,0.676368,0.118514],[-0.041615,-0.215671,0.975579]]
2025-10-27T17:36:58.026Z,1761586618.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687377,0.701734,0.187305],[-0.725100,0.677856,0.121417],[-0.041763,-0.219274,0.974769]]
2025-10-27T17:36:58.433Z,1761586618.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688859,0.699908,0.188683],[-0.723652,0.679210,0.122481],[-0.042430,-0.220913,0.974370]]
2025-10-27T17:36:59.239Z,1761586619.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687957,0.700421,0.190064],[-0.724473,0.678314,0.122596],[-0.043054,-0.222037,0.974087]]
2025-10-27T17:37:00.046Z,1761586620.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684763,0.704721,0.185657],[-0.727488,0.676091,0.116885],[-0.043150,-0.215102,0.975638]]
2025-10-27T17:37:00.449Z,1761586620.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683059,0.707309,0.182058],[-0.729097,0.675024,0.112962],[-0.042994,-0.209898,0.976778]]
2025-10-27T17:37:01.266Z,1761586621.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679703,0.712049,0.176037],[-0.732258,0.672618,0.106688],[-0.042439,-0.201421,0.978585]]
2025-10-27T17:37:01.661Z,1761586621.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678357,0.714083,0.172966],[-0.733517,0.671738,0.103544],[-0.042249,-0.197113,0.979470]]
2025-10-27T17:37:02.065Z,1761586622.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677382,0.715575,0.170605],[-0.734424,0.671114,0.101131],[-0.042128,-0.193801,0.980136]]
2025-10-27T17:37:02.477Z,1761586622.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677176,0.715991,0.169676],[-0.734613,0.671052,0.100162],[-0.042146,-0.192473,0.980397]]
2025-10-27T17:37:02.888Z,1761586622.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677818,0.715646,0.168560],[-0.734049,0.671692,0.100010],[-0.041649,-0.191520,0.980605]]
2025-10-27T17:37:03.282Z,1761586623.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679523,0.714598,0.166126],[-0.732542,0.673334,0.100017],[-0.040387,-0.189659,0.981019]]
2025-10-27T17:37:03.696Z,1761586623.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682654,0.712125,0.163895],[-0.729710,0.676239,0.101114],[-0.038827,-0.188621,0.981282]]
2025-10-27T17:37:04.090Z,1761586624.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686461,0.709122,0.160988],[-0.726231,0.679795,0.102313],[-0.036887,-0.187149,0.981639]]
2025-10-27T17:37:04.495Z,1761586624.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690652,0.705613,0.158464],[-0.722352,0.683621,0.104260],[-0.034762,-0.186474,0.981845]]
2025-10-27T17:37:04.898Z,1761586624.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695051,0.701553,0.157246],[-0.718207,0.687518,0.107223],[-0.032887,-0.187461,0.981721]]
2025-10-27T17:37:05.302Z,1761586625.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699369,0.697392,0.156612],[-0.714076,0.691314,0.110370],[-0.031297,-0.189022,0.981474]]
2025-10-27T17:37:05.718Z,1761586625.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707240,0.688692,0.159732],[-0.706332,0.697949,0.118165],[-0.030105,-0.196394,0.980063]]
2025-10-27T17:37:06.523Z,1761586626.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712259,0.682280,0.164868],[-0.701327,0.701382,0.127296],[-0.028784,-0.206294,0.978067]]
2025-10-27T17:37:06.922Z,1761586626.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713929,0.680033,0.166913],[-0.699671,0.702224,0.131685],[-0.027660,-0.210798,0.977138]]
2025-10-27T17:37:07.327Z,1761586627.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715818,0.677763,0.168055],[-0.697786,0.703392,0.135404],[-0.026437,-0.214191,0.976434]]
2025-10-27T17:37:07.738Z,1761586627.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717506,0.675968,0.168086],[-0.696100,0.704546,0.138056],[-0.025103,-0.216061,0.976057]]
2025-10-27T17:37:08.212Z,1761586628.212 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:37:08.212Z,1761586628.212 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:37:08.212Z,1761586628.212 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:37:08.212Z,1761586628.212 [marl:UpdateRudder:A] Stopped
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode] Stopped
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:37:08.213Z,1761586628.213 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed] Stopped
2025-10-27T17:37:08.214Z,1761586628.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:37:08.534Z,1761586628.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719499,0.674290,0.166297],[-0.694138,0.705867,0.141150],[-0.022208,-0.216990,0.975921]]
2025-10-27T17:37:08.588Z,1761586628.588 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:37:08.588Z,1761586628.588 [marl:UpdateRudder:B] Stopped
2025-10-27T17:37:08.588Z,1761586628.588 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:37:08.588Z,1761586628.588 [marl:UpdateRudder] Stopped
2025-10-27T17:37:08.588Z,1761586628.588 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:37:08.938Z,1761586628.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719575,0.674657,0.164469],[-0.694100,0.705915,0.141098],[-0.020909,-0.215689,0.976238]]
2025-10-27T17:37:09.348Z,1761586629.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718982,0.675901,0.161935],[-0.694751,0.705501,0.139962],[-0.019645,-0.213135,0.976825]]
2025-10-27T17:37:09.752Z,1761586629.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717970,0.677480,0.159810],[-0.695835,0.704561,0.139311],[-0.018215,-0.211222,0.977268]]
2025-10-27T17:37:10.149Z,1761586630.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716926,0.679435,0.156158],[-0.696953,0.703833,0.137387],[-0.016563,-0.207331,0.978131]]
2025-10-27T17:37:10.556Z,1761586630.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716691,0.680717,0.151587],[-0.697238,0.703955,0.135301],[-0.014609,-0.202661,0.979140]]
2025-10-27T17:37:10.680Z,1761586630.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:37:10.959Z,1761586630.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717308,0.680852,0.148023],[-0.696640,0.704701,0.134496],[-0.012740,-0.199593,0.979796]]
2025-10-27T17:37:11.361Z,1761586631.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719085,0.679981,0.143326],[-0.694838,0.706749,0.133065],[-0.010814,-0.195274,0.980689]]
2025-10-27T17:37:11.685Z,1761586631.685 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:37:11.767Z,1761586631.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722000,0.677513,0.140328],[-0.691833,0.709610,0.133494],[-0.009135,-0.193466,0.981064]]
2025-10-27T17:37:12.181Z,1761586632.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725517,0.674357,0.137359],[-0.688163,0.713054,0.134110],[-0.007506,-0.191825,0.981400]]
2025-10-27T17:37:12.575Z,1761586632.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729690,0.670369,0.134752],[-0.683750,0.717143,0.134877],[-0.006219,-0.190555,0.981657]]
2025-10-27T17:37:12.978Z,1761586632.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733349,0.666556,0.133801],[-0.679831,0.720536,0.136594],[-0.005361,-0.191133,0.981549]]
2025-10-27T17:37:13.382Z,1761586633.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736402,0.663158,0.133913],[-0.676525,0.723285,0.138464],[-0.005034,-0.192561,0.981272]]
2025-10-27T17:37:13.786Z,1761586633.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738219,0.661137,0.133906],[-0.674545,0.724858,0.139890],[-0.004576,-0.193595,0.981071]]
2025-10-27T17:37:14.195Z,1761586634.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738957,0.659916,0.135842],[-0.673739,0.725032,0.142843],[-0.004226,-0.197077,0.980379]]
2025-10-27T17:37:14.594Z,1761586634.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738572,0.659963,0.137698],[-0.674166,0.724063,0.145717],[-0.003535,-0.200454,0.979697]]
2025-10-27T17:37:14.998Z,1761586634.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737491,0.660895,0.139012],[-0.675351,0.722541,0.147771],[-0.002781,-0.202862,0.979203]]
2025-10-27T17:37:15.404Z,1761586635.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735736,0.662747,0.139495],[-0.677267,0.720449,0.149209],[-0.001611,-0.204254,0.978917]]
2025-10-27T17:37:15.806Z,1761586635.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733712,0.664938,0.139730],[-0.679461,0.718099,0.150554],[-0.000230,-0.205404,0.978677]]
2025-10-27T17:37:16.210Z,1761586636.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731495,0.667300,0.140091],[-0.681846,0.715601,0.151661],[0.000955,-0.206460,0.978455]]
2025-10-27T17:37:16.614Z,1761586636.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729528,0.669476,0.139966],[-0.683948,0.713532,0.151945],[0.001853,-0.206577,0.978429]]
2025-10-27T17:37:17.020Z,1761586637.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728317,0.671086,0.138557],[-0.685236,0.712536,0.150813],[0.002482,-0.204784,0.978804]]
2025-10-27T17:37:17.421Z,1761586637.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728163,0.671504,0.137338],[-0.685397,0.712486,0.150312],[0.003084,-0.203583,0.979053]]
2025-10-27T17:37:17.599Z,1761586637.599 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:37:17.599Z,1761586637.599 [DAT] No Fault, FailCount= 8
2025-10-27T17:37:17.826Z,1761586637.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729158,0.671087,0.134059],[-0.684334,0.713863,0.148615],[0.004034,-0.200105,0.979766]]
2025-10-27T17:37:17.997Z,1761586637.997 [DAT](INFO): Powering up
2025-10-27T17:37:17.997Z,1761586637.997 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:37:18.230Z,1761586638.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731637,0.669420,0.128780],[-0.681674,0.716976,0.145831],[0.005290,-0.194481,0.980892]]
2025-10-27T17:37:18.634Z,1761586638.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734814,0.666938,0.123457],[-0.678229,0.720515,0.144442],[0.007381,-0.189870,0.981781]]
2025-10-27T17:37:19.039Z,1761586639.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738524,0.664068,0.116606],[-0.674151,0.724710,0.142533],[0.010147,-0.183874,0.982897]]
2025-10-27T17:37:19.442Z,1761586639.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742259,0.660857,0.110991],[-0.669975,0.728502,0.142894],[0.013575,-0.180425,0.983495]]
2025-10-27T17:37:19.846Z,1761586639.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745790,0.657681,0.106078],[-0.665963,0.731963,0.143956],[0.017032,-0.178005,0.983882]]
2025-10-27T17:37:20.250Z,1761586640.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748935,0.654349,0.104518],[-0.662343,0.734470,0.147840],[0.019973,-0.179949,0.983473]]
2025-10-27T17:37:20.669Z,1761586640.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751693,0.651070,0.105193],[-0.659154,0.736397,0.152432],[0.021780,-0.183921,0.982700]]
2025-10-27T17:37:21.135Z,1761586641.135 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateRudder:A] Stopped
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:37:21.136Z,1761586641.136 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateCommandMode] Stopped
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:37:21.137Z,1761586641.137 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:37:21.138Z,1761586641.138 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:37:21.138Z,1761586641.138 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:37:21.138Z,1761586641.138 [marl:UpdateSpeed] Stopped
2025-10-27T17:37:21.138Z,1761586641.138 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:37:21.462Z,1761586641.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757020,0.643440,0.113606],[-0.653042,0.739403,0.163767],[0.021374,-0.198164,0.979936]]
2025-10-27T17:37:21.573Z,1761586641.573 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:37:21.573Z,1761586641.573 [marl:UpdateRudder:B] Stopped
2025-10-27T17:37:21.574Z,1761586641.574 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:37:21.574Z,1761586641.574 [marl:UpdateRudder] Stopped
2025-10-27T17:37:21.574Z,1761586641.574 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:37:21.917Z,1761586641.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760049,0.639030,0.118181],[-0.649577,0.741614,0.167505],[0.019396,-0.204080,0.978762]]
2025-10-27T17:37:22.270Z,1761586642.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763206,0.634277,0.123327],[-0.645936,0.743939,0.171235],[0.016862,-0.210349,0.977481]]
2025-10-27T17:37:22.678Z,1761586642.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765653,0.630340,0.128249],[-0.643090,0.745584,0.174756],[0.014535,-0.216278,0.976224]]
2025-10-27T17:37:23.081Z,1761586643.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766498,0.628787,0.130795],[-0.642105,0.745993,0.176624],[0.013487,-0.219366,0.975549]]
2025-10-27T17:37:23.486Z,1761586643.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765655,0.629470,0.132437],[-0.643102,0.744642,0.178684],[0.013858,-0.221981,0.974952]]
2025-10-27T17:37:24.290Z,1761586644.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762790,0.633145,0.131448],[-0.646458,0.741735,0.178667],[0.015622,-0.221261,0.975090]]
2025-10-27T17:37:24.694Z,1761586644.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762408,0.634136,0.128861],[-0.646895,0.741930,0.176257],[0.016165,-0.217740,0.975873]]
2025-10-27T17:37:25.106Z,1761586645.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762061,0.635374,0.124752],[-0.647299,0.742674,0.171581],[0.016368,-0.211507,0.977239]]
2025-10-27T17:37:25.502Z,1761586645.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761734,0.636409,0.121425],[-0.647685,0.743298,0.167369],[0.016260,-0.206136,0.978388]]
2025-10-27T17:37:25.905Z,1761586645.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761390,0.637558,0.117494],[-0.648099,0.744108,0.162083],[0.015909,-0.199557,0.979757]]
2025-10-27T17:37:26.715Z,1761586646.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760817,0.639249,0.111882],[-0.648790,0.745202,0.154094],[0.015130,-0.189826,0.981701]]
2025-10-27T17:37:27.121Z,1761586647.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760866,0.639583,0.109621],[-0.648739,0.745859,0.151102],[0.014880,-0.186084,0.982421]]
2025-10-27T17:37:27.522Z,1761586647.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761357,0.639389,0.107321],[-0.648162,0.746851,0.148659],[0.014899,-0.182744,0.983048]]
2025-10-27T17:37:27.926Z,1761586647.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762403,0.638315,0.106282],[-0.646930,0.748051,0.147992],[0.014961,-0.181586,0.983261]]
2025-10-27T17:37:28.329Z,1761586648.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763953,0.636635,0.105223],[-0.645096,0.749714,0.147579],[0.015067,-0.180622,0.983437]]
2025-10-27T17:37:28.740Z,1761586648.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766016,0.634214,0.104840],[-0.642641,0.751682,0.148279],[0.015234,-0.180958,0.983373]]
2025-10-27T17:37:29.156Z,1761586649.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768413,0.631327,0.104725],[-0.639765,0.753856,0.149674],[0.015545,-0.182011,0.983174]]
2025-10-27T17:37:29.543Z,1761586649.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771124,0.628038,0.104579],[-0.636483,0.756265,0.151503],[0.016061,-0.183391,0.982909]]
2025-10-27T17:37:29.592Z,1761586649.592 [DAT](INFO): DAT read: 

2025-10-27T17:37:29.593Z,1761586649.593 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:37:29.946Z,1761586649.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774263,0.624150,0.104656],[-0.632645,0.758995,0.153906],[0.016627,-0.185374,0.982527]]
2025-10-27T17:37:30.350Z,1761586650.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777712,0.619924,0.104202],[-0.628377,0.762043,0.156309],[0.017493,-0.187042,0.982196]]
2025-10-27T17:37:30.759Z,1761586650.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781390,0.615408,0.103453],[-0.623766,0.765300,0.158843],[0.018581,-0.188649,0.981869]]
2025-10-27T17:37:31.104Z,1761586651.104 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:37:31.105Z,1761586651.105 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:37:31.106Z,1761586651.106 [DAT](INFO): DAT read: Oct 27 2025 17:36:06 

2025-10-27T17:37:31.165Z,1761586651.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785380,0.610664,0.101329],[-0.618692,0.769106,0.160302],[0.019958,-0.188589,0.981853]]
2025-10-27T17:37:31.966Z,1761586651.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792953,0.601230,0.098734],[-0.608825,0.775600,0.166664],[0.023625,-0.192268,0.981058]]
2025-10-27T17:37:32.116Z,1761586652.116 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:37:32.120Z,1761586652.120 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:37:32.120Z,1761586652.120 [DAT](INFO): commRate: 600
2025-10-27T17:37:32.372Z,1761586652.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796353,0.596841,0.097995],[-0.604282,0.778209,0.170980],[0.025787,-0.195377,0.980389]]
2025-10-27T17:37:33.181Z,1761586653.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801988,0.589094,0.098914],[-0.596591,0.781629,0.182032],[0.029920,-0.204998,0.978305]]
2025-10-27T17:37:33.581Z,1761586653.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804066,0.585789,0.101632],[-0.593719,0.782157,0.189021],[0.031234,-0.212326,0.976700]]
2025-10-27T17:37:33.585Z,1761586653.585 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T17:37:33.585Z,1761586653.585 [NAL9602] Data Fault, FailCount= 1
2025-10-27T17:37:33.585Z,1761586653.585 [NAL9602](ERROR): Data Fault
2025-10-27T17:37:33.645Z,1761586653.645 [marl:NeedComms] Running Loop=1
2025-10-27T17:37:33.646Z,1761586653.646 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T17:37:33.646Z,1761586653.646 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T17:37:33.646Z,1761586653.646 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T17:37:33.646Z,1761586653.646 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T17:37:33.647Z,1761586653.647 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T17:37:33.651Z,1761586653.651 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T17:37:33.652Z,1761586653.652 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T17:37:33.652Z,1761586653.652 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T17:37:33.652Z,1761586653.652 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T17:37:33.652Z,1761586653.652 [marl:NeedComms:A] Running Loop=1
2025-10-27T17:37:33.654Z,1761586653.654 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T17:37:33.654Z,1761586653.654 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T17:37:33.654Z,1761586653.654 [marl:NeedComms:A] Stopped
2025-10-27T17:37:33.802Z,1761586653.802 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T17:37:34.004Z,1761586654.004 [NAL9602](INFO): Powering down
2025-10-27T17:37:34.025Z,1761586654.025 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:37:34.025Z,1761586654.025 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateRudder:A] Stopped
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:37:34.026Z,1761586654.026 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateCommandMode] Stopped
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:37:34.027Z,1761586654.027 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:37:34.028Z,1761586654.028 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:37:34.028Z,1761586654.028 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:37:34.028Z,1761586654.028 [marl:UpdateSpeed] Stopped
2025-10-27T17:37:34.028Z,1761586654.028 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:37:34.179Z,1761586654.179 [DAT](INFO): entering command mode
2025-10-27T17:37:34.380Z,1761586654.380 [DAT](INFO): DAT read: 

2025-10-27T17:37:34.380Z,1761586654.380 [DAT](INFO): DAT read: user:1>

2025-10-27T17:37:34.380Z,1761586654.380 [DAT](INFO): setting verbose to 3
2025-10-27T17:37:34.428Z,1761586654.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806050,0.581361,0.110918],[-0.591036,0.780874,0.202266],[0.030977,-0.228593,0.973029]]
2025-10-27T17:37:34.465Z,1761586654.465 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:37:34.465Z,1761586654.465 [marl:UpdateRudder:B] Stopped
2025-10-27T17:37:34.465Z,1761586654.465 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:37:34.465Z,1761586654.465 [marl:UpdateRudder] Stopped
2025-10-27T17:37:34.465Z,1761586654.465 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:37:34.633Z,1761586654.633 [DAT](INFO): DAT read: user:1>

2025-10-27T17:37:34.634Z,1761586654.634 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:37:34.635Z,1761586654.635 [DAT](INFO): set verbose to 3
2025-10-27T17:37:34.636Z,1761586654.636 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:37:34.798Z,1761586654.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805691,0.580918,0.115739],[-0.591593,0.779394,0.206305],[0.029640,-0.234688,0.971619]]
2025-10-27T17:37:34.884Z,1761586654.884 [DAT](INFO): DAT read: user:2>

2025-10-27T17:37:34.885Z,1761586654.885 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:37:34.885Z,1761586654.885 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:37:34.885Z,1761586654.885 [DAT](INFO): setting transmit power to 8
2025-10-27T17:37:35.137Z,1761586655.137 [DAT](INFO): DAT read: user:3>

2025-10-27T17:37:35.138Z,1761586655.138 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:37:35.139Z,1761586655.139 [DAT](INFO): set transmit power to 8
2025-10-27T17:37:35.140Z,1761586655.140 [DAT](INFO): setting local address to 11
2025-10-27T17:37:35.336Z,1761586655.336 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T17:37:35.336Z,1761586655.336 [NAL9602] No Fault, FailCount= 1
2025-10-27T17:37:35.373Z,1761586655.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803706,0.582667,0.120646],[-0.594488,0.777673,0.204472],[0.025316,-0.236058,0.971409]]
2025-10-27T17:37:35.388Z,1761586655.388 [DAT](INFO): DAT read: user:4>

2025-10-27T17:37:35.389Z,1761586655.389 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:37:35.389Z,1761586655.389 [DAT](INFO): set local address to 11
2025-10-27T17:37:35.390Z,1761586655.390 [DAT](INFO): Setting time to: 17:37:35 And date to:10/27/2025
2025-10-27T17:37:35.641Z,1761586655.641 [DAT](INFO): DAT read: user:5>

2025-10-27T17:37:35.641Z,1761586655.641 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:37:35  

2025-10-27T17:37:35.642Z,1761586655.642 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:37:35  

2025-10-27T17:37:35.642Z,1761586655.642 [DAT](INFO): setting remote address to 6
2025-10-27T17:37:35.644Z,1761586655.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:37:35.645Z,1761586655.645 [DAT](INFO): setting remote address to 0
2025-10-27T17:37:35.772Z,1761586655.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802470,0.584319,0.120888],[-0.596281,0.777759,0.198846],[0.022168,-0.231651,0.972546]]
2025-10-27T17:37:35.892Z,1761586655.892 [DAT](INFO): DAT read: user:6>

2025-10-27T17:37:35.893Z,1761586655.893 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:37:35.893Z,1761586655.894 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:37:35.894Z,1761586655.894 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:37:35.894Z,1761586655.894 [DAT](ERROR): Communications Fault
2025-10-27T17:37:35.894Z,1761586655.894 [DAT](INFO): DAT read: user:7>

2025-10-27T17:37:35.895Z,1761586655.895 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:37:35.896Z,1761586655.896 [DAT](INFO): set remote address to 0
2025-10-27T17:37:35.896Z,1761586655.896 [DAT](INFO): setting remote address to 6
2025-10-27T17:37:35.898Z,1761586655.898 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:37:35.901Z,1761586655.901 [DAT](INFO): setting remote address to 0
2025-10-27T17:37:36.002Z,1761586656.002 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:37:36.169Z,1761586656.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801168,0.586177,0.120526],[-0.598232,0.779166,0.187132],[0.015783,-0.222027,0.974913]]
2025-10-27T17:37:36.308Z,1761586656.308 [DAT](INFO): Powering down
2025-10-27T17:37:36.573Z,1761586656.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799326,0.588216,0.122802],[-0.600885,0.781067,0.169918],[0.004032,-0.209610,0.977777]]
2025-10-27T17:37:36.980Z,1761586656.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796742,0.590516,0.128427],[-0.604197,0.782668,0.149587],[-0.012182,-0.196777,0.980373]]
2025-10-27T17:37:37.330Z,1761586657.330 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:37:37.330Z,1761586657.330 [DAT] No Fault, FailCount= 1
2025-10-27T17:37:37.382Z,1761586657.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793240,0.593465,0.136270],[-0.608125,0.783477,0.127856],[-0.030886,-0.184290,0.982386]]
2025-10-27T17:37:37.786Z,1761586657.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788846,0.596930,0.146277],[-0.612473,0.783281,0.106527],[-0.050987,-0.173624,0.983491]]
2025-10-27T17:37:38.190Z,1761586658.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783851,0.600375,0.158518],[-0.616800,0.782277,0.087185],[-0.071661,-0.166114,0.983499]]
2025-10-27T17:37:38.595Z,1761586658.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778892,0.603163,0.171821],[-0.620321,0.781268,0.069438],[-0.092356,-0.160669,0.982678]]
2025-10-27T17:37:39.009Z,1761586659.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774585,0.604260,0.186782],[-0.622249,0.780955,0.053994],[-0.113242,-0.158048,0.980916]]
2025-10-27T17:37:39.438Z,1761586659.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771929,0.602936,0.201480],[-0.621270,0.782670,0.038101],[-0.134720,-0.154585,0.978751]]
2025-10-27T17:37:39.543Z,1761586659.543 [DAT](INFO): Powering up
2025-10-27T17:37:39.544Z,1761586659.544 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:37:39.833Z,1761586659.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770933,0.598684,0.217347],[-0.617532,0.786150,0.024936],[-0.155939,-0.153443,0.975776]]
2025-10-27T17:37:40.241Z,1761586660.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770230,0.594010,0.232158],[-0.613220,0.789794,0.013676],[-0.175233,-0.152898,0.972582]]
2025-10-27T17:37:40.643Z,1761586660.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769373,0.589099,0.247036],[-0.609237,0.792961,0.006468],[-0.192080,-0.155480,0.968985]]
2025-10-27T17:37:41.450Z,1761586661.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767241,0.578899,0.276074],[-0.602313,0.798260,0.000026],[-0.220363,-0.166303,0.961136]]
2025-10-27T17:37:41.803Z,1761586661.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:37:41.854Z,1761586661.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765670,0.573005,0.292259],[-0.599317,0.800511,0.000624],[-0.233599,-0.175634,0.956339]]
2025-10-27T17:37:42.260Z,1761586662.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763564,0.566732,0.309490],[-0.596573,0.802556,0.002222],[-0.247124,-0.186330,0.950900]]
2025-10-27T17:37:42.662Z,1761586662.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761121,0.559966,0.327313],[-0.593651,0.804714,0.003751],[-0.261293,-0.197165,0.944908]]
2025-10-27T17:37:42.809Z,1761586662.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:37:43.125Z,1761586663.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758363,0.553559,0.344177],[-0.590250,0.807217,0.002271],[-0.276568,-0.204872,0.938902]]
2025-10-27T17:37:43.506Z,1761586663.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755891,0.546380,0.360690],[-0.585481,0.810685,-0.001060],[-0.292985,-0.210376,0.932685]]
2025-10-27T17:37:43.911Z,1761586663.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753442,0.540384,0.374581],[-0.580009,0.814566,-0.008476],[-0.309701,-0.210875,0.927155]]
2025-10-27T17:37:44.318Z,1761586664.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750529,0.534931,0.388014],[-0.575031,0.817986,-0.015434],[-0.325646,-0.211537,0.921524]]
2025-10-27T17:37:44.718Z,1761586664.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745171,0.533964,0.399502],[-0.574530,0.818190,-0.021929],[-0.338578,-0.213185,0.916470]]
2025-10-27T17:37:45.128Z,1761586665.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738279,0.538049,0.406752],[-0.577544,0.815777,-0.030829],[-0.348406,-0.212157,0.913018]]
2025-10-27T17:37:45.552Z,1761586665.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732115,0.543147,0.411095],[-0.580498,0.813245,-0.040671],[-0.356411,-0.208864,0.910685]]
2025-10-27T17:37:45.557Z,1761586665.557 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:37:46.065Z,1761586666.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726691,0.548432,0.413694],[-0.583158,0.810788,-0.050487],[-0.363107,-0.204560,0.909015]]
2025-10-27T17:37:46.471Z,1761586666.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722228,0.553293,0.415035],[-0.585118,0.808730,-0.059938],[-0.368814,-0.199556,0.907829]]
2025-10-27T17:37:46.886Z,1761586666.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718833,0.556556,0.416563],[-0.585865,0.807554,-0.067960],[-0.374220,-0.195198,0.906563]]
2025-10-27T17:37:47.274Z,1761586667.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716567,0.558522,0.417833],[-0.585286,0.807313,-0.075402],[-0.379435,-0.190521,0.905390]]
2025-10-27T17:37:47.317Z,1761586667.317 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:37:47.317Z,1761586667.317 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:37:47.317Z,1761586667.317 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:37:47.317Z,1761586667.317 [marl:UpdateRudder:A] Stopped
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode] Stopped
2025-10-27T17:37:47.318Z,1761586667.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:37:47.319Z,1761586667.319 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:37:47.319Z,1761586667.319 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:37:47.323Z,1761586667.323 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:37:47.323Z,1761586667.323 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:37:47.323Z,1761586667.323 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:37:47.323Z,1761586667.323 [marl:UpdateSpeed] Stopped
2025-10-27T17:37:47.324Z,1761586667.324 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:37:47.326Z,1761586667.326 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:37:47.678Z,1761586667.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715785,0.558459,0.419256],[-0.582836,0.808459,-0.081826],[-0.384648,-0.185788,0.904173]]
2025-10-27T17:37:47.701Z,1761586667.701 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:37:47.701Z,1761586667.701 [marl:UpdateRudder:B] Stopped
2025-10-27T17:37:47.701Z,1761586667.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:37:47.701Z,1761586667.701 [marl:UpdateRudder] Stopped
2025-10-27T17:37:47.702Z,1761586667.702 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:37:47.939Z,1761586667.939 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:37:47.939Z,1761586667.939 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:37:48.089Z,1761586668.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715953,0.556741,0.421249],[-0.579299,0.810500,-0.086618],[-0.389646,-0.182015,0.902799]]
2025-10-27T17:37:48.490Z,1761586668.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717027,0.554314,0.422620],[-0.575251,0.812975,-0.090323],[-0.393647,-0.178348,0.901795]]
2025-10-27T17:37:48.894Z,1761586668.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718928,0.550685,0.424133],[-0.571385,0.815674,-0.090526],[-0.395805,-0.177261,0.901064]]
2025-10-27T17:37:49.702Z,1761586669.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723532,0.538385,0.432022],[-0.564003,0.821917,-0.079702],[-0.397997,-0.185994,0.898334]]
2025-10-27T17:37:50.116Z,1761586670.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725884,0.532028,0.435933],[-0.560773,0.824762,-0.072811],[-0.398279,-0.191608,0.897029]]
2025-10-27T17:37:50.548Z,1761586670.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727067,0.527651,0.439271],[-0.559595,0.826125,-0.066116],[-0.397779,-0.197743,0.895918]]
2025-10-27T17:37:50.952Z,1761586670.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726263,0.526406,0.442084],[-0.561305,0.825381,-0.060690],[-0.396835,-0.204067,0.894918]]
2025-10-27T17:37:51.150Z,1761586671.150 [DAT](INFO): DAT read: 

2025-10-27T17:37:51.151Z,1761586671.151 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:37:51.356Z,1761586671.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724624,0.528316,0.442495],[-0.563994,0.823614,-0.059763],[-0.396018,-0.206259,0.894778]]
2025-10-27T17:37:51.768Z,1761586671.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722996,0.535170,0.436887],[-0.568145,0.820379,-0.064720],[-0.393049,-0.201423,0.897185]]
2025-10-27T17:37:52.168Z,1761586672.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723674,0.539646,0.430207],[-0.568914,0.819346,-0.070777],[-0.390683,-0.193531,0.899952]]
2025-10-27T17:37:52.577Z,1761586672.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726424,0.543075,0.421163],[-0.567196,0.819804,-0.078805],[-0.388068,-0.181636,0.903555]]
2025-10-27T17:37:52.661Z,1761586672.661 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:37:52.663Z,1761586672.663 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:37:52.664Z,1761586672.664 [DAT](INFO): DAT read: Oct 27 2025 17:37:44 

2025-10-27T17:37:52.974Z,1761586672.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730752,0.544455,0.411790],[-0.563706,0.821504,-0.085827],[-0.385016,-0.169410,0.907228]]
2025-10-27T17:37:53.379Z,1761586673.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736269,0.544516,0.401759],[-0.559131,0.823953,-0.092056],[-0.381156,-0.156858,0.911107]]
2025-10-27T17:37:53.668Z,1761586673.668 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:37:53.669Z,1761586673.669 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:37:53.670Z,1761586673.670 [DAT](INFO): commRate: 600
2025-10-27T17:37:53.780Z,1761586673.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742003,0.543364,0.392666],[-0.554528,0.826611,-0.095983],[-0.376736,-0.146525,0.914659]]
2025-10-27T17:37:54.184Z,1761586674.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747730,0.540697,0.385417],[-0.550049,0.829526,-0.096605],[-0.371948,-0.139764,0.917672]]
2025-10-27T17:37:54.990Z,1761586674.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758902,0.532288,0.375150],[-0.541507,0.835813,-0.090478],[-0.361716,-0.134483,0.922538]]
2025-10-27T17:37:55.400Z,1761586675.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764322,0.525424,0.373820],[-0.537340,0.839445,-0.081227],[-0.356480,-0.138785,0.923937]]
2025-10-27T17:37:55.735Z,1761586675.735 [DAT](INFO): entering command mode
2025-10-27T17:37:55.798Z,1761586675.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769886,0.517443,0.373534],[-0.532954,0.843270,-0.069686],[-0.351049,-0.145426,0.924995]]
2025-10-27T17:37:55.936Z,1761586675.936 [DAT](INFO): DAT read: 

2025-10-27T17:37:55.937Z,1761586675.937 [DAT](INFO): DAT read: user:1>

2025-10-27T17:37:55.937Z,1761586675.937 [DAT](INFO): setting verbose to 3
2025-10-27T17:37:56.188Z,1761586676.188 [DAT](INFO): DAT read: user:1>

2025-10-27T17:37:56.189Z,1761586676.189 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:37:56.189Z,1761586676.189 [DAT](INFO): set verbose to 3
2025-10-27T17:37:56.189Z,1761586676.189 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:37:56.210Z,1761586676.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775521,0.508250,0.374499],[-0.528164,0.847284,-0.056155],[-0.345847,-0.154247,0.925525]]
2025-10-27T17:37:56.441Z,1761586676.441 [DAT](INFO): DAT read: user:2>

2025-10-27T17:37:56.442Z,1761586676.442 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:37:56.442Z,1761586676.442 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:37:56.443Z,1761586676.443 [DAT](INFO): setting transmit power to 8
2025-10-27T17:37:56.608Z,1761586676.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781467,0.499165,0.374357],[-0.522815,0.851321,-0.043774],[-0.340548,-0.161511,0.926251]]
2025-10-27T17:37:56.692Z,1761586676.692 [DAT](INFO): DAT read: user:3>

2025-10-27T17:37:56.694Z,1761586676.694 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:37:56.694Z,1761586676.694 [DAT](INFO): set transmit power to 8
2025-10-27T17:37:56.695Z,1761586676.695 [DAT](INFO): setting local address to 11
2025-10-27T17:37:56.944Z,1761586676.944 [DAT](INFO): DAT read: user:4>

2025-10-27T17:37:56.945Z,1761586676.945 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:37:56.945Z,1761586676.945 [DAT](INFO): set local address to 11
2025-10-27T17:37:56.946Z,1761586676.946 [DAT](INFO): Setting time to: 17:37:56 And date to:10/27/2025
2025-10-27T17:37:57.029Z,1761586677.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787811,0.490809,0.372103],[-0.516729,0.855460,-0.034350],[-0.335178,-0.165215,0.927556]]
2025-10-27T17:37:57.196Z,1761586677.196 [DAT](INFO): DAT read: user:5>

2025-10-27T17:37:57.197Z,1761586677.197 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:37:56  

2025-10-27T17:37:57.197Z,1761586677.197 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:37:56  

2025-10-27T17:37:57.198Z,1761586677.198 [DAT](INFO): setting remote address to 6
2025-10-27T17:37:57.198Z,1761586677.198 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:37:57.198Z,1761586677.198 [DAT](INFO): setting remote address to 0
2025-10-27T17:37:57.446Z,1761586677.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794524,0.483050,0.367960],[-0.510261,0.859606,-0.026684],[-0.329190,-0.166555,0.929459]]
2025-10-27T17:37:57.448Z,1761586677.448 [DAT](INFO): DAT read: user:6>

2025-10-27T17:37:57.449Z,1761586677.449 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:37:57.449Z,1761586677.449 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:37:57.450Z,1761586677.450 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:37:57.450Z,1761586677.450 [DAT](ERROR): Communications Fault
2025-10-27T17:37:57.450Z,1761586677.450 [DAT](INFO): DAT read: user:7>

2025-10-27T17:37:57.451Z,1761586677.451 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:37:57.452Z,1761586677.452 [DAT](INFO): set remote address to 0
2025-10-27T17:37:57.452Z,1761586677.452 [DAT](INFO): setting remote address to 6
2025-10-27T17:37:57.452Z,1761586677.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:37:57.453Z,1761586677.453 [DAT](INFO): setting remote address to 0
2025-10-27T17:37:57.802Z,1761586677.802 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:37:57.849Z,1761586677.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801272,0.476123,0.362311],[-0.504010,0.863465,-0.020056],[-0.322392,-0.166538,0.931841]]
2025-10-27T17:37:57.855Z,1761586677.855 [DAT](INFO): Powering down
2025-10-27T17:37:58.304Z,1761586678.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807286,0.471461,0.354984],[-0.499311,0.866292,-0.015033],[-0.314607,-0.165112,0.934751]]
2025-10-27T17:37:58.707Z,1761586678.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811826,0.469242,0.347491],[-0.497190,0.867584,-0.010000],[-0.306170,-0.164650,0.937630]]
2025-10-27T17:37:58.946Z,1761586678.946 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:37:58.946Z,1761586678.946 [DAT] No Fault, FailCount= 2
2025-10-27T17:37:59.110Z,1761586679.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814926,0.468444,0.341256],[-0.497439,0.867494,-0.002922],[-0.297406,-0.167373,0.939966]]
2025-10-27T17:37:59.514Z,1761586679.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815729,0.470050,0.337105],[-0.501060,0.865393,0.005788],[-0.289008,-0.173632,0.941449]]
2025-10-27T17:37:59.926Z,1761586679.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814709,0.473383,0.334901],[-0.506872,0.861895,0.014771],[-0.281657,-0.181786,0.942138]]
2025-10-27T17:38:00.333Z,1761586680.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812810,0.477327,0.333915],[-0.513080,0.858049,0.022362],[-0.275841,-0.189501,0.942338]]
2025-10-27T17:38:00.356Z,1761586680.356 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:38:00.356Z,1761586680.356 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:38:00.357Z,1761586680.357 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:38:00.357Z,1761586680.357 [marl:UpdateRudder:A] Stopped
2025-10-27T17:38:00.357Z,1761586680.357 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:38:00.357Z,1761586680.357 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:38:00.357Z,1761586680.357 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateCommandMode] Stopped
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:38:00.358Z,1761586680.358 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:38:00.359Z,1761586680.359 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:38:00.359Z,1761586680.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:38:00.359Z,1761586680.359 [marl:UpdateSpeed] Stopped
2025-10-27T17:38:00.359Z,1761586680.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:38:00.730Z,1761586680.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810620,0.481886,0.332687],[-0.518719,0.854545,0.026123],[-0.271708,-0.193747,0.942675]]
2025-10-27T17:38:00.772Z,1761586680.772 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:38:00.772Z,1761586680.772 [marl:UpdateRudder:B] Stopped
2025-10-27T17:38:00.772Z,1761586680.772 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:38:00.772Z,1761586680.772 [marl:UpdateRudder] Stopped
2025-10-27T17:38:00.772Z,1761586680.772 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:38:01.084Z,1761586681.084 [DAT](INFO): Powering up
2025-10-27T17:38:01.084Z,1761586681.084 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:38:01.130Z,1761586681.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808600,0.486144,0.331406],[-0.523206,0.851776,0.027094],[-0.269112,-0.195302,0.943099]]
2025-10-27T17:38:01.540Z,1761586681.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806778,0.491198,0.328382],[-0.526728,0.849721,0.023059],[-0.267707,-0.191571,0.944264]]
2025-10-27T17:38:01.938Z,1761586681.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805111,0.496464,0.324530],[-0.529782,0.847962,0.017104],[-0.266698,-0.185701,0.945721]]
2025-10-27T17:38:02.341Z,1761586682.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803406,0.502298,0.319744],[-0.532779,0.846202,0.009359],[-0.265867,-0.177872,0.947458]]
2025-10-27T17:38:02.753Z,1761586682.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802773,0.506037,0.315408],[-0.533895,0.845548,0.002274],[-0.265542,-0.170220,0.948953]]
2025-10-27T17:38:03.150Z,1761586683.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804874,0.505072,0.311575],[-0.530296,0.847801,-0.004425],[-0.266389,-0.161665,0.950211]]
2025-10-27T17:38:03.958Z,1761586683.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813582,0.498669,0.299020],[-0.514102,0.857179,-0.030714],[-0.271630,-0.128739,0.953752]]
2025-10-27T17:38:04.362Z,1761586684.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820144,0.494021,0.288629],[-0.501085,0.863683,-0.054449],[-0.276183,-0.099971,0.955892]]
2025-10-27T17:38:04.430Z,1761586684.430 [NAL9602](INFO): Powering up NAL9602
2025-10-27T17:38:04.768Z,1761586684.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826651,0.488773,0.278835],[-0.487156,0.869631,-0.080135],[-0.281651,-0.069593,0.956990]]
2025-10-27T17:38:05.172Z,1761586685.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832506,0.482943,0.271476],[-0.473477,0.874646,-0.103993],[-0.287668,-0.041962,0.956811]]
2025-10-27T17:38:05.586Z,1761586685.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838359,0.475193,0.267108],[-0.459221,0.879676,-0.123634],[-0.293718,-0.019012,0.955703]]
2025-10-27T17:38:05.977Z,1761586685.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844741,0.465047,0.264847],[-0.443557,0.885286,-0.139736],[-0.299450,0.000566,0.954112]]
2025-10-27T17:38:06.382Z,1761586686.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852254,0.451672,0.263925],[-0.425362,0.892000,-0.152980],[-0.304518,0.018114,0.952334]]
2025-10-27T17:38:06.787Z,1761586686.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860619,0.435391,0.264138],[-0.405603,0.899679,-0.161442],[-0.307930,0.031805,0.950877]]
2025-10-27T17:38:07.190Z,1761586687.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869473,0.417196,0.264509],[-0.385067,0.907819,-0.166097],[-0.309421,0.042563,0.949972]]
2025-10-27T17:38:07.593Z,1761586687.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878218,0.397799,0.265498],[-0.364895,0.916181,-0.165721],[-0.309168,0.048660,0.949762]]
2025-10-27T17:38:08.005Z,1761586688.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886676,0.377499,0.267020],[-0.345375,0.924661,-0.160372],[-0.307443,0.049976,0.950253]]
2025-10-27T17:38:08.402Z,1761586688.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894532,0.357189,0.268754],[-0.326998,0.932822,-0.151376],[-0.304769,0.047529,0.951240]]
2025-10-27T17:38:08.818Z,1761586688.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901598,0.337657,0.270387],[-0.310149,0.940313,-0.140072],[-0.301545,0.042428,0.952508]]
2025-10-27T17:38:09.210Z,1761586689.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907793,0.319091,0.272198],[-0.295197,0.947120,-0.125791],[-0.297943,0.033840,0.953984]]
2025-10-27T17:38:09.614Z,1761586689.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912814,0.301804,0.275109],[-0.282602,0.953143,-0.107956],[-0.294800,0.020798,0.955333]]
2025-10-27T17:38:10.027Z,1761586690.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916546,0.285756,0.279797],[-0.271754,0.958289,-0.088501],[-0.293416,0.005079,0.955971]]
2025-10-27T17:38:10.418Z,1761586690.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918957,0.270048,0.287387],[-0.261540,0.962768,-0.068373],[-0.295151,-0.012331,0.955371]]
2025-10-27T17:38:10.865Z,1761586690.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920225,0.254942,0.296970],[-0.250985,0.966590,-0.052064],[-0.300321,-0.026624,0.953466]]
2025-10-27T17:38:11.228Z,1761586691.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920380,0.241504,0.307532],[-0.240007,0.969805,-0.043293],[-0.308702,-0.033964,0.950552]]
2025-10-27T17:38:11.631Z,1761586691.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919531,0.230714,0.318172],[-0.229425,0.972416,-0.042074],[-0.319103,-0.034308,0.947099]]
2025-10-27T17:38:12.438Z,1761586692.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916770,0.217553,0.334967],[-0.210239,0.975903,-0.058421],[-0.339605,-0.016864,0.940417]]
2025-10-27T17:38:12.688Z,1761586692.688 [DAT](INFO): DAT read: 

2025-10-27T17:38:12.688Z,1761586692.688 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:38:12.878Z,1761586692.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915940,0.212686,0.340323],[-0.200861,0.977112,-0.070054],[-0.347433,-0.004192,0.937695]]
2025-10-27T17:38:12.931Z,1761586692.931 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:38:13.245Z,1761586693.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916236,0.207657,0.342623],[-0.190855,0.978149,-0.082456],[-0.352259,0.010157,0.935847]]
2025-10-27T17:38:13.280Z,1761586693.280 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:38:13.280Z,1761586693.280 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:38:13.280Z,1761586693.280 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:38:13.280Z,1761586693.280 [marl:UpdateRudder:A] Stopped
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode] Stopped
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:38:13.281Z,1761586693.281 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed] Stopped
2025-10-27T17:38:13.282Z,1761586693.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:38:13.649Z,1761586693.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918713,0.193766,0.344124],[-0.172473,0.980730,-0.091767],[-0.355274,0.024955,0.934429]]
2025-10-27T17:38:13.692Z,1761586693.692 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:38:13.692Z,1761586693.692 [marl:UpdateRudder:B] Stopped
2025-10-27T17:38:13.692Z,1761586693.692 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:38:13.692Z,1761586693.692 [marl:UpdateRudder] Stopped
2025-10-27T17:38:13.692Z,1761586693.692 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:38:13.936Z,1761586693.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:38:14.092Z,1761586694.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921665,0.172243,0.347657],[-0.147413,0.984320,-0.096868],[-0.358890,0.038031,0.932605]]
2025-10-27T17:38:14.201Z,1761586694.201 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:38:14.202Z,1761586694.202 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:38:14.202Z,1761586694.202 [DAT](INFO): DAT read: Oct 27 2025 17:38:05 

2025-10-27T17:38:14.489Z,1761586694.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923949,0.150079,0.351844],[-0.123663,0.987618,-0.096526],[-0.361974,0.045675,0.931069]]
2025-10-27T17:38:14.897Z,1761586694.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925399,0.128433,0.356568],[-0.102760,0.990615,-0.090120],[-0.364796,0.046756,0.929913]]
2025-10-27T17:38:15.209Z,1761586695.209 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:38:15.211Z,1761586695.211 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:38:15.211Z,1761586695.211 [DAT](INFO): commRate: 600
2025-10-27T17:38:15.298Z,1761586695.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925722,0.107268,0.362675],[-0.083995,0.993298,-0.079393],[-0.368761,0.043034,0.928528]]
2025-10-27T17:38:15.302Z,1761586695.302 [NAL9602](INFO): NAL9602 initialized
2025-10-27T17:38:15.698Z,1761586695.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924521,0.088422,0.370733],[-0.068612,0.995437,-0.066314],[-0.374905,0.035872,0.926369]]
2025-10-27T17:38:16.102Z,1761586696.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922553,0.074066,0.378696],[-0.057722,0.996852,-0.054346],[-0.381529,0.028278,0.923924]]
2025-10-27T17:38:16.506Z,1761586696.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920684,0.061079,0.385499],[-0.047458,0.997870,-0.044761],[-0.387412,0.022915,0.921622]]
2025-10-27T17:38:16.911Z,1761586696.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918891,0.048990,0.391457],[-0.036538,0.998563,-0.039199],[-0.392815,0.021717,0.919361]]
2025-10-27T17:38:17.275Z,1761586697.275 [DAT](INFO): entering command mode
2025-10-27T17:38:17.315Z,1761586697.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917115,0.035141,0.397071],[-0.022984,0.999111,-0.035336],[-0.397960,0.023281,0.917107]]
2025-10-27T17:38:17.476Z,1761586697.476 [DAT](INFO): DAT read: 

2025-10-27T17:38:17.476Z,1761586697.476 [DAT](INFO): DAT read: user:1>

2025-10-27T17:38:17.476Z,1761586697.476 [DAT](INFO): setting verbose to 3
2025-10-27T17:38:17.718Z,1761586697.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915731,0.017315,0.401418],[-0.005859,0.999540,-0.029749],[-0.401748,0.024890,0.915412]]
2025-10-27T17:38:17.729Z,1761586697.729 [DAT](INFO): DAT read: user:1>

2025-10-27T17:38:17.730Z,1761586697.730 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:38:17.731Z,1761586697.731 [DAT](INFO): set verbose to 3
2025-10-27T17:38:17.731Z,1761586697.731 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:38:17.982Z,1761586697.982 [DAT](INFO): DAT read: user:2>

2025-10-27T17:38:17.984Z,1761586697.984 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:38:17.984Z,1761586697.984 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:38:17.984Z,1761586697.984 [DAT](INFO): setting transmit power to 8
2025-10-27T17:38:18.232Z,1761586698.232 [DAT](INFO): DAT read: user:3>

2025-10-27T17:38:18.233Z,1761586698.233 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:38:18.233Z,1761586698.233 [DAT](INFO): set transmit power to 8
2025-10-27T17:38:18.233Z,1761586698.233 [DAT](INFO): setting local address to 11
2025-10-27T17:38:18.484Z,1761586698.484 [DAT](INFO): DAT read: user:4>

2025-10-27T17:38:18.485Z,1761586698.485 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:38:18.486Z,1761586698.486 [DAT](INFO): set local address to 11
2025-10-27T17:38:18.487Z,1761586698.487 [DAT](INFO): Setting time to: 17:38:18 And date to:10/27/2025
2025-10-27T17:38:18.581Z,1761586698.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914570,-0.025927,0.403595],[0.036605,0.999154,-0.018763],[-0.402767,0.031934,0.914745]]
2025-10-27T17:38:18.736Z,1761586698.736 [DAT](INFO): DAT read: user:5>

2025-10-27T17:38:18.737Z,1761586698.737 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:38:18  

2025-10-27T17:38:18.738Z,1761586698.738 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:38:18  

2025-10-27T17:38:18.739Z,1761586698.739 [DAT](INFO): setting remote address to 6
2025-10-27T17:38:18.740Z,1761586698.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:18.741Z,1761586698.741 [DAT](INFO): setting remote address to 0
2025-10-27T17:38:18.943Z,1761586698.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914142,-0.047752,0.402573],[0.057363,0.998283,-0.011844],[-0.401316,0.033920,0.915311]]
2025-10-27T17:38:18.992Z,1761586698.992 [DAT](INFO): DAT read: user:6>

2025-10-27T17:38:18.994Z,1761586698.994 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:38:18.994Z,1761586698.994 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:38:18.994Z,1761586698.994 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:38:18.994Z,1761586698.994 [DAT](ERROR): Communications Fault
2025-10-27T17:38:18.995Z,1761586698.995 [DAT](INFO): DAT read: user:7>

2025-10-27T17:38:18.996Z,1761586698.996 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:38:18.996Z,1761586698.996 [DAT](INFO): set remote address to 0
2025-10-27T17:38:18.997Z,1761586698.997 [DAT](INFO): setting remote address to 6
2025-10-27T17:38:18.999Z,1761586698.999 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:18.000Z,1761586699.000 [DAT](INFO): setting remote address to 0
2025-10-27T17:38:19.179Z,1761586699.179 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:38:19.343Z,1761586699.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913231,-0.069627,0.401450],[0.076917,0.997036,-0.002048],[-0.400117,0.032748,0.915879]]
2025-10-27T17:38:19.403Z,1761586699.403 [DAT](INFO): Powering down
2025-10-27T17:38:19.753Z,1761586699.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911896,-0.092043,0.399968],[0.095618,0.995357,0.011056],[-0.399129,0.028163,0.916462]]
2025-10-27T17:38:20.149Z,1761586700.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910731,-0.116001,0.396374],[0.114295,0.993052,0.028012],[-0.396869,0.019793,0.917662]]
2025-10-27T17:38:20.358Z,1761586700.358 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:38:20.358Z,1761586700.358 [DAT] No Fault, FailCount= 3
2025-10-27T17:38:20.565Z,1761586700.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910353,-0.142433,0.388548],[0.134245,0.989771,0.048295],[-0.391452,0.008195,0.920162]]
2025-10-27T17:38:20.958Z,1761586700.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910858,-0.169152,0.376464],[0.154504,0.985579,0.069015],[-0.382708,-0.004697,0.923857]]
2025-10-27T17:38:21.362Z,1761586701.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911921,-0.193450,0.361908],[0.173632,0.980974,0.086848],[-0.371823,-0.016359,0.928159]]
2025-10-27T17:38:21.767Z,1761586701.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913035,-0.213380,0.347613],[0.189934,0.976627,0.100618],[-0.360959,-0.025844,0.932224]]
2025-10-27T17:38:22.170Z,1761586702.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913711,-0.227692,0.336584],[0.201517,0.973145,0.111264],[-0.352879,-0.033835,0.935057]]
2025-10-27T17:38:22.574Z,1761586702.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914189,-0.237528,0.328389],[0.206764,0.970221,0.126173],[-0.348580,-0.047447,0.936078]]
2025-10-27T17:38:22.631Z,1761586702.631 [DAT](INFO): Powering up
2025-10-27T17:38:22.631Z,1761586702.631 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:38:22.978Z,1761586702.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915010,-0.243068,0.321986],[0.206390,0.967803,0.144084],[-0.346642,-0.065384,0.935716]]
2025-10-27T17:38:23.382Z,1761586703.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914614,-0.248366,0.319053],[0.209197,0.965950,0.152243],[-0.346001,-0.072499,0.935429]]
2025-10-27T17:38:23.788Z,1761586703.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913084,-0.254887,0.318291],[0.217151,0.964618,0.149523],[-0.345141,-0.067410,0.936127]]
2025-10-27T17:38:24.189Z,1761586704.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911725,-0.260330,0.317783],[0.227317,0.964053,0.137585],[-0.342177,-0.053202,0.938128]]
2025-10-27T17:38:24.606Z,1761586704.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907091,-0.272372,0.320935],[0.250863,0.962043,0.107430],[-0.338014,-0.016938,0.940989]]
2025-10-27T17:38:25.002Z,1761586705.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902183,-0.288101,0.321035],[0.269065,0.957576,0.103207],[-0.337149,-0.006732,0.941427]]
2025-10-27T17:38:25.409Z,1761586705.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897270,-0.304658,0.319514],[0.284324,0.952432,0.109697],[-0.337736,-0.007582,0.941211]]
2025-10-27T17:38:25.811Z,1761586705.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893880,-0.320446,0.313517],[0.294140,0.946979,0.129276],[-0.338321,-0.023339,0.940741]]
2025-10-27T17:38:26.214Z,1761586706.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893100,-0.329799,0.305949],[0.295238,0.942847,0.154511],[-0.339421,-0.047666,0.939426]]
2025-10-27T17:38:26.257Z,1761586706.257 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:38:26.257Z,1761586706.257 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:38:26.257Z,1761586706.257 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateRudder:A] Stopped
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:38:26.258Z,1761586706.258 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:38:26.259Z,1761586706.259 [marl:UpdateCommandMode] Stopped
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed] Stopped
2025-10-27T17:38:26.260Z,1761586706.260 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:38:26.618Z,1761586706.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891380,-0.337042,0.303057],[0.295665,0.939156,0.174835],[-0.343544,-0.066242,0.936797]]
2025-10-27T17:38:26.666Z,1761586706.666 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:38:26.666Z,1761586706.666 [marl:UpdateRudder:B] Stopped
2025-10-27T17:38:26.666Z,1761586706.666 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:38:26.666Z,1761586706.666 [marl:UpdateRudder] Stopped
2025-10-27T17:38:26.667Z,1761586706.667 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:38:27.025Z,1761586707.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887376,-0.343964,0.307006],[0.300927,0.936595,0.179537],[-0.349294,-0.066930,0.934620]]
2025-10-27T17:38:27.423Z,1761586707.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880688,-0.351541,0.317504],[0.312945,0.934950,0.167136],[-0.355605,-0.047834,0.933412]]
2025-10-27T17:38:27.826Z,1761586707.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873778,-0.360826,0.326063],[0.332004,0.932496,0.142214],[-0.355366,-0.016009,0.934590]]
2025-10-27T17:38:28.229Z,1761586708.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867692,-0.376102,0.325051],[0.357814,0.926458,0.116813],[-0.345080,0.014950,0.938454]]
2025-10-27T17:38:28.639Z,1761586708.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861373,-0.397141,0.316725],[0.382454,0.917382,0.110172],[-0.334312,0.026234,0.942097]]
2025-10-27T17:38:29.051Z,1761586709.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855614,-0.417214,0.306363],[0.397094,0.908733,0.128530],[-0.332026,0.011683,0.943198]]
2025-10-27T17:38:29.845Z,1761586709.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849646,-0.455821,0.265194],[0.414565,0.888141,0.198345],[-0.325940,-0.058583,0.943574]]
2025-10-27T17:38:30.252Z,1761586710.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848044,-0.466852,0.250738],[0.419952,0.880646,0.219326],[-0.323204,-0.080700,0.942882]]
2025-10-27T17:38:31.058Z,1761586711.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846511,-0.492983,0.200964],[0.438242,0.859608,0.262711],[-0.302263,-0.134317,0.943714]]
2025-10-27T17:38:31.463Z,1761586711.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854621,-0.495497,0.155259],[0.438765,0.849014,0.294381],[-0.277682,-0.183462,0.942992]]
2025-10-27T17:38:31.935Z,1761586711.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858030,-0.500208,0.116519],[0.442095,0.834786,0.328152],[-0.261413,-0.230052,0.937411]]
2025-10-27T17:38:31.993Z,1761586711.993 [marl:NeedComms:C] Running Loop=1
2025-10-27T17:38:32.270Z,1761586712.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855397,-0.510554,0.087349],[0.451940,0.818053,0.355724],[-0.253072,-0.264809,0.930500]]
2025-10-27T17:38:32.451Z,1761586712.451 [Radio_Surface](INFO): Powering up
2025-10-27T17:38:32.878Z,1761586712.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855683,-0.510736,0.083396],[0.456517,0.820877,0.343151],[-0.243717,-0.255557,0.935571]]
2025-10-27T17:38:33.234Z,1761586713.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864862,-0.491009,0.104514],[0.435927,0.837806,0.328708],[-0.248961,-0.238727,0.938631]]
2025-10-27T17:38:33.644Z,1761586713.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884786,-0.453995,0.105080],[0.411439,0.866952,0.281270],[-0.218794,-0.205629,0.953858]]
2025-10-27T17:38:34.085Z,1761586714.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907195,-0.409227,0.097625],[0.387432,0.903084,0.185300],[-0.163993,-0.130280,0.977821]]
2025-10-27T17:38:34.228Z,1761586714.228 [DAT](INFO): DAT read: 

2025-10-27T17:38:34.229Z,1761586714.229 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:38:34.488Z,1761586714.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911524,-0.406608,0.061596],[0.400536,0.911730,0.091208],[-0.093245,-0.058466,0.993925]]
2025-10-27T17:38:34.890Z,1761586714.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902740,-0.427001,0.052258],[0.422996,0.903195,0.072895],[-0.078325,-0.043701,0.995970]]
2025-10-27T17:38:35.296Z,1761586715.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902838,-0.429778,0.013190],[0.424689,0.896106,0.128970],[-0.067248,-0.110837,0.991561]]
2025-10-27T17:38:35.698Z,1761586715.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903109,-0.425948,-0.054430],[0.428477,0.885517,0.179628],[-0.028313,-0.185546,0.982228]]
2025-10-27T17:38:35.741Z,1761586715.741 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:38:35.742Z,1761586715.742 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:38:35.743Z,1761586715.743 [DAT](INFO): DAT read: Oct 27 2025 17:38:27 

2025-10-27T17:38:36.102Z,1761586716.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900299,-0.432761,-0.046681],[0.433458,0.881594,0.186834],[-0.039701,-0.188440,0.981282]]
2025-10-27T17:38:36.514Z,1761586716.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899804,-0.434091,-0.043795],[0.436047,0.891373,0.123758],[-0.014684,-0.130455,0.991345]]
2025-10-27T17:38:36.749Z,1761586716.749 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:38:36.751Z,1761586716.750 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:38:36.751Z,1761586716.751 [DAT](INFO): commRate: 600
2025-10-27T17:38:36.910Z,1761586716.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892019,-0.449719,-0.045331],[0.451624,0.890864,0.048954],[0.018368,-0.064140,0.997772]]
2025-10-27T17:38:37.314Z,1761586717.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890887,-0.454063,-0.012094],[0.454168,0.890040,0.039509],[-0.007175,-0.040691,0.999146]]
2025-10-27T17:38:37.711Z,1761586717.711 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T17:38:37.712Z,1761586717.712 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T17:38:37.721Z,1761586717.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895579,-0.444861,0.006085],[0.443927,0.894436,0.053977],[-0.029455,-0.045640,0.998524]]
2025-10-27T17:38:38.546Z,1761586718.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882576,-0.466028,-0.062266],[0.470069,0.877344,0.096447],[0.009681,-0.114391,0.993389]]
2025-10-27T17:38:38.820Z,1761586718.820 [DAT](INFO): entering command mode
2025-10-27T17:38:38.930Z,1761586718.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888275,-0.450624,-0.088912],[0.457978,0.883683,0.096750],[0.034972,-0.126660,0.991329]]
2025-10-27T17:38:39.020Z,1761586719.020 [DAT](INFO): DAT read: 

2025-10-27T17:38:39.021Z,1761586719.021 [DAT](INFO): DAT read: user:1>

2025-10-27T17:38:39.022Z,1761586719.022 [DAT](INFO): setting verbose to 3
2025-10-27T17:38:39.272Z,1761586719.272 [DAT](INFO): DAT read: user:1>

2025-10-27T17:38:39.273Z,1761586719.273 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:38:39.273Z,1761586719.273 [DAT](INFO): set verbose to 3
2025-10-27T17:38:39.273Z,1761586719.273 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:38:39.345Z,1761586719.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875102,-0.472085,-0.106455],[0.483404,0.863068,0.146407],[0.022761,-0.179582,0.983480]]
2025-10-27T17:38:39.381Z,1761586719.381 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:38:39.382Z,1761586719.382 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:38:39.382Z,1761586719.382 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:38:39.382Z,1761586719.382 [marl:UpdateRudder:A] Stopped
2025-10-27T17:38:39.382Z,1761586719.382 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:38:39.382Z,1761586719.382 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode] Stopped
2025-10-27T17:38:39.383Z,1761586719.383 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed] Stopped
2025-10-27T17:38:39.384Z,1761586719.384 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:38:39.525Z,1761586719.525 [DAT](INFO): DAT read: user:2>

2025-10-27T17:38:39.526Z,1761586719.526 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:38:39.526Z,1761586719.526 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:38:39.527Z,1761586719.527 [DAT](INFO): setting transmit power to 8
2025-10-27T17:38:39.753Z,1761586719.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877754,-0.470394,-0.090976],[0.479088,0.859896,0.176220],[-0.004662,-0.198263,0.980138]]
2025-10-27T17:38:39.776Z,1761586719.776 [DAT](INFO): DAT read: user:3>

2025-10-27T17:38:39.777Z,1761586719.777 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:38:39.777Z,1761586719.777 [DAT](INFO): set transmit power to 8
2025-10-27T17:38:39.777Z,1761586719.777 [DAT](INFO): setting local address to 11
2025-10-27T17:38:39.842Z,1761586719.842 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:38:39.842Z,1761586719.842 [marl:UpdateRudder:B] Stopped
2025-10-27T17:38:39.842Z,1761586719.842 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:38:39.842Z,1761586719.842 [marl:UpdateRudder] Stopped
2025-10-27T17:38:39.843Z,1761586719.843 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:38:40.028Z,1761586720.028 [DAT](INFO): DAT read: user:4>

2025-10-27T17:38:40.029Z,1761586720.029 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:38:40.029Z,1761586720.029 [DAT](INFO): set local address to 11
2025-10-27T17:38:40.030Z,1761586720.030 [DAT](INFO): Setting time to: 17:38:40 And date to:10/27/2025
2025-10-27T17:38:40.142Z,1761586720.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875847,-0.469864,-0.110092],[0.482255,0.860659,0.163392],[0.017979,-0.196198,0.980399]]
2025-10-27T17:38:40.280Z,1761586720.280 [DAT](INFO): DAT read: user:5>

2025-10-27T17:38:40.281Z,1761586720.281 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:38:40  

2025-10-27T17:38:40.281Z,1761586720.281 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:38:40  

2025-10-27T17:38:40.282Z,1761586720.282 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:40.282Z,1761586720.282 [DAT](INFO): setting remote address to 0
2025-10-27T17:38:40.532Z,1761586720.532 [DAT](INFO): DAT read: user:6>

2025-10-27T17:38:40.533Z,1761586720.533 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:38:40.533Z,1761586720.533 [DAT](INFO): set remote address to 0
2025-10-27T17:38:40.533Z,1761586720.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:40.534Z,1761586720.534 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:38:40.784Z,1761586720.784 [DAT](INFO): DAT read: user:7>

2025-10-27T17:38:40.784Z,1761586720.784 [DAT](INFO): DAT read: Tx time:17:38:40.6978

2025-10-27T17:38:40.785Z,1761586720.785 [DAT](INFO): Ping request sent.
2025-10-27T17:38:40.785Z,1761586720.785 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:38:40.785Z,1761586720.785 [DAT](INFO): publishing transmit ping time
2025-10-27T17:38:40.786Z,1761586720.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930
2025-10-27T17:38:40.951Z,1761586720.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867547,-0.478215,-0.136648],[0.490870,0.867508,0.080475],[0.080059,-0.136892,0.987345]]
2025-10-27T17:38:41.036Z,1761586721.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251026
2025-10-27T17:38:41.288Z,1761586721.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503258
2025-10-27T17:38:41.354Z,1761586721.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864884,-0.488971,-0.113498],[0.495448,0.867871,0.036487],[0.080661,-0.087790,0.992868]]
2025-10-27T17:38:41.540Z,1761586721.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914
2025-10-27T17:38:41.776Z,1761586721.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868455,-0.492995,-0.052358],[0.493569,0.869704,-0.002236],[0.046638,-0.023901,0.998626]]
2025-10-27T17:38:41.792Z,1761586721.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070
2025-10-27T17:38:42.044Z,1761586722.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259016
2025-10-27T17:38:42.162Z,1761586722.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875069,-0.481271,-0.051308],[0.481049,0.876521,-0.017394],[0.053344,-0.009461,0.998531]]
2025-10-27T17:38:42.296Z,1761586722.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510980
2025-10-27T17:38:42.548Z,1761586722.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762962
2025-10-27T17:38:42.566Z,1761586722.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876284,-0.478793,-0.053709],[0.480692,0.876368,0.030228],[0.032596,-0.052306,0.998099]]
2025-10-27T17:38:42.800Z,1761586722.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957
2025-10-27T17:38:42.970Z,1761586722.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869132,-0.492518,-0.045105],[0.494560,0.866287,0.070406],[0.004398,-0.083500,0.996498]]
2025-10-27T17:38:43.052Z,1761586723.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267073
2025-10-27T17:38:43.304Z,1761586723.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518965
2025-10-27T17:38:43.376Z,1761586723.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862341,-0.489274,-0.130302],[0.500461,0.862703,0.072676],[0.076854,-0.127883,0.988807]]
2025-10-27T17:38:43.556Z,1761586723.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771008
2025-10-27T17:38:43.789Z,1761586723.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859826,-0.492399,-0.135066],[0.505035,0.859085,0.083141],[0.075094,-0.139700,0.987342]]
2025-10-27T17:38:43.808Z,1761586723.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022899
2025-10-27T17:38:44.060Z,1761586724.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275552
2025-10-27T17:38:44.063Z,1761586724.063 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:38:44.182Z,1761586724.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875911,-0.470021,-0.108904],[0.479528,0.872996,0.089053],[0.053216,-0.130225,0.990055]]
2025-10-27T17:38:44.313Z,1761586724.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527746
2025-10-27T17:38:44.564Z,1761586724.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778950
2025-10-27T17:38:44.587Z,1761586724.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865005,-0.494125,-0.087219],[0.500906,0.860538,0.092565],[0.029317,-0.123758,0.991879]]
2025-10-27T17:38:44.819Z,1761586724.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033552
2025-10-27T17:38:44.996Z,1761586724.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849669,-0.526224,-0.033936],[0.526335,0.842401,0.115464],[-0.032172,-0.115967,0.992732]]
2025-10-27T17:38:45.069Z,1761586725.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284265
2025-10-27T17:38:45.070Z,1761586725.070 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T17:38:45.070Z,1761586725.070 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:38:45.320Z,1761586725.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534952
2025-10-27T17:38:45.396Z,1761586725.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826841,-0.561189,-0.037420],[0.561702,0.820536,0.105884],[-0.028716,-0.108568,0.993674]]
2025-10-27T17:38:45.572Z,1761586725.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786992
2025-10-27T17:38:45.801Z,1761586725.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806144,-0.587437,-0.071070],[0.591656,0.801992,0.082178],[0.008723,-0.108296,0.994080]]
2025-10-27T17:38:45.824Z,1761586725.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039059
2025-10-27T17:38:46.076Z,1761586726.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290984
2025-10-27T17:38:46.202Z,1761586726.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810817,-0.581326,-0.068082],[0.585144,0.807779,0.071406],[0.013485,-0.097734,0.995121]]
2025-10-27T17:38:46.328Z,1761586726.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543546
2025-10-27T17:38:46.580Z,1761586726.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795010
2025-10-27T17:38:46.612Z,1761586726.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817548,-0.570737,-0.076645],[0.574366,0.817754,0.037178],[0.041458,-0.074417,0.996365]]
2025-10-27T17:38:46.834Z,1761586726.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049041
2025-10-27T17:38:47.026Z,1761586727.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800401,-0.599342,0.012100],[0.599404,0.800444,-0.001942],[-0.008521,0.008807,0.999925]]
2025-10-27T17:38:47.084Z,1761586727.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299087
2025-10-27T17:38:47.336Z,1761586727.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551051
2025-10-27T17:38:47.548Z,1761586727.548 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:38:47.589Z,1761586727.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803731
2025-10-27T17:38:47.828Z,1761586727.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782001,-0.614418,-0.104716],[0.620393,0.783462,0.036044],[0.059895,-0.093151,0.993849]]
2025-10-27T17:38:47.840Z,1761586727.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055075
2025-10-27T17:38:48.016Z,1761586728.016 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:38:48.016Z,1761586728.016 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:38:48.092Z,1761586728.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307013
2025-10-27T17:38:48.228Z,1761586728.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777166,-0.606365,-0.168327],[0.627663,0.766158,0.137987],[0.045294,-0.212892,0.976025]]
2025-10-27T17:38:48.345Z,1761586728.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559313
2025-10-27T17:38:48.596Z,1761586728.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811001
2025-10-27T17:38:48.636Z,1761586728.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768778,-0.614571,-0.176873],[0.637461,0.758570,0.134960],[0.051228,-0.216504,0.974937]]
2025-10-27T17:38:48.850Z,1761586728.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065055
2025-10-27T17:38:49.035Z,1761586729.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777327,-0.616819,-0.123685],[0.626430,0.777010,0.061981],[0.057873,-0.125660,0.990384]]
2025-10-27T17:38:49.100Z,1761586729.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314905
2025-10-27T17:38:49.352Z,1761586729.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567061
2025-10-27T17:38:49.439Z,1761586729.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778869,-0.622394,-0.077386],[0.625886,0.779256,0.032035],[0.040365,-0.073386,0.996486]]
2025-10-27T17:38:49.604Z,1761586729.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819280
2025-10-27T17:38:49.845Z,1761586729.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782243,-0.621621,-0.041024],[0.622731,0.782076,0.023710],[0.017345,-0.044094,0.998877]]
2025-10-27T17:38:49.856Z,1761586729.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070826
2025-10-27T17:38:50.109Z,1761586730.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323588
2025-10-27T17:38:50.242Z,1761586730.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775562,-0.631086,-0.015286],[0.631271,0.775327,0.019109],[-0.000208,-0.024470,0.999701]]
2025-10-27T17:38:50.360Z,1761586730.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575024
2025-10-27T17:38:50.612Z,1761586730.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827469
2025-10-27T17:38:50.646Z,1761586730.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763382,-0.644042,-0.049583],[0.645232,0.763898,0.011614],[0.030397,-0.040858,0.998702]]
2025-10-27T17:38:50.865Z,1761586730.865 [DAT](INFO): Reached modem response timeout
2025-10-27T17:38:50.866Z,1761586730.866 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:50.867Z,1761586730.867 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:38:51.051Z,1761586731.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765727,-0.635691,-0.097767],[0.641648,0.765478,0.048273],[0.044152,-0.099696,0.994038]]
2025-10-27T17:38:51.116Z,1761586731.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:51.368Z,1761586731.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:51.455Z,1761586731.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757293,-0.641987,-0.119837],[0.652427,0.751871,0.095021],[0.029100,-0.150143,0.988236]]
2025-10-27T17:38:51.620Z,1761586731.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:51.872Z,1761586731.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:51.874Z,1761586731.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738819,-0.664491,-0.112238],[0.673381,0.734490,0.084151],[0.026520,-0.137751,0.990112]]
2025-10-27T17:38:52.124Z,1761586732.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:52.262Z,1761586732.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723095,-0.687212,-0.069803],[0.690748,0.719336,0.073641],[-0.000395,-0.101466,0.994839]]
2025-10-27T17:38:52.307Z,1761586732.307 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:38:52.307Z,1761586732.307 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:38:52.307Z,1761586732.307 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateRudder:A] Stopped
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:38:52.308Z,1761586732.308 [marl:UpdateCommandMode] Stopped
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed] Stopped
2025-10-27T17:38:52.309Z,1761586732.309 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:38:52.377Z,1761586732.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:52.629Z,1761586732.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:52.666Z,1761586732.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718623,-0.692124,-0.067427],[0.695310,0.713583,0.085688],[-0.011191,-0.108460,0.994038]]
2025-10-27T17:38:52.741Z,1761586732.741 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:38:52.741Z,1761586732.741 [marl:UpdateRudder:B] Stopped
2025-10-27T17:38:52.741Z,1761586732.741 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:38:52.741Z,1761586732.741 [marl:UpdateRudder] Stopped
2025-10-27T17:38:52.742Z,1761586732.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:38:52.880Z,1761586732.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:38:53.070Z,1761586733.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708190,-0.699488,-0.095832],[0.705605,0.705888,0.062003],[0.024276,-0.111529,0.993465]]
2025-10-27T17:38:53.132Z,1761586733.132 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:38:53.132Z,1761586733.132 [DAT](INFO): response not received
2025-10-27T17:38:53.133Z,1761586733.133 [DAT](INFO): DAT read: user:8>

2025-10-27T17:38:53.133Z,1761586733.133 [DAT](INFO): DAT read: Tx time:17:38:53.1478

2025-10-27T17:38:53.134Z,1761586733.134 [DAT](INFO): Ping request sent.
2025-10-27T17:38:53.134Z,1761586733.134 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:38:53.134Z,1761586733.134 [DAT](INFO): publishing transmit ping time
2025-10-27T17:38:53.134Z,1761586733.134 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-27T17:38:53.135Z,1761586733.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001173
2025-10-27T17:38:53.384Z,1761586733.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250065
2025-10-27T17:38:53.478Z,1761586733.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695800,-0.708693,-0.116694],[0.713575,0.700578,0.000092],[0.081688,-0.083334,0.993168]]
2025-10-27T17:38:53.637Z,1761586733.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904
2025-10-27T17:38:53.888Z,1761586733.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754017
2025-10-27T17:38:53.890Z,1761586733.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685429,-0.718778,-0.116383],[0.718535,0.693567,-0.051694],[0.117876,-0.048193,0.991858]]
2025-10-27T17:38:54.140Z,1761586734.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006046
2025-10-27T17:38:54.282Z,1761586734.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698674,-0.711475,-0.075226],[0.707134,0.702710,-0.078488],[0.108704,0.001643,0.994073]]
2025-10-27T17:38:54.397Z,1761586734.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262738
2025-10-27T17:38:54.649Z,1761586734.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515516
2025-10-27T17:38:54.686Z,1761586734.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720892,-0.691004,-0.053183],[0.681604,0.720785,-0.126030],[0.125421,0.054604,0.990600]]
2025-10-27T17:38:54.900Z,1761586734.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766021
2025-10-27T17:38:55.090Z,1761586735.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716451,-0.696096,-0.046342],[0.681934,0.712792,-0.163990],[0.147185,0.085888,0.985373]]
2025-10-27T17:38:55.152Z,1761586735.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018110
2025-10-27T17:38:55.404Z,1761586735.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270031
2025-10-27T17:38:55.504Z,1761586735.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715813,-0.696301,-0.052691],[0.686675,0.715604,-0.128014],[0.126842,0.055452,0.990372]]
2025-10-27T17:38:55.657Z,1761586735.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523193
2025-10-27T17:38:55.902Z,1761586735.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700682,-0.703554,-0.118559],[0.707272,0.706797,-0.014310],[0.093865,-0.073826,0.992844]]
2025-10-27T17:38:55.908Z,1761586735.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773976
2025-10-27T17:38:56.160Z,1761586736.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026009
2025-10-27T17:38:56.302Z,1761586736.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690459,-0.694244,-0.203203],[0.719893,0.686985,0.099022],[0.070852,-0.214656,0.974117]]
2025-10-27T17:38:56.413Z,1761586736.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278509
2025-10-27T17:38:56.664Z,1761586736.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529988
2025-10-27T17:38:56.712Z,1761586736.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685088,-0.681408,-0.257561],[0.727254,0.660115,0.188016],[0.041904,-0.316120,0.947793]]
2025-10-27T17:38:56.916Z,1761586736.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782038
2025-10-27T17:38:57.168Z,1761586737.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034147
2025-10-27T17:38:57.420Z,1761586737.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285947
2025-10-27T17:38:57.515Z,1761586737.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643677,-0.752642,-0.138598],[0.764998,0.637847,0.089048],[0.021383,-0.163345,0.986337]]
2025-10-27T17:38:57.672Z,1761586737.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538046
2025-10-27T17:38:57.922Z,1761586737.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646445,-0.762921,-0.007741],[0.762751,0.645997,0.029974],[-0.017868,-0.025281,0.999521]]
2025-10-27T17:38:57.924Z,1761586737.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790096
2025-10-27T17:38:58.176Z,1761586738.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041995
2025-10-27T17:38:58.322Z,1761586738.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655420,-0.754955,0.021617],[0.755243,0.655349,-0.011222],[-0.005695,0.023682,0.999703]]
2025-10-27T17:38:58.429Z,1761586738.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294959
2025-10-27T17:38:58.680Z,1761586738.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546085
2025-10-27T17:38:58.737Z,1761586738.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642044,-0.765589,-0.040658],[0.765303,0.643162,-0.025557],[0.045716,-0.014707,0.998846]]
2025-10-27T17:38:58.932Z,1761586738.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798450
2025-10-27T17:38:59.130Z,1761586739.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628357,-0.774317,-0.074836],[0.777282,0.628837,0.019931],[0.031627,-0.070693,0.996997]]
2025-10-27T17:38:59.184Z,1761586739.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050161
2025-10-27T17:38:59.437Z,1761586739.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303009
2025-10-27T17:38:59.688Z,1761586739.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554096
2025-10-27T17:38:59.940Z,1761586739.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806153
2025-10-27T17:38:59.945Z,1761586739.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622133,-0.774713,-0.113007],[0.782905,0.616205,0.085738],[0.003213,-0.141814,0.989888]]
2025-10-27T17:39:00.192Z,1761586740.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058431
2025-10-27T17:39:00.342Z,1761586740.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607708,-0.787510,-0.102558],[0.794041,0.604772,0.061238],[0.013799,-0.118651,0.992840]]
2025-10-27T17:39:00.444Z,1761586740.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310424
2025-10-27T17:39:00.697Z,1761586740.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562653
2025-10-27T17:39:00.755Z,1761586740.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610892,-0.786526,-0.090486],[0.789604,0.613610,-0.002848],[0.057763,-0.069708,0.995894]]
2025-10-27T17:39:00.948Z,1761586740.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814085
2025-10-27T17:39:01.200Z,1761586741.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066126
2025-10-27T17:39:01.452Z,1761586741.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318045
2025-10-27T17:39:01.556Z,1761586741.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580707,-0.810212,-0.079596],[0.810301,0.584669,-0.039671],[0.078679,-0.041460,0.996038]]
2025-10-27T17:39:01.712Z,1761586741.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578432
2025-10-27T17:39:01.965Z,1761586741.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831264
2025-10-27T17:39:01.991Z,1761586741.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599135,-0.798069,-0.064212],[0.793658,0.602566,-0.083792],[0.105564,-0.000759,0.994412]]
2025-10-27T17:39:02.216Z,1761586742.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082042
2025-10-27T17:39:02.362Z,1761586742.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569959,-0.820812,-0.037615],[0.820992,0.570753,-0.014601],[0.033453,-0.022560,0.999186]]
2025-10-27T17:39:02.469Z,1761586742.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335188
2025-10-27T17:39:02.721Z,1761586742.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586661
2025-10-27T17:39:02.781Z,1761586742.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541517,-0.838353,-0.062641],[0.840689,0.539882,0.042074],[-0.001454,-0.075446,0.997149]]
2025-10-27T17:39:02.972Z,1761586742.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838397
2025-10-27T17:39:03.170Z,1761586743.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568062,-0.800631,-0.190514],[0.816793,0.576819,0.011386],[0.100776,-0.162079,0.981618]]
2025-10-27T17:39:03.224Z,1761586743.224 [DAT](INFO): Reached modem response timeout
2025-10-27T17:39:03.574Z,1761586743.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582992,-0.772578,-0.251482],[0.802932,0.595157,0.032998],[0.124178,-0.221161,0.967299]]
2025-10-27T17:39:03.993Z,1761586743.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576415,-0.799759,-0.167725],[0.815129,0.577195,0.049104],[0.057539,-0.165021,0.984610]]
2025-10-27T17:39:04.385Z,1761586744.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582273,-0.811889,-0.042352],[0.812968,0.581877,0.022430],[0.006433,-0.047491,0.998851]]
2025-10-27T17:39:04.786Z,1761586744.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579712,-0.814738,0.011659],[0.814675,0.579278,-0.027227],[0.015429,0.025282,0.999561]]
2025-10-27T17:39:05.190Z,1761586745.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532749,-0.845961,-0.022990],[0.844624,0.533210,-0.047921],[0.052798,0.006112,0.998587]]
2025-10-27T17:39:05.494Z,1761586745.494 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:39:05.494Z,1761586745.494 [DAT](INFO): response not received
2025-10-27T17:39:05.494Z,1761586745.494 [DAT](ERROR): No response from remote modem.
2025-10-27T17:39:05.595Z,1761586745.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507954,-0.856025,-0.095937],[0.856579,0.513725,-0.048568],[0.090860,-0.057507,0.994202]]
2025-10-27T17:39:05.656Z,1761586745.656 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:39:05.656Z,1761586745.656 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:39:05.656Z,1761586745.656 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:39:05.656Z,1761586745.656 [marl:UpdateRudder:A] Stopped
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode] Stopped
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:39:05.657Z,1761586745.657 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed] Stopped
2025-10-27T17:39:05.658Z,1761586745.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:39:06.001Z,1761586746.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527006,-0.838618,-0.137783],[0.847327,0.530995,0.009026],[0.065593,-0.121504,0.990421]]
2025-10-27T17:39:06.032Z,1761586746.032 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:39:06.032Z,1761586746.032 [marl:UpdateRudder:B] Stopped
2025-10-27T17:39:06.032Z,1761586746.032 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:39:06.032Z,1761586746.032 [marl:UpdateRudder] Stopped
2025-10-27T17:39:06.033Z,1761586746.033 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:39:06.403Z,1761586746.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532086,-0.832652,-0.153543],[0.846172,0.529285,0.062044],[0.029607,-0.162936,0.986192]]
2025-10-27T17:39:06.820Z,1761586746.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497490,-0.854854,-0.147406],[0.866967,0.495754,0.050952],[0.029520,-0.153145,0.987763]]
2025-10-27T17:39:07.212Z,1761586747.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479016,-0.872177,-0.099251],[0.877182,0.479868,0.016672],[0.033086,-0.095048,0.994923]]
2025-10-27T17:39:07.614Z,1761586747.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481930,-0.872012,-0.085662],[0.871664,0.487079,-0.054375],[0.089140,-0.048463,0.994839]]
2025-10-27T17:39:08.020Z,1761586748.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470838,-0.870879,-0.140997],[0.861564,0.488285,-0.138871],[0.189787,-0.056092,0.980222]]
2025-10-27T17:39:08.422Z,1761586748.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450378,-0.877542,-0.164562],[0.868525,0.473327,-0.147056],[0.206939,-0.076696,0.975343]]
2025-10-27T17:39:08.864Z,1761586748.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457058,-0.878052,-0.141855],[0.874447,0.472761,-0.108811],[0.162605,-0.074311,0.983889]]
2025-10-27T17:39:09.230Z,1761586749.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455067,-0.883739,-0.109178],[0.884769,0.462585,-0.056561],[0.100489,-0.070858,0.992412]]
2025-10-27T17:39:09.634Z,1761586749.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422420,-0.899923,-0.108169],[0.902584,0.428574,-0.040810],[0.083085,-0.080393,0.993294]]
2025-10-27T17:39:10.046Z,1761586750.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429379,-0.900082,-0.074068],[0.899534,0.433536,-0.053702],[0.080447,-0.043568,0.995806]]
2025-10-27T17:39:10.442Z,1761586750.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464962,-0.883413,-0.058233],[0.878780,0.468509,-0.090799],[0.107496,-0.008956,0.994165]]
2025-10-27T17:39:10.877Z,1761586750.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467534,-0.880497,-0.078341],[0.875535,0.473465,-0.096277],[0.121863,-0.023577,0.992267]]
2025-10-27T17:39:11.250Z,1761586751.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493124,-0.867218,-0.069004],[0.867399,0.496205,-0.037425],[0.066695,-0.041399,0.996914]]
2025-10-27T17:39:11.655Z,1761586751.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472745,-0.877380,-0.081957],[0.880869,0.473065,0.016701],[0.024118,-0.080089,0.996496]]
2025-10-27T17:39:12.472Z,1761586752.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449293,-0.883567,-0.132076],[0.892239,0.451270,0.016275],[0.045221,-0.125156,0.991106]]
2025-10-27T17:39:12.882Z,1761586752.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442465,-0.886330,-0.136543],[0.895206,0.445570,0.008605],[0.053213,-0.126041,0.990597]]
2025-10-27T17:39:13.271Z,1761586753.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400860,-0.904727,-0.144155],[0.914729,0.403984,0.008209],[0.050810,-0.135153,0.989521]]
2025-10-27T17:39:13.674Z,1761586753.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404950,-0.904409,-0.134387],[0.913834,0.405216,0.026605],[0.030394,-0.133581,0.990572]]
2025-10-27T17:39:14.080Z,1761586754.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415218,-0.903761,-0.103974],[0.909715,0.412049,0.051325],[-0.003543,-0.115897,0.993255]]
2025-10-27T17:39:14.484Z,1761586754.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421197,-0.903688,-0.077072],[0.906967,0.419851,0.033701],[0.001903,-0.084097,0.996456]]
2025-10-27T17:39:14.890Z,1761586754.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447280,-0.894049,-0.024831],[0.893919,0.445965,0.044991],[-0.029151,-0.042321,0.998679]]
2025-10-27T17:39:15.187Z,1761586755.187 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:39:15.292Z,1761586755.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440481,-0.897631,-0.015328],[0.897011,0.439350,0.048415],[-0.036724,-0.035075,0.998710]]
2025-10-27T17:39:15.694Z,1761586755.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425097,-0.899513,-0.100838],[0.903847,0.427814,-0.005964],[0.048505,-0.088607,0.994885]]
2025-10-27T17:39:16.099Z,1761586756.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409197,-0.896489,-0.169897],[0.909486,0.415723,-0.003135],[0.073441,-0.153236,0.985457]]
2025-10-27T17:39:16.191Z,1761586756.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:39:16.502Z,1761586756.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408031,-0.895569,-0.177391],[0.912149,0.408122,0.037679],[0.038653,-0.177181,0.983419]]
2025-10-27T17:39:16.908Z,1761586756.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416020,-0.891645,-0.178594],[0.906597,0.421965,0.005149],[0.070770,-0.164055,0.983909]]
2025-10-27T17:39:17.310Z,1761586757.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415965,-0.896879,-0.150273],[0.906364,0.422334,-0.011758],[0.074010,-0.131311,0.988575]]
2025-10-27T17:39:17.714Z,1761586757.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413122,-0.904759,-0.103637],[0.909174,0.416294,-0.010094],[0.052276,-0.090054,0.994564]]
2025-10-27T17:39:18.119Z,1761586758.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434269,-0.898565,-0.063180],[0.898441,0.437128,-0.041518],[0.064925,-0.038734,0.997138]]
2025-10-27T17:39:18.531Z,1761586758.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443695,-0.893169,-0.073374],[0.892303,0.447899,-0.056411],[0.083249,-0.040442,0.995708]]
2025-10-27T17:39:18.598Z,1761586758.598 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:39:18.598Z,1761586758.598 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:39:18.599Z,1761586758.599 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:39:18.604Z,1761586758.604 [marl:UpdateRudder:A] Stopped
2025-10-27T17:39:18.604Z,1761586758.604 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:39:18.604Z,1761586758.604 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode] Stopped
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:39:18.605Z,1761586758.605 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:39:18.606Z,1761586758.606 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:39:18.606Z,1761586758.606 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:39:18.606Z,1761586758.606 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:39:18.606Z,1761586758.606 [marl:UpdateSpeed] Stopped
2025-10-27T17:39:18.606Z,1761586758.606 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:39:18.926Z,1761586758.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436883,-0.895911,-0.080485],[0.898594,0.438740,-0.006105],[0.040782,-0.069656,0.996737]]
2025-10-27T17:39:19.009Z,1761586759.009 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:39:19.010Z,1761586759.010 [marl:UpdateRudder:B] Stopped
2025-10-27T17:39:19.010Z,1761586759.010 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:39:19.010Z,1761586759.010 [marl:UpdateRudder] Stopped
2025-10-27T17:39:19.010Z,1761586759.010 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:39:19.330Z,1761586759.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444316,-0.891499,-0.088394],[0.895841,0.442925,0.035856],[0.007186,-0.095118,0.995440]]
2025-10-27T17:39:19.742Z,1761586759.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447681,-0.888809,-0.097980],[0.894160,0.444027,0.057602],[-0.007692,-0.113397,0.993520]]
2025-10-27T17:39:20.142Z,1761586760.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452296,-0.887663,-0.086500],[0.890778,0.444820,0.093003],[-0.044079,-0.119117,0.991901]]
2025-10-27T17:39:20.542Z,1761586760.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447556,-0.887680,-0.108243],[0.894250,0.443820,0.057803],[-0.003271,-0.122667,0.992443]]
2025-10-27T17:39:20.957Z,1761586760.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418451,-0.900658,-0.117110],[0.906595,0.421961,-0.005783],[0.054624,-0.103752,0.993102]]
2025-10-27T17:39:21.350Z,1761586761.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406965,-0.910964,-0.067264],[0.912692,0.408512,-0.010502],[0.037045,-0.057118,0.997680]]
2025-10-27T17:39:21.761Z,1761586761.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391490,-0.918959,-0.047434],[0.919996,0.391927,0.000083],[0.018514,-0.043672,0.998874]]
2025-10-27T17:39:22.158Z,1761586762.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378579,-0.924187,-0.050550],[0.925446,0.378853,0.004417],[0.015069,-0.048454,0.998712]]
2025-10-27T17:39:22.562Z,1761586762.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396899,-0.916316,-0.053253],[0.917359,0.394091,0.056086],[-0.030406,-0.071112,0.997005]]
2025-10-27T17:39:22.969Z,1761586762.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391553,-0.917090,-0.075052],[0.918575,0.384798,0.090281],[-0.053916,-0.104291,0.993084]]
2025-10-27T17:39:23.370Z,1761586763.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342729,-0.935844,-0.082052],[0.937790,0.335656,0.088800],[-0.055562,-0.107382,0.992664]]
2025-10-27T17:39:23.774Z,1761586763.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333786,-0.937975,-0.093758],[0.942622,0.331374,0.040682],[-0.007090,-0.101957,0.994763]]
2025-10-27T17:39:24.182Z,1761586764.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355651,-0.927131,-0.118067],[0.930610,0.362976,-0.047041],[0.086469,-0.093144,0.991891]]
2025-10-27T17:39:24.986Z,1761586764.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330564,-0.943783,-0.001089],[0.934986,0.327639,-0.135846],[0.128566,0.043887,0.990729]]
2025-10-27T17:39:25.390Z,1761586765.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371726,-0.926303,0.061506],[0.928342,0.370877,-0.025118],[0.000455,0.066435,0.997791]]
2025-10-27T17:39:25.796Z,1761586765.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387260,-0.921267,0.035997],[0.921378,0.388115,0.020692],[-0.033034,0.025153,0.999138]]
2025-10-27T17:39:26.198Z,1761586766.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377491,-0.924315,-0.056051],[0.925972,0.377352,0.013449],[0.008720,-0.056979,0.998337]]
2025-10-27T17:39:26.603Z,1761586766.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355391,-0.927192,-0.118371],[0.934461,0.349462,0.068264],[-0.021928,-0.134873,0.990620]]
2025-10-27T17:39:27.006Z,1761586767.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321337,-0.933692,-0.157991],[0.945778,0.308086,0.102892],[-0.047394,-0.182487,0.982065]]
2025-10-27T17:39:27.412Z,1761586767.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268141,-0.942940,-0.197396],[0.963220,0.258679,0.072750],[-0.017537,-0.209643,0.977621]]
2025-10-27T17:39:27.816Z,1761586767.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210057,-0.959253,-0.188972],[0.977648,0.204318,0.049581],[-0.008950,-0.195162,0.980730]]
2025-10-27T17:39:27.826Z,1761586767.826 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173927.00,A,3646.60008,N,12151.88840,W,0.933,348.48,271025,,,A*7F
2025-10-27T17:39:27.829Z,1761586767.829 [NAL9602](INFO): GPS fix at 20251027T173927: (36.776668, -121.864807)
2025-10-27T17:39:27.842Z,1761586767.842 [UniversalFixResidualReporter](INFO): Fix residual: 0.6 %DT, over the last 625.2 m. Residual distance 4.0 m at bearing 169.9 degrees. Fix at (36.7767, -121.8648) with 234.8 m made good.
2025-10-27T17:39:27.853Z,1761586767.853 [marl:NeedComms:C] Stopped
2025-10-27T17:39:27.853Z,1761586767.853 [marl:NeedComms:D] Running Loop=1
2025-10-27T17:39:27.854Z,1761586767.854 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:39:28.218Z,1761586768.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218270,-0.969728,-0.109476],[0.975653,0.214376,0.046299],[-0.021428,-0.116917,0.992911]]
2025-10-27T17:39:28.628Z,1761586768.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253393,-0.966199,-0.047457],[0.967149,0.254064,-0.008593],[0.020360,-0.043720,0.998836]]
2025-10-27T17:39:29.030Z,1761586769.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261567,-0.964938,-0.021864],[0.959387,0.262408,-0.103532],[0.105639,0.006105,0.994386]]
2025-10-27T17:39:29.450Z,1761586769.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248084,-0.968725,-0.005185],[0.959055,0.246356,-0.139723],[0.136631,0.029690,0.990177]]
2025-10-27T17:39:29.838Z,1761586769.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220773,-0.975288,-0.008506],[0.963692,0.219474,-0.152084],[0.150193,0.025379,0.988331]]
2025-10-27T17:39:30.242Z,1761586770.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233621,-0.971794,-0.032205],[0.950064,0.235194,-0.205091],[0.206880,0.017317,0.978213]]
2025-10-27T17:39:30.646Z,1761586770.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284794,-0.957116,-0.053108],[0.944970,0.289623,-0.152153],[0.161010,-0.006853,0.986929]]
2025-10-27T17:39:31.121Z,1761586771.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277332,-0.959193,-0.055091],[0.960633,0.277817,-0.001194],[0.016450,-0.052592,0.998481]]
2025-10-27T17:39:31.504Z,1761586771.504 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:39:31.504Z,1761586771.504 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateRudder:A] Stopped
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:39:31.505Z,1761586771.505 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateCommandMode] Stopped
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:39:31.506Z,1761586771.506 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:39:31.507Z,1761586771.507 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:39:31.507Z,1761586771.507 [marl:UpdateSpeed] Stopped
2025-10-27T17:39:31.523Z,1761586771.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:39:31.858Z,1761586771.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279014,-0.955047,-0.100180],[0.958609,0.283171,-0.029720],[0.056752,-0.087741,0.994525]]
2025-10-27T17:39:31.910Z,1761586771.910 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:39:31.911Z,1761586771.911 [marl:UpdateRudder:B] Stopped
2025-10-27T17:39:31.911Z,1761586771.911 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:39:31.912Z,1761586771.912 [marl:UpdateRudder] Stopped
2025-10-27T17:39:31.912Z,1761586771.912 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:39:32.263Z,1761586772.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292742,-0.944855,-0.146803],[0.954044,0.298905,-0.021343],[0.064046,-0.133808,0.988935]]
2025-10-27T17:39:32.672Z,1761586772.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281694,-0.946660,-0.156469],[0.957502,0.287873,-0.017869],[0.061959,-0.144786,0.987521]]
2025-10-27T17:39:33.077Z,1761586773.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273601,-0.958665,-0.078132],[0.961727,0.271401,0.037706],[-0.014943,-0.085459,0.996230]]
2025-10-27T17:39:33.481Z,1761586773.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282934,-0.957889,-0.048952],[0.958330,0.280231,0.055444],[-0.039391,-0.062599,0.997261]]
2025-10-27T17:39:33.887Z,1761586773.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246303,-0.968257,-0.042596],[0.968558,0.244312,0.046983],[-0.035085,-0.052829,0.997987]]
2025-10-27T17:39:34.289Z,1761586774.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232272,-0.971744,-0.041993],[0.971958,0.233519,-0.027695],[0.036719,-0.034383,0.998734]]
2025-10-27T17:39:34.689Z,1761586774.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284875,-0.957975,-0.033613],[0.955980,0.286506,-0.063385],[0.070352,-0.014076,0.997423]]
2025-10-27T17:39:35.090Z,1761586775.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298540,-0.954383,-0.005189],[0.953258,0.298445,-0.047222],[0.046617,0.009151,0.998871]]
2025-10-27T17:39:35.494Z,1761586775.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299056,-0.953789,0.029190],[0.949983,0.294700,-0.103361],[0.089982,0.058640,0.994215]]
2025-10-27T17:39:35.910Z,1761586775.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310228,-0.950523,0.016289],[0.941990,0.305043,-0.140009],[0.128113,0.058779,0.990016]]
2025-10-27T17:39:36.302Z,1761586776.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323793,-0.944483,-0.055765],[0.942806,0.327029,-0.064558],[0.079211,-0.031672,0.996355]]
2025-10-27T17:39:36.706Z,1761586776.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307278,-0.942662,-0.130260],[0.950442,0.310818,-0.007269],[0.047340,-0.121571,0.991453]]
2025-10-27T17:39:37.111Z,1761586777.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317461,-0.938196,-0.137869],[0.947074,0.320994,-0.003599],[0.047632,-0.129430,0.990444]]
2025-10-27T17:39:37.516Z,1761586777.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375159,-0.913916,-0.154960],[0.923951,0.382138,-0.016867],[0.074631,-0.136847,0.987777]]
2025-10-27T17:39:37.936Z,1761586777.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387440,-0.911079,-0.140803],[0.918832,0.394062,-0.021511],[0.075083,-0.121040,0.989804]]
2025-10-27T17:39:38.461Z,1761586778.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377493,-0.924485,-0.053171],[0.925706,0.378222,-0.003997],[0.023806,-0.047712,0.998577]]
2025-10-27T17:39:40.643Z,1761586780.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397824,-0.910312,-0.114315],[0.914007,0.404040,-0.036634],[0.079536,-0.089911,0.992769]]
2025-10-27T17:39:41.038Z,1761586781.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406875,-0.903827,-0.132471],[0.910916,0.412309,-0.015300],[0.068448,-0.114444,0.991069]]
2025-10-27T17:39:41.442Z,1761586781.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415390,-0.905008,-0.091718],[0.909381,0.415575,0.017979],[0.021844,-0.090875,0.995623]]
2025-10-27T17:39:42.251Z,1761586782.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434388,-0.897313,-0.078341],[0.897853,0.438303,-0.041848],[0.071887,-0.052160,0.996048]]
2025-10-27T17:39:42.654Z,1761586782.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438336,-0.897975,-0.038774],[0.896968,0.439791,-0.045079],[0.057532,-0.015019,0.998231]]
2025-10-27T17:39:43.058Z,1761586783.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442860,-0.896562,0.007189],[0.895775,0.442100,-0.046209],[0.038251,0.026904,0.998906]]
2025-10-27T17:39:43.463Z,1761586783.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428307,-0.903183,-0.028519],[0.901484,0.429251,-0.055412],[0.062289,-0.001976,0.998056]]
2025-10-27T17:39:43.866Z,1761586783.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437458,-0.896746,-0.066909],[0.896553,0.440689,-0.044569],[0.069453,-0.040491,0.996763]]
2025-10-27T17:39:44.673Z,1761586784.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452378,-0.882934,-0.125623],[0.891781,0.449273,0.053677],[0.009046,-0.136310,0.990625]]
2025-10-27T17:39:45.488Z,1761586785.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446892,-0.893233,-0.049213],[0.893065,0.448664,-0.033704],[0.052186,-0.028888,0.998219]]
2025-10-27T17:39:45.896Z,1761586785.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439561,-0.898147,0.010849],[0.897585,0.438770,-0.042680],[0.033572,0.028498,0.999030]]
2025-10-27T17:39:46.296Z,1761586786.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445419,-0.894989,0.024428],[0.895279,0.444964,-0.021979],[0.008801,0.031660,0.999460]]
2025-10-27T17:39:46.315Z,1761586786.315 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateRudder:A] Stopped
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:39:46.769Z,1761586786.769 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateCommandMode] Stopped
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:39:46.770Z,1761586786.770 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:39:46.772Z,1761586786.772 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:39:46.772Z,1761586786.772 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:39:46.772Z,1761586786.772 [marl:UpdateSpeed] Stopped
2025-10-27T17:39:46.772Z,1761586786.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:39:47.104Z,1761586787.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417035,-0.907004,-0.058532],[0.908325,0.418181,-0.008349],[0.032049,-0.049684,0.998251]]
2025-10-27T17:39:47.177Z,1761586787.177 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:39:47.177Z,1761586787.177 [marl:UpdateRudder:B] Stopped
2025-10-27T17:39:47.178Z,1761586787.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:39:47.178Z,1761586787.178 [marl:UpdateRudder] Stopped
2025-10-27T17:39:47.178Z,1761586787.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:39:47.319Z,1761586787.319 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:39:47.501Z,1761586787.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404825,-0.907702,-0.110424],[0.913049,0.407820,-0.005020],[0.049590,-0.098790,0.993872]]
2025-10-27T17:39:47.585Z,1761586787.585 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:39:47.600Z,1761586787.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:39:47.600Z,1761586787.600 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:39:47.852Z,1761586787.852 [DAT](INFO): DAT read: user:9>

2025-10-27T17:39:47.853Z,1761586787.853 [DAT](INFO): DAT read: Tx time:17:39:47.7525

2025-10-27T17:39:47.853Z,1761586787.853 [DAT](INFO): Ping request sent.
2025-10-27T17:39:47.853Z,1761586787.853 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:39:47.853Z,1761586787.853 [DAT](INFO): publishing transmit ping time
2025-10-27T17:39:47.854Z,1761586787.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936
2025-10-27T17:39:47.952Z,1761586787.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401628,-0.904242,-0.145056],[0.912208,0.409021,-0.024030],[0.081060,-0.122670,0.989132]]
2025-10-27T17:39:48.080Z,1761586788.080 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:39:48.081Z,1761586788.081 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:39:48.104Z,1761586788.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-10-27T17:39:48.309Z,1761586788.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412718,-0.900609,-0.136262],[0.900856,0.425702,-0.085069],[0.134621,-0.087642,0.987014]]
2025-10-27T17:39:48.357Z,1761586788.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503618
2025-10-27T17:39:48.608Z,1761586788.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924
2025-10-27T17:39:48.713Z,1761586788.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427790,-0.899424,-0.089620],[0.894745,0.435441,-0.099114],[0.128170,-0.037787,0.991032]]
2025-10-27T17:39:48.862Z,1761586788.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008869
2025-10-27T17:39:49.112Z,1761586789.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258788
2025-10-27T17:39:49.125Z,1761586789.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436252,-0.898217,-0.053760],[0.893434,0.439488,-0.092883],[0.107056,-0.007511,0.994225]]
2025-10-27T17:39:49.364Z,1761586789.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922
2025-10-27T17:39:49.622Z,1761586789.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768632
2025-10-27T17:39:49.872Z,1761586789.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018881
2025-10-27T17:39:49.926Z,1761586789.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436191,-0.899854,-0.000728],[0.896074,0.434433,-0.091212],[0.082393,0.039133,0.995831]]
2025-10-27T17:39:50.124Z,1761586790.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270932
2025-10-27T17:39:50.332Z,1761586790.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469095,-0.882303,-0.038622],[0.876626,0.470490,-0.100830],[0.107134,0.013442,0.994154]]
2025-10-27T17:39:50.377Z,1761586790.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523907
2025-10-27T17:39:50.629Z,1761586790.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775502
2025-10-27T17:39:50.743Z,1761586790.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470568,-0.874919,-0.114379],[0.870900,0.481363,-0.099112],[0.141773,-0.052974,0.988481]]
2025-10-27T17:39:50.882Z,1761586790.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028427
2025-10-27T17:39:51.132Z,1761586791.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278867
2025-10-27T17:39:51.139Z,1761586791.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464813,-0.866131,-0.183757],[0.876856,0.479077,-0.040107],[0.122772,-0.142486,0.982153]]
2025-10-27T17:39:51.384Z,1761586791.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531175
2025-10-27T17:39:51.542Z,1761586791.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453636,-0.873389,-0.177220],[0.889954,0.454418,0.038548],[0.046865,-0.175204,0.983416]]
2025-10-27T17:39:51.637Z,1761586791.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783852
2025-10-27T17:39:51.892Z,1761586791.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038909
2025-10-27T17:39:51.946Z,1761586791.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451868,-0.881576,-0.136521],[0.891891,0.449634,0.048569],[0.018568,-0.143709,0.989446]]
2025-10-27T17:39:51.953Z,1761586791.953 [NAL9602](INFO): SBD MO Status=1, MOMSN=3063, MT Status=0, MTMSN=0
2025-10-27T17:39:52.007Z,1761586792.007 [NAL9602](INFO): Sent 82 bytes from file Logs/20251027T165046/Courier0015.lzma
2025-10-27T17:39:52.007Z,1761586792.007 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:39:52.140Z,1761586792.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286884
2025-10-27T17:39:52.352Z,1761586792.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429821,-0.896190,-0.109989],[0.902732,0.428980,0.032419],[0.018130,-0.113225,0.993404]]
2025-10-27T17:39:52.394Z,1761586792.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540661
2025-10-27T17:39:52.644Z,1761586792.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790986
2025-10-27T17:39:52.898Z,1761586792.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044773
2025-10-27T17:39:53.149Z,1761586793.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295623
2025-10-27T17:39:53.401Z,1761586793.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547391
2025-10-27T17:39:53.616Z,1761586793.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400135,-0.913506,-0.073482],[0.916453,0.398618,0.034902],[-0.002592,-0.081308,0.996686]]
2025-10-27T17:39:53.653Z,1761586793.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799556
2025-10-27T17:39:53.904Z,1761586793.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051372
2025-10-27T17:39:54.156Z,1761586794.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302867
2025-10-27T17:39:54.408Z,1761586794.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554845
2025-10-27T17:39:54.660Z,1761586794.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807023
2025-10-27T17:39:54.915Z,1761586794.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061588
2025-10-27T17:39:55.165Z,1761586795.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311519
2025-10-27T17:39:55.416Z,1761586795.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562963
2025-10-27T17:39:55.668Z,1761586795.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815034
2025-10-27T17:39:55.921Z,1761586795.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067586
2025-10-27T17:39:56.172Z,1761586796.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318929
2025-10-27T17:39:56.190Z,1761586796.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380867,-0.913690,-0.141812],[0.923486,0.383521,0.009209],[0.045973,-0.134469,0.989851]]
2025-10-27T17:39:56.424Z,1761586796.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570745
2025-10-27T17:39:56.594Z,1761586796.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383327,-0.915365,-0.123155],[0.921352,0.388298,-0.018320],[0.064590,-0.106446,0.992218]]
2025-10-27T17:39:56.676Z,1761586796.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822933
2025-10-27T17:39:56.928Z,1761586796.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074905
2025-10-27T17:39:57.004Z,1761586797.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431183,-0.895978,-0.106327],[0.898987,0.436659,-0.033943],[0.076841,-0.080951,0.993752]]
2025-10-27T17:39:57.180Z,1761586797.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326852
2025-10-27T17:39:57.406Z,1761586797.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418204,-0.902666,-0.101489],[0.905052,0.423592,-0.038086],[0.077369,-0.075925,0.994107]]
2025-10-27T17:39:57.432Z,1761586797.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578996
2025-10-27T17:39:57.684Z,1761586797.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830941
2025-10-27T17:39:57.806Z,1761586797.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388654,-0.920222,-0.046256],[0.920021,0.390319,-0.034810],[0.050087,-0.029027,0.998323]]
2025-10-27T17:39:57.936Z,1761586797.936 [DAT](INFO): Reached modem response timeout
2025-10-27T17:39:58.624Z,1761586798.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403388,-0.914938,-0.012906],[0.912644,0.403315,-0.066472],[0.066023,0.015035,0.997705]]
2025-10-27T17:39:59.017Z,1761586799.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369382,-0.927730,-0.053603],[0.925751,0.372388,-0.065664],[0.080880,-0.025368,0.996401]]
2025-10-27T17:39:59.422Z,1761586799.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364818,-0.928233,-0.072741],[0.930355,0.366500,-0.010817],[0.036701,-0.063729,0.997292]]
2025-10-27T17:39:59.826Z,1761586799.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380224,-0.919951,-0.095498],[0.924875,0.378857,0.032775],[0.006029,-0.100786,0.994890]]
2025-10-27T17:40:00.208Z,1761586800.208 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:40:00.208Z,1761586800.208 [DAT](INFO): response not received
2025-10-27T17:40:00.208Z,1761586800.208 [DAT](ERROR): No response from remote modem.
2025-10-27T17:40:00.230Z,1761586800.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365930,-0.922540,-0.122536],[0.927693,0.372069,-0.030832],[0.074036,-0.102393,0.991985]]
2025-10-27T17:40:00.634Z,1761586800.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377774,-0.919154,-0.111550],[0.917117,0.388018,-0.091311],[0.127212,-0.067809,0.989555]]
2025-10-27T17:40:01.054Z,1761586801.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372976,-0.927603,-0.021007],[0.926900,0.373521,-0.036580],[0.041779,-0.005827,0.999110]]
2025-10-27T17:40:01.074Z,1761586801.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=3064, MT Status=0, MTMSN=0
2025-10-27T17:40:01.124Z,1761586801.124 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0016.lzma
2025-10-27T17:40:01.124Z,1761586801.124 [NAL9602](INFO): Packets left to send: 2
2025-10-27T17:40:01.446Z,1761586801.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365528,-0.929517,0.048860],[0.929782,0.367080,0.027542],[-0.043536,0.035361,0.998426]]
2025-10-27T17:40:02.232Z,1761586802.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331487,-0.941270,-0.064245],[0.942078,0.326549,0.076520],[-0.051047,-0.085889,0.994996]]
2025-10-27T17:40:02.626Z,1761586802.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315964,-0.938518,-0.139108],[0.947954,0.306194,0.087346],[-0.039381,-0.159466,0.986418]]
2025-10-27T17:40:04.692Z,1761586804.692 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:40:04.692Z,1761586804.692 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:40:04.692Z,1761586804.692 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateRudder:A] Stopped
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:40:04.693Z,1761586804.693 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateCommandMode] Stopped
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:40:04.694Z,1761586804.694 [marl:UpdateSpeed] Stopped
2025-10-27T17:40:04.695Z,1761586804.695 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:40:04.840Z,1761586804.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312071,-0.942934,0.116131],[0.950011,0.308496,-0.048052],[0.009484,0.125321,0.992071]]
2025-10-27T17:40:04.938Z,1761586804.938 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:40:04.938Z,1761586804.938 [marl:UpdateRudder:B] Stopped
2025-10-27T17:40:04.938Z,1761586804.938 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:40:04.938Z,1761586804.938 [marl:UpdateRudder] Stopped
2025-10-27T17:40:04.938Z,1761586804.938 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:40:05.191Z,1761586805.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310960,-0.950044,0.026846],[0.947116,0.312108,0.074558],[-0.079212,0.002242,0.996855]]
2025-10-27T17:40:05.593Z,1761586805.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290731,-0.954271,-0.069586],[0.952866,0.282176,0.111454],[-0.086722,-0.098710,0.991330]]
2025-10-27T17:40:06.005Z,1761586806.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281797,-0.942215,-0.181168],[0.959335,0.279904,0.036476],[0.016341,-0.184080,0.982775]]
2025-10-27T17:40:06.406Z,1761586806.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282842,-0.935418,-0.212119],[0.952446,0.300040,-0.053133],[0.113346,-0.187003,0.975798]]
2025-10-27T17:40:06.817Z,1761586806.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288076,-0.948809,-0.129517],[0.955043,0.294556,-0.033604],[0.070034,-0.114014,0.991008]]
2025-10-27T17:40:07.211Z,1761586807.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263643,-0.964620,-0.000940],[0.964531,0.263605,0.013903],[-0.013164,-0.004573,0.999903]]
2025-10-27T17:40:07.614Z,1761586807.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271053,-0.959925,0.071240],[0.962521,0.269590,-0.029583],[0.009192,0.076588,0.997020]]
2025-10-27T17:40:08.034Z,1761586808.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283397,-0.955949,0.076466],[0.958351,0.279365,-0.059316],[0.035341,0.090092,0.995306]]
2025-10-27T17:40:08.422Z,1761586808.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283585,-0.958637,0.024402],[0.958384,0.282454,-0.041472],[0.032864,0.035147,0.998842]]
2025-10-27T17:40:08.871Z,1761586808.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323274,-0.940364,-0.105878],[0.941968,0.330472,-0.059032],[0.090501,-0.080650,0.992625]]
2025-10-27T17:40:09.229Z,1761586809.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304613,-0.932868,-0.192272],[0.948070,0.316357,-0.032898],[0.091516,-0.172266,0.980790]]
2025-10-27T17:40:09.636Z,1761586809.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260304,-0.948608,-0.179959],[0.965450,0.258071,0.036133],[0.012166,-0.183147,0.983010]]
2025-10-27T17:40:10.056Z,1761586810.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249672,-0.957388,-0.145161],[0.968151,0.249691,0.018385],[0.018644,-0.145129,0.989237]]
2025-10-27T17:40:10.880Z,1761586810.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243092,-0.967450,-0.070333],[0.969538,0.244582,-0.013277],[0.030047,-0.064963,0.997435]]
2025-10-27T17:40:11.251Z,1761586811.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259128,-0.965001,0.040329],[0.965264,0.260192,0.023770],[-0.033432,0.032769,0.998904]]
2025-10-27T17:40:12.061Z,1761586812.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245573,-0.969137,0.021619],[0.969376,0.245563,-0.003156],[-0.002250,0.021732,0.999761]]
2025-10-27T17:40:12.461Z,1761586812.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209339,-0.976206,-0.056565],[0.977080,0.206541,0.051533],[-0.038624,-0.066056,0.997068]]
2025-10-27T17:40:12.882Z,1761586812.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192663,-0.972902,-0.127839],[0.981215,0.192322,0.015128],[0.009868,-0.128352,0.991680]]
2025-10-27T17:40:13.350Z,1761586813.350 [NAL9602](INFO): SBD MO Status=1, MOMSN=3065, MT Status=0, MTMSN=0
2025-10-27T17:40:13.404Z,1761586813.404 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0016.lzma
2025-10-27T17:40:13.404Z,1761586813.404 [NAL9602](INFO): Packets left to send: 1
2025-10-27T17:40:13.674Z,1761586813.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166785,-0.978718,-0.119554],[0.982005,0.175779,-0.069045],[0.088591,-0.105887,0.990424]]
2025-10-27T17:40:14.531Z,1761586814.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207592,-0.978215,0.001359],[0.971824,0.206077,-0.114413],[0.111641,0.025072,0.993432]]
2025-10-27T17:40:14.929Z,1761586814.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222982,-0.974820,0.002416],[0.964717,0.220314,-0.144160],[0.139998,0.034475,0.989551]]
2025-10-27T17:40:17.326Z,1761586817.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154748,-0.978760,-0.134471],[0.987888,0.154868,0.009631],[0.011399,-0.134333,0.990871]]
2025-10-27T17:40:17.440Z,1761586817.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:40:17.731Z,1761586817.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201997,-0.978946,0.029370],[0.979037,0.201033,-0.032752],[0.026158,0.035370,0.999032]]
2025-10-27T17:40:18.137Z,1761586818.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195435,-0.980504,0.020400],[0.979529,0.194133,-0.053253],[0.048255,0.030390,0.998373]]
2025-10-27T17:40:18.443Z,1761586818.443 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:40:18.535Z,1761586818.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149048,-0.988829,0.001026],[0.987639,0.148817,-0.049212],[0.048510,0.008348,0.998788]]
2025-10-27T17:40:18.938Z,1761586818.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142481,-0.989133,-0.036248],[0.989663,0.142969,-0.011228],[0.016289,-0.034274,0.999280]]
2025-10-27T17:40:19.352Z,1761586819.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136184,-0.986111,-0.095079],[0.989412,0.130520,0.063474],[-0.050182,-0.102717,0.993444]]
2025-10-27T17:40:19.752Z,1761586819.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126075,-0.983843,-0.127113],[0.989759,0.116104,0.083044],[-0.066944,-0.136281,0.988406]]
2025-10-27T17:40:20.158Z,1761586820.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121880,-0.987062,-0.104178],[0.991929,0.117433,0.047827],[-0.034975,-0.109166,0.993408]]
2025-10-27T17:40:20.181Z,1761586820.181 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateRudder:A] Stopped
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:40:20.182Z,1761586820.182 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateCommandMode] Stopped
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:40:20.183Z,1761586820.183 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:40:20.184Z,1761586820.184 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:40:20.184Z,1761586820.184 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:40:20.184Z,1761586820.184 [marl:UpdateSpeed] Stopped
2025-10-27T17:40:20.184Z,1761586820.184 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:40:20.553Z,1761586820.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115812,-0.990888,-0.068763],[0.993271,0.115524,0.008166],[-0.000148,-0.069246,0.997600]]
2025-10-27T17:40:20.596Z,1761586820.596 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:40:20.596Z,1761586820.596 [marl:UpdateRudder:B] Stopped
2025-10-27T17:40:20.596Z,1761586820.596 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:40:20.596Z,1761586820.596 [marl:UpdateRudder] Stopped
2025-10-27T17:40:20.596Z,1761586820.596 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:40:20.958Z,1761586820.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122284,-0.992077,-0.028811],[0.992387,0.121791,0.018283],[-0.014630,-0.030828,0.999418]]
2025-10-27T17:40:21.366Z,1761586821.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120921,-0.992661,-0.001766],[0.992582,0.120933,-0.012530],[0.012652,-0.000238,0.999920]]
2025-10-27T17:40:22.170Z,1761586822.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131628,-0.991196,-0.014281],[0.985112,0.132400,-0.109654],[0.110579,0.000366,0.993867]]
2025-10-27T17:40:22.575Z,1761586822.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145317,-0.988845,-0.032681],[0.988362,0.146589,-0.040659],[0.044996,-0.026392,0.998639]]
2025-10-27T17:40:22.978Z,1761586822.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171088,-0.983081,-0.065422],[0.985167,0.169806,0.024721],[-0.013193,-0.068681,0.997551]]
2025-10-27T17:40:23.381Z,1761586823.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145448,-0.982882,-0.113088],[0.989358,0.144935,0.012784],[0.003825,-0.113744,0.993503]]
2025-10-27T17:40:23.786Z,1761586823.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112970,-0.985208,-0.128854],[0.992362,0.118343,-0.034815],[0.049549,-0.123937,0.991052]]
2025-10-27T17:40:24.197Z,1761586824.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124531,-0.983982,-0.127562],[0.990891,0.129975,-0.035249],[0.051264,-0.122010,0.991204]]
2025-10-27T17:40:24.595Z,1761586824.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144424,-0.984252,-0.101926],[0.989406,0.145172,0.000076],[0.014722,-0.100857,0.994792]]
2025-10-27T17:40:24.998Z,1761586824.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129147,-0.990198,-0.053178],[0.991336,0.130220,-0.017218],[0.023974,-0.050494,0.998437]]
2025-10-27T17:40:25.402Z,1761586825.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119638,-0.992771,-0.009635],[0.987357,0.119991,-0.103575],[0.103982,0.002879,0.994575]]
2025-10-27T17:40:25.807Z,1761586825.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126939,-0.991871,0.008855],[0.978659,0.123784,-0.164022],[0.161593,0.029487,0.986417]]
2025-10-27T17:40:26.210Z,1761586826.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138942,-0.990101,-0.019869],[0.979461,0.140354,-0.144763],[0.146119,0.000653,0.989267]]
2025-10-27T17:40:26.215Z,1761586826.215 [NAL9602](INFO): SBD MO Status=1, MOMSN=3066, MT Status=0, MTMSN=0
2025-10-27T17:40:26.267Z,1761586826.267 [NAL9602](INFO): Sent 161 bytes from file Logs/20251027T165046/Express0016.lzma
2025-10-27T17:40:26.267Z,1761586826.267 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:40:26.613Z,1761586826.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166791,-0.982769,-0.079666],[0.978140,0.175098,-0.112170],[0.124186,-0.059215,0.990490]]
2025-10-27T17:40:27.341Z,1761586827.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166027,-0.978984,-0.118426],[0.983109,0.173701,-0.057661],[0.077020,-0.106852,0.991287]]
2025-10-27T17:40:27.732Z,1761586827.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148307,-0.986809,-0.064907],[0.986993,0.151813,-0.052889],[0.062045,-0.056219,0.996489]]
2025-10-27T17:40:28.130Z,1761586828.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147832,-0.988714,-0.024319],[0.986634,0.149136,-0.065663],[0.068549,-0.014287,0.997545]]
2025-10-27T17:40:28.534Z,1761586828.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167453,-0.985312,-0.033476],[0.981505,0.169809,-0.088389],[0.092775,-0.018056,0.995523]]
2025-10-27T17:40:28.937Z,1761586828.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188522,-0.979378,-0.072650],[0.976375,0.194870,-0.093364],[0.105596,-0.053332,0.992978]]
2025-10-27T17:40:29.348Z,1761586829.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191509,-0.976582,-0.098036],[0.974188,0.201296,-0.102165],[0.119506,-0.075940,0.989925]]
2025-10-27T17:40:29.752Z,1761586829.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191181,-0.977566,-0.088402],[0.979313,0.196052,-0.050090],[0.066298,-0.076997,0.994825]]
2025-10-27T17:40:30.958Z,1761586830.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165143,-0.983532,-0.073435],[0.986015,0.166333,-0.010351],[0.022395,-0.070699,0.997246]]
2025-10-27T17:40:31.362Z,1761586831.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122283,-0.985992,-0.113431],[0.991472,0.126545,-0.031138],[0.045056,-0.108656,0.993058]]
2025-10-27T17:40:31.768Z,1761586831.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144797,-0.981428,-0.125827],[0.986922,0.152358,-0.052652],[0.070845,-0.116558,0.990654]]
2025-10-27T17:40:32.169Z,1761586832.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169822,-0.976497,-0.132717],[0.980578,0.180847,-0.075899],[0.098116,-0.117251,0.988244]]
2025-10-27T17:40:32.574Z,1761586832.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191249,-0.976817,-0.096193],[0.981031,0.193390,-0.013356],[0.031649,-0.091814,0.995273]]
2025-10-27T17:40:32.979Z,1761586832.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189848,-0.981304,-0.031615],[0.975858,0.185058,0.115996],[-0.107977,-0.052873,0.992746]]
2025-10-27T17:40:33.381Z,1761586833.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167926,-0.985497,0.024409],[0.975501,0.169690,0.140009],[-0.142121,0.000300,0.989849]]
2025-10-27T17:40:33.786Z,1761586833.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164967,-0.986073,0.021127],[0.984823,0.165854,0.051151],[-0.053943,0.012368,0.998467]]
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateRudder:A] Stopped
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:40:33.837Z,1761586833.837 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateCommandMode] Stopped
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:40:33.838Z,1761586833.838 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:40:33.839Z,1761586833.839 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:40:33.843Z,1761586833.843 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:40:33.843Z,1761586833.843 [marl:UpdateSpeed] Stopped
2025-10-27T17:40:33.843Z,1761586833.843 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:40:34.190Z,1761586834.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155319,-0.986879,-0.044102],[0.987821,0.155577,-0.002459],[0.009288,-0.043183,0.999024]]
2025-10-27T17:40:34.246Z,1761586834.246 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:40:34.246Z,1761586834.246 [marl:UpdateRudder:B] Stopped
2025-10-27T17:40:34.246Z,1761586834.246 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:40:34.246Z,1761586834.246 [marl:UpdateRudder] Stopped
2025-10-27T17:40:34.246Z,1761586834.246 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:40:34.596Z,1761586834.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127939,-0.987736,-0.089497],[0.991405,0.129857,-0.015922],[0.027349,-0.086690,0.995860]]
2025-10-27T17:40:34.998Z,1761586834.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126387,-0.987413,-0.095086],[0.986057,0.135514,-0.096578],[0.108248,-0.081554,0.990773]]
2025-10-27T17:40:35.402Z,1761586835.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133569,-0.988442,-0.071711],[0.979840,0.142561,-0.139964],[0.148570,-0.051571,0.987556]]
2025-10-27T17:40:35.812Z,1761586835.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135548,-0.989544,-0.049287],[0.985953,0.139622,-0.091660],[0.097584,-0.036170,0.994570]]
2025-10-27T17:40:36.211Z,1761586836.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154530,-0.986713,-0.050185],[0.985842,0.157341,-0.057965],[0.065091,-0.040517,0.997056]]
2025-10-27T17:40:36.614Z,1761586836.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173944,-0.981873,-0.075289],[0.975478,0.182271,-0.123372],[0.134858,-0.051983,0.989500]]
2025-10-27T17:40:37.018Z,1761586837.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184208,-0.979073,-0.086513],[0.968333,0.195867,-0.154815],[0.168520,-0.055255,0.984148]]
2025-10-27T17:40:37.422Z,1761586837.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169158,-0.983451,-0.064882],[0.978953,0.175281,-0.104535],[0.114178,-0.045833,0.992403]]
2025-10-27T17:40:37.835Z,1761586837.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139607,-0.988046,-0.065383],[0.987139,0.144065,-0.069299],[0.077890,-0.054867,0.995451]]
2025-10-27T17:40:38.229Z,1761586838.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121787,-0.988995,-0.084004],[0.987958,0.128926,-0.085545],[0.095434,-0.072575,0.992787]]
2025-10-27T17:40:38.643Z,1761586838.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126602,-0.987005,-0.098958],[0.981953,0.138830,-0.128428],[0.140498,-0.080913,0.986769]]
2025-10-27T17:40:39.039Z,1761586839.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142192,-0.984363,-0.103974],[0.963349,0.161759,-0.213993],[0.227465,-0.069735,0.971286]]
2025-10-27T17:40:39.444Z,1761586839.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161629,-0.983580,-0.080293],[0.948454,0.177300,-0.262679],[0.272602,-0.033698,0.961537]]
2025-10-27T17:40:39.846Z,1761586839.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158343,-0.985328,-0.063697],[0.958017,0.168930,-0.231660],[0.239021,-0.024342,0.970709]]
2025-10-27T17:40:40.249Z,1761586840.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142874,-0.987948,-0.059550],[0.974582,0.150921,-0.165567],[0.172559,-0.034381,0.984399]]
2025-10-27T17:40:40.653Z,1761586840.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140647,-0.985857,-0.091130],[0.986165,0.147656,-0.075346],[0.087737,-0.079272,0.992984]]
2025-10-27T17:40:41.060Z,1761586841.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162420,-0.976659,-0.140560],[0.986155,0.165499,-0.010421],[0.033440,-0.136921,0.990017]]
2025-10-27T17:40:41.461Z,1761586841.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152991,-0.973911,-0.167602],[0.987397,0.157600,-0.014472],[0.040509,-0.163276,0.985748]]
2025-10-27T17:40:41.866Z,1761586841.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134105,-0.981287,-0.138170],[0.985468,0.146726,-0.085577],[0.104249,-0.124686,0.986704]]
2025-10-27T17:40:42.270Z,1761586842.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150353,-0.986285,-0.068081],[0.983543,0.156203,-0.090799],[0.100189,-0.053309,0.993539]]
2025-10-27T17:40:42.675Z,1761586842.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160172,-0.987087,-0.002145],[0.986471,0.160149,-0.035019],[0.034911,0.003493,0.999384]]
2025-10-27T17:40:43.079Z,1761586843.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149198,-0.988440,0.026948],[0.988634,0.149626,0.014638],[-0.018501,0.024457,0.999530]]
2025-10-27T17:40:43.102Z,1761586843.102 [NAL9602](INFO): SBD MO Status=2, MOMSN=3067, MT Status=2, MTMSN=0
2025-10-27T17:40:43.102Z,1761586843.102 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T17:40:43.482Z,1761586843.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149687,-0.988688,0.009510],[0.987779,0.149958,0.042482],[-0.043427,0.003034,0.999052]]
2025-10-27T17:40:43.889Z,1761586843.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139934,-0.988166,-0.062824],[0.989326,0.136929,0.049839],[-0.040646,-0.069128,0.996779]]
2025-10-27T17:40:44.301Z,1761586844.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123357,-0.984902,-0.121451],[0.992356,0.121973,0.018793],[-0.003696,-0.122841,0.992419]]
2025-10-27T17:40:44.309Z,1761586844.309 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174043.00,A,3646.60776,N,12151.89390,W,0.505,305.55,271025,,,A*76
2025-10-27T17:40:44.314Z,1761586844.314 [NAL9602](INFO): GPS fix at 20251027T174043: (36.776796, -121.864898)
2025-10-27T17:40:44.365Z,1761586844.365 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:40:44.694Z,1761586844.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155096,-0.980767,-0.118497],[0.986129,0.160877,-0.040834],[0.059112,-0.110520,0.992114]]
2025-10-27T17:40:45.098Z,1761586845.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181734,-0.979861,-0.082735],[0.977829,0.188975,-0.090217],[0.104035,-0.064505,0.992480]]
2025-10-27T17:40:45.502Z,1761586845.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184534,-0.981881,-0.043093],[0.976385,0.188160,-0.106151],[0.112336,-0.022487,0.993416]]
2025-10-27T17:40:45.906Z,1761586845.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175117,-0.984391,-0.017574],[0.975528,0.175896,-0.131927],[0.132959,0.005959,0.991104]]
2025-10-27T17:40:46.318Z,1761586846.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200485,-0.979430,-0.022853],[0.974835,0.201757,-0.094819],[0.097480,-0.003268,0.995232]]
2025-10-27T17:40:46.715Z,1761586846.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222803,-0.973797,-0.045594],[0.974801,0.222014,0.021754],[-0.011061,-0.049292,0.998723]]
2025-10-27T17:40:47.119Z,1761586847.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185626,-0.979663,-0.076176],[0.979880,0.178765,0.088764],[-0.073341,-0.091120,0.993136]]
2025-10-27T17:40:47.185Z,1761586847.185 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:40:47.185Z,1761586847.185 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:40:47.185Z,1761586847.185 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:40:47.185Z,1761586847.185 [marl:UpdateRudder:A] Stopped
2025-10-27T17:40:47.185Z,1761586847.185 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode] Stopped
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:40:47.186Z,1761586847.186 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:40:47.187Z,1761586847.187 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:40:47.195Z,1761586847.195 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:40:47.195Z,1761586847.195 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:40:47.195Z,1761586847.195 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:40:47.195Z,1761586847.195 [marl:UpdateSpeed] Stopped
2025-10-27T17:40:47.196Z,1761586847.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:40:47.578Z,1761586847.578 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:40:47.578Z,1761586847.578 [marl:UpdateRudder:B] Stopped
2025-10-27T17:40:47.578Z,1761586847.578 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:40:47.578Z,1761586847.578 [marl:UpdateRudder] Stopped
2025-10-27T17:40:47.578Z,1761586847.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:40:48.360Z,1761586848.360 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:40:48.360Z,1761586848.360 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:40:48.474Z,1761586848.474 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:40:48.563Z,1761586848.563 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:40:48.597Z,1761586848.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159295,-0.985836,-0.052467],[0.986593,0.160877,-0.027431],[0.035483,-0.047394,0.998246]]
2025-10-27T17:40:48.608Z,1761586848.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:40:48.608Z,1761586848.608 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:40:48.862Z,1761586848.862 [DAT](INFO): DAT read: user:10>

2025-10-27T17:40:48.865Z,1761586848.865 [DAT](INFO): DAT read: Tx time:17:40:48.7526

2025-10-27T17:40:48.866Z,1761586848.866 [DAT](INFO): Ping request sent.
2025-10-27T17:40:48.866Z,1761586848.866 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:40:48.867Z,1761586848.867 [DAT](INFO): publishing transmit ping time
2025-10-27T17:40:48.870Z,1761586848.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003431
2025-10-27T17:40:48.990Z,1761586848.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185060,-0.982084,-0.035545],[0.982718,0.184786,0.010892],[-0.004128,-0.036947,0.999309]]
2025-10-27T17:40:49.112Z,1761586849.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246253
2025-10-27T17:40:49.364Z,1761586849.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498058
2025-10-27T17:40:49.394Z,1761586849.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180165,-0.982330,-0.050683],[0.981936,0.176587,0.067965],[-0.057814,-0.062012,0.996400]]
2025-10-27T17:40:49.567Z,1761586849.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:40:49.616Z,1761586849.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750137
2025-10-27T17:40:49.808Z,1761586849.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172950,-0.982285,-0.072140],[0.984888,0.173160,0.003380],[0.009172,-0.071634,0.997389]]
2025-10-27T17:40:49.869Z,1761586849.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002751
2025-10-27T17:40:50.120Z,1761586850.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254038
2025-10-27T17:40:50.208Z,1761586850.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181380,-0.979997,-0.081901],[0.981436,0.185664,-0.048077],[0.062322,-0.071660,0.995480]]
2025-10-27T17:40:50.372Z,1761586850.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506019
2025-10-27T17:40:50.605Z,1761586850.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185258,-0.979685,-0.076792],[0.982197,0.187075,-0.017111],[0.031129,-0.072255,0.996900]]
2025-10-27T17:40:50.624Z,1761586850.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757879
2025-10-27T17:40:50.876Z,1761586850.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010125
2025-10-27T17:40:51.011Z,1761586851.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182834,-0.980882,-0.066649],[0.982534,0.184687,-0.022747],[0.034621,-0.061326,0.997517]]
2025-10-27T17:40:51.128Z,1761586851.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262370
2025-10-27T17:40:51.385Z,1761586851.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518667
2025-10-27T17:40:51.420Z,1761586851.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190639,-0.980343,-0.050834],[0.979264,0.193534,-0.059893],[0.068554,-0.038362,0.996910]]
2025-10-27T17:40:51.636Z,1761586851.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770048
2025-10-27T17:40:51.888Z,1761586851.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022044
2025-10-27T17:40:52.140Z,1761586852.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274064
2025-10-27T17:40:52.392Z,1761586852.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526556
2025-10-27T17:40:52.644Z,1761586852.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777965
2025-10-27T17:40:52.689Z,1761586852.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212085,-0.975144,0.064143],[0.976208,0.208369,-0.060003],[0.045146,0.075343,0.996135]]
2025-10-27T17:40:52.896Z,1761586852.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030036
2025-10-27T17:40:53.110Z,1761586853.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229438,-0.970757,0.070633],[0.973270,0.228063,-0.027062],[0.010162,0.074954,0.997135]]
2025-10-27T17:40:53.148Z,1761586853.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282112
2025-10-27T17:40:53.400Z,1761586853.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534115
2025-10-27T17:40:53.439Z,1761586853.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245604,-0.969289,0.012590],[0.969063,0.245832,0.022008],[-0.024427,0.006795,0.999678]]
2025-10-27T17:40:53.652Z,1761586853.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786009
2025-10-27T17:40:53.838Z,1761586853.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262847,-0.963259,-0.055161],[0.963758,0.264827,-0.032196],[0.045621,-0.044699,0.997958]]
2025-10-27T17:40:53.905Z,1761586853.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038538
2025-10-27T17:40:54.156Z,1761586854.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289998
2025-10-27T17:40:54.242Z,1761586854.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306422,-0.948836,-0.076265],[0.947740,0.311581,-0.068595],[0.088848,-0.051261,0.994725]]
2025-10-27T17:40:54.409Z,1761586854.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542786
2025-10-27T17:40:54.645Z,1761586854.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337087,-0.940567,-0.041301],[0.940250,0.338561,-0.036148],[0.047983,-0.026649,0.998493]]
2025-10-27T17:40:54.660Z,1761586854.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794153
2025-10-27T17:40:54.912Z,1761586854.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045980
2025-10-27T17:40:55.051Z,1761586855.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353404,-0.934300,-0.046784],[0.934496,0.354876,-0.027920],[0.042688,-0.033852,0.998515]]
2025-10-27T17:40:55.164Z,1761586855.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298091
2025-10-27T17:40:55.416Z,1761586855.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550051
2025-10-27T17:40:55.668Z,1761586855.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801967
2025-10-27T17:40:55.920Z,1761586855.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054017
2025-10-27T17:40:56.172Z,1761586856.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306046
2025-10-27T17:40:56.261Z,1761586856.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315392,-0.933097,-0.172792],[0.948837,0.313030,0.041480],[0.015384,-0.177034,0.984084]]
2025-10-27T17:40:56.424Z,1761586856.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557991
2025-10-27T17:40:56.667Z,1761586856.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357388,-0.918001,-0.171898],[0.932033,0.362365,0.002595],[0.059908,-0.161141,0.985111]]
2025-10-27T17:40:56.677Z,1761586856.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810654
2025-10-27T17:40:56.928Z,1761586856.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062364
2025-10-27T17:40:57.070Z,1761586857.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339144,-0.927165,-0.159205],[0.938218,0.345727,-0.014792],[0.068756,-0.144352,0.987135]]
2025-10-27T17:40:57.180Z,1761586857.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314086
2025-10-27T17:40:57.432Z,1761586857.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566049
2025-10-27T17:40:57.684Z,1761586857.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818057
2025-10-27T17:40:57.880Z,1761586857.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284531,-0.957803,0.040686],[0.958431,0.285145,0.010063],[-0.021240,0.036131,0.999121]]
2025-10-27T17:40:57.936Z,1761586857.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070085
2025-10-27T17:40:58.188Z,1761586858.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322573
2025-10-27T17:40:58.292Z,1761586858.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317270,-0.944518,0.085005],[0.947744,0.318960,0.006741],[-0.033480,0.078424,0.996358]]
2025-10-27T17:40:58.440Z,1761586858.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574068
2025-10-27T17:40:58.685Z,1761586858.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306922,-0.951351,0.027017],[0.951604,0.306286,-0.025282],[0.015777,0.033469,0.999315]]
2025-10-27T17:40:58.690Z,1761586858.690 [NAL9602](INFO): SBD MO Status=2, MOMSN=3067, MT Status=2, MTMSN=0
2025-10-27T17:40:58.691Z,1761586858.691 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T17:40:58.692Z,1761586858.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826117
2025-10-27T17:40:58.944Z,1761586858.944 [DAT](INFO): Reached modem response timeout
2025-10-27T17:40:59.092Z,1761586859.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302080,-0.951096,-0.064535],[0.951536,0.304931,-0.039958],[0.057682,-0.049337,0.997115]]
2025-10-27T17:40:59.507Z,1761586859.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329591,-0.936750,-0.117772],[0.943432,0.331550,0.003114],[0.036130,-0.112136,0.993036]]
2025-10-27T17:40:59.897Z,1761586859.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332473,-0.932494,-0.141129],[0.942467,0.334040,0.013141],[0.034889,-0.137379,0.989904]]
2025-10-27T17:40:59.903Z,1761586859.903 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174059.00,A,3646.60909,N,12151.89518,W,0.739,316.43,271025,,,A*75
2025-10-27T17:40:59.905Z,1761586859.905 [NAL9602](INFO): GPS fix at 20251027T174059: (36.776818, -121.864920)
2025-10-27T17:40:59.969Z,1761586859.969 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:41:00.305Z,1761586860.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328085,-0.937875,-0.112919],[0.943974,0.330015,0.001691],[0.035679,-0.107148,0.993603]]
2025-10-27T17:41:00.705Z,1761586860.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344435,-0.937124,-0.056240],[0.938353,0.345518,-0.010508],[0.029279,-0.049153,0.998362]]
2025-10-27T17:41:00.754Z,1761586860.754 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:41:00.754Z,1761586860.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:41:00.754Z,1761586860.754 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:41:00.755Z,1761586860.755 [marl:UpdateRudder:A] Stopped
2025-10-27T17:41:00.756Z,1761586860.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:41:00.756Z,1761586860.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:41:00.756Z,1761586860.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:41:00.756Z,1761586860.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:41:00.757Z,1761586860.757 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:41:00.757Z,1761586860.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:41:00.757Z,1761586860.757 [marl:UpdateCommandMode] Stopped
2025-10-27T17:41:00.757Z,1761586860.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:41:00.758Z,1761586860.758 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:41:00.758Z,1761586860.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:41:00.758Z,1761586860.758 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:41:00.763Z,1761586860.763 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:41:00.764Z,1761586860.764 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:41:00.764Z,1761586860.764 [marl:UpdateSpeed] Stopped
2025-10-27T17:41:00.765Z,1761586860.765 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:41:01.109Z,1761586861.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353367,-0.935410,-0.011874],[0.935098,0.353557,-0.024277],[0.026907,-0.002524,0.999635]]
2025-10-27T17:41:01.185Z,1761586861.185 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:41:01.185Z,1761586861.185 [marl:UpdateRudder:B] Stopped
2025-10-27T17:41:01.185Z,1761586861.185 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:41:01.185Z,1761586861.185 [marl:UpdateRudder] Stopped
2025-10-27T17:41:01.186Z,1761586861.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:41:01.218Z,1761586861.218 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:41:01.218Z,1761586861.218 [DAT](INFO): response not received
2025-10-27T17:41:01.219Z,1761586861.219 [DAT](ERROR): No response from remote modem.
2025-10-27T17:41:01.515Z,1761586861.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351341,-0.936015,-0.020872],[0.935298,0.351902,-0.037194],[0.042159,-0.006454,0.999090]]
2025-10-27T17:41:01.919Z,1761586861.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334105,-0.939858,-0.071002],[0.941972,0.335563,-0.009341],[0.032605,-0.063761,0.997432]]
2025-10-27T17:41:02.321Z,1761586862.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335610,-0.935636,-0.109320],[0.941911,0.334917,0.025200],[0.013035,-0.111427,0.993687]]
2025-10-27T17:41:02.734Z,1761586862.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361801,-0.925159,-0.114807],[0.932255,0.358983,0.045078],[-0.000491,-0.123339,0.992365]]
2025-10-27T17:41:03.535Z,1761586863.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352391,-0.928785,-0.114797],[0.935839,0.349060,0.048604],[-0.005072,-0.124559,0.992199]]
2025-10-27T17:41:04.783Z,1761586864.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388974,-0.921148,-0.013606],[0.921241,0.388869,0.009745],[-0.003686,-0.016324,0.999860]]
2025-10-27T17:41:05.554Z,1761586865.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373132,-0.927713,-0.011035],[0.926760,0.373253,-0.042395],[0.043449,0.005593,0.999040]]
2025-10-27T17:41:05.958Z,1761586865.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352918,-0.935246,-0.027644],[0.933785,0.353925,-0.052752],[0.059120,-0.007197,0.998225]]
2025-10-27T17:41:06.785Z,1761586866.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381450,-0.913072,-0.144206],[0.922577,0.385804,-0.002424],[0.057849,-0.132116,0.989545]]
2025-10-27T17:41:07.174Z,1761586867.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384322,-0.913376,-0.134319],[0.920664,0.389964,-0.017510],[0.068373,-0.116933,0.990784]]
2025-10-27T17:41:07.579Z,1761586867.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381266,-0.914872,-0.132836],[0.920358,0.389164,-0.038647],[0.087052,-0.107522,0.990384]]
2025-10-27T17:41:07.988Z,1761586867.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376371,-0.918842,-0.118637],[0.921244,0.384748,-0.057258],[0.098256,-0.087743,0.991285]]
2025-10-27T17:41:08.386Z,1761586868.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402411,-0.913569,-0.058801],[0.911803,0.405711,-0.063358],[0.081738,-0.028119,0.996257]]
2025-10-27T17:41:08.796Z,1761586868.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428591,-0.903487,-0.004588],[0.903263,0.428589,-0.020677],[0.020648,0.004718,0.999776]]
2025-10-27T17:41:09.190Z,1761586869.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434770,-0.900430,0.014174],[0.898996,0.434892,0.051720],[-0.052734,-0.009744,0.998561]]
2025-10-27T17:41:09.595Z,1761586869.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407485,-0.913160,0.009746],[0.909631,0.406809,0.084128],[-0.080787,-0.025416,0.996407]]
2025-10-27T17:41:09.606Z,1761586869.606 [NAL9602](INFO): SBD MO Status=0, MOMSN=3067, MT Status=0, MTMSN=0
2025-10-27T17:41:09.716Z,1761586869.716 [marl:NeedComms:D] Stopped
2025-10-27T17:41:09.716Z,1761586869.716 [marl:NeedComms:E] Running Loop=1
2025-10-27T17:41:09.997Z,1761586869.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388014,-0.921574,-0.012132],[0.919169,0.385968,0.078468],[-0.067632,-0.041598,0.996843]]
2025-10-27T17:41:10.402Z,1761586870.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409969,-0.908438,-0.081647],[0.912072,0.407618,0.044411],[-0.007064,-0.092675,0.995671]]
2025-10-27T17:41:10.824Z,1761586870.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412680,-0.904868,-0.104449],[0.910171,0.414152,0.008192],[0.035845,-0.098447,0.994496]]
2025-10-27T17:41:10.857Z,1761586870.857 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174110.00,A,3646.60960,N,12151.89591,W,0.622,35.52,271025,,,A*4E
2025-10-27T17:41:10.872Z,1761586870.872 [NAL9602](INFO): GPS fix at 20251027T174110: (36.776827, -121.864932)
2025-10-27T17:41:10.923Z,1761586870.923 [marl:NeedComms:E] Stopped
2025-10-27T17:41:10.924Z,1761586870.924 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T17:41:10.924Z,1761586870.924 [marl:NeedComms] Stopped
2025-10-27T17:41:10.924Z,1761586870.924 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T17:41:10.924Z,1761586870.924 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T17:41:10.924Z,1761586870.924 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T17:41:10.925Z,1761586870.925 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:41:11.212Z,1761586871.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428374,-0.902633,-0.041811],[0.903275,0.429005,-0.007032],[0.024284,-0.034754,0.999101]]
2025-10-27T17:41:11.613Z,1761586871.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435506,-0.900075,-0.014155],[0.900185,0.435470,0.005708],[0.001026,-0.015228,0.999884]]
2025-10-27T17:41:12.022Z,1761586872.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394594,-0.916016,-0.072185],[0.918773,0.394392,0.017628],[0.012321,-0.073278,0.997235]]
2025-10-27T17:41:12.423Z,1761586872.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361810,-0.918696,-0.158401],[0.932196,0.358381,0.050724],[0.010168,-0.166013,0.986071]]
2025-10-27T17:41:12.907Z,1761586872.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358286,-0.914824,-0.186355],[0.933568,0.349120,0.081036],[-0.009073,-0.203009,0.979135]]
2025-10-27T17:41:13.432Z,1761586873.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351415,-0.924756,-0.146063],[0.936209,0.346355,0.059591],[-0.004517,-0.157687,0.987479]]
2025-10-27T17:41:13.817Z,1761586873.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352206,-0.933208,-0.071229],[0.935813,0.352307,0.011564],[0.014303,-0.070730,0.997393]]
2025-10-27T17:41:14.222Z,1761586874.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375464,-0.926668,0.017672],[0.926622,0.374899,-0.028664],[0.019936,0.027138,0.999433]]
2025-10-27T17:41:14.230Z,1761586874.230 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174113.00,A,3646.60967,N,12151.89626,W,1.438,327.93,271025,,,A*70
2025-10-27T17:41:14.232Z,1761586874.232 [NAL9602](INFO): GPS fix at 20251027T174113: (36.776828, -121.864938)
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateRudder:A] Stopped
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:41:14.330Z,1761586874.330 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateCommandMode] Stopped
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:41:14.335Z,1761586874.335 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:41:14.336Z,1761586874.336 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:41:14.336Z,1761586874.336 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:41:14.336Z,1761586874.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:41:14.336Z,1761586874.336 [marl:UpdateSpeed] Stopped
2025-10-27T17:41:14.336Z,1761586874.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:41:14.338Z,1761586874.338 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:41:14.626Z,1761586874.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408262,-0.912245,0.033637],[0.911655,0.405547,-0.066453],[0.046980,0.057795,0.997222]]
2025-10-27T17:41:14.885Z,1761586874.885 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:41:14.885Z,1761586874.885 [marl:UpdateRudder:B] Stopped
2025-10-27T17:41:14.885Z,1761586874.885 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:41:14.885Z,1761586874.885 [marl:UpdateRudder] Stopped
2025-10-27T17:41:14.885Z,1761586874.885 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:41:15.029Z,1761586875.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392404,-0.919422,-0.026123],[0.916889,0.393262,-0.068260],[0.073033,0.002834,0.997325]]
2025-10-27T17:41:15.434Z,1761586875.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377891,-0.923899,-0.060078],[0.925099,0.379402,-0.015694],[0.037293,-0.049648,0.998070]]
2025-10-27T17:41:15.838Z,1761586875.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386035,-0.917421,-0.096519],[0.922378,0.385462,0.025265],[0.014026,-0.098780,0.995010]]
2025-10-27T17:41:16.260Z,1761586876.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361944,-0.916858,-0.168431],[0.930840,0.365225,0.012185],[0.050343,-0.161192,0.985638]]
2025-10-27T17:41:16.646Z,1761586876.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359595,-0.908474,-0.212994],[0.929134,0.369655,-0.008029],[0.086028,-0.195013,0.977021]]
2025-10-27T17:41:17.050Z,1761586877.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411436,-0.897776,-0.157220],[0.907641,0.419310,-0.019153],[0.083119,-0.134819,0.987378]]
2025-10-27T17:41:17.058Z,1761586877.058 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174116.00,A,3646.61012,N,12151.89744,W,1.263,307.46,271025,,,A*78
2025-10-27T17:41:17.064Z,1761586877.064 [NAL9602](INFO): GPS fix at 20251027T174116: (36.776835, -121.864957)
2025-10-27T17:41:17.172Z,1761586877.172 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:41:17.462Z,1761586877.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426214,-0.902492,-0.062039],[0.902477,0.428923,-0.039501],[0.062259,-0.039153,0.997292]]
2025-10-27T17:41:17.854Z,1761586877.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423240,-0.905941,-0.011781],[0.904012,0.423132,-0.061005],[0.060252,0.015170,0.998068]]
2025-10-27T17:41:18.265Z,1761586878.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441993,-0.896577,-0.028153],[0.895858,0.442799,-0.036967],[0.045610,-0.008882,0.998920]]
2025-10-27T17:41:18.680Z,1761586878.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449538,-0.886864,-0.106718],[0.892281,0.451424,0.007140],[0.041843,-0.098432,0.994264]]
2025-10-27T17:41:19.066Z,1761586879.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427592,-0.885186,-0.183330],[0.903343,0.425980,0.050131],[0.033719,-0.187045,0.981772]]
2025-10-27T17:41:19.470Z,1761586879.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425332,-0.879716,-0.212587],[0.904973,0.410588,0.111545],[-0.010842,-0.239829,0.970755]]
2025-10-27T17:41:19.894Z,1761586879.894 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174119.00,A,3646.61003,N,12151.89685,W,0.836,124.04,271025,,,A*75
2025-10-27T17:41:19.896Z,1761586879.896 [NAL9602](INFO): GPS fix at 20251027T174119: (36.776834, -121.864947)
2025-10-27T17:41:19.930Z,1761586879.930 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586816.00. Resetting abort timer.
2025-10-27T17:41:20.086Z,1761586880.086 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006269
2025-10-27T17:41:20.278Z,1761586880.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389354,-0.898741,-0.201663],[0.920790,0.374213,0.110047],[-0.023439,-0.228536,0.973253]]
2025-10-27T17:41:20.684Z,1761586880.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417078,-0.894555,-0.160679],[0.908869,0.410140,0.075778],[-0.001887,-0.177641,0.984093]]
2025-10-27T17:41:21.083Z,1761586881.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:41:21.087Z,1761586881.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419258,-0.900109,-0.118436],[0.906924,0.421187,0.009464],[0.041366,-0.111380,0.992917]]
2025-10-27T17:41:21.490Z,1761586881.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450024,-0.890041,-0.072841],[0.887349,0.454853,-0.075637],[0.100452,-0.030597,0.994471]]
2025-10-27T17:41:21.916Z,1761586881.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483938,-0.873709,-0.049356],[0.869639,0.486444,-0.084266],[0.097633,-0.002142,0.995220]]
2025-10-27T17:41:22.299Z,1761586882.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490217,-0.867584,-0.083579],[0.867633,0.494876,-0.048068],[0.083064,-0.048952,0.995341]]
2025-10-27T17:41:22.701Z,1761586882.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511653,-0.846508,-0.147088],[0.854053,0.519781,-0.020535],[0.093836,-0.115115,0.988910]]
2025-10-27T17:41:23.145Z,1761586883.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536231,-0.824210,-0.182028],[0.837617,0.546227,-0.005762],[0.104178,-0.149380,0.983276]]
2025-10-27T17:41:23.150Z,1761586883.150 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174122.00,A,3646.61055,N,12151.89689,W,0.855,11.32,271025,,,A*45
2025-10-27T17:41:23.156Z,1761586883.156 [NAL9602](INFO): GPS fix at 20251027T174122: (36.776843, -121.864948)
2025-10-27T17:41:23.305Z,1761586883.305 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:23.672Z,1761586883.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577426,-0.806287,-0.128379],[0.815329,0.577676,0.039101],[0.042635,-0.127249,0.990954]]
2025-10-27T17:41:24.027Z,1761586884.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573137,-0.811903,-0.111028],[0.819007,0.563039,0.110519],[-0.027218,-0.154275,0.987653]]
2025-10-27T17:41:24.430Z,1761586884.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574178,-0.811746,-0.106716],[0.814094,0.552203,0.179783],[-0.087009,-0.190105,0.977901]]
2025-10-27T17:41:24.880Z,1761586884.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566932,-0.807959,-0.160596],[0.822277,0.543337,0.169248],[-0.049488,-0.228007,0.972401]]
2025-10-27T17:41:25.258Z,1761586885.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545387,-0.805594,-0.231455],[0.835623,0.544150,0.075066],[0.065474,-0.234349,0.969945]]
2025-10-27T17:41:25.788Z,1761586885.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557793,-0.793879,-0.242122],[0.813575,0.580700,-0.029730],[0.164202,-0.180401,0.969790]]
2025-10-27T17:41:26.187Z,1761586886.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601383,-0.770430,-0.211604],[0.771279,0.628927,-0.097875],[0.208490,-0.104345,0.972442]]
2025-10-27T17:41:26.206Z,1761586886.206 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174125.00,A,3646.61107,N,12151.89595,W,1.225,23.87,271025,,,A*49
2025-10-27T17:41:26.208Z,1761586886.208 [NAL9602](INFO): GPS fix at 20251027T174125: (36.776851, -121.864932)
2025-10-27T17:41:26.298Z,1761586886.298 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:26.586Z,1761586886.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621576,-0.767856,-0.155050],[0.756451,0.639781,-0.135874],[0.203530,-0.032831,0.978518]]
2025-10-27T17:41:27.414Z,1761586887.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669447,-0.741773,0.040184],[0.742543,0.666601,-0.065365],[0.021699,0.073597,0.997052]]
2025-10-27T17:41:27.498Z,1761586887.498 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:41:27.503Z,1761586887.503 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:41:27.503Z,1761586887.503 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateRudder:A] Stopped
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:41:27.504Z,1761586887.504 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateCommandMode] Stopped
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:41:27.505Z,1761586887.505 [marl:UpdateSpeed] Stopped
2025-10-27T17:41:27.506Z,1761586887.506 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:41:27.880Z,1761586887.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677916,-0.733138,-0.054200],[0.733648,0.679393,-0.013604],[0.046797,-0.030542,0.998437]]
2025-10-27T17:41:28.069Z,1761586888.069 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:41:28.069Z,1761586888.069 [marl:UpdateRudder:B] Stopped
2025-10-27T17:41:28.069Z,1761586888.069 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:41:28.069Z,1761586888.069 [marl:UpdateRudder] Stopped
2025-10-27T17:41:28.069Z,1761586888.069 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:41:28.306Z,1761586888.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678062,-0.707825,-0.198029],[0.725895,0.687183,0.029271],[0.115363,-0.163596,0.979759]]
2025-10-27T17:41:28.729Z,1761586888.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672263,-0.691422,-0.264572],[0.728869,0.680755,0.072956],[0.129666,-0.241884,0.961602]]
2025-10-27T17:41:29.215Z,1761586889.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685026,-0.715345,-0.137919],[0.724173,0.689273,0.021823],[0.079453,-0.114826,0.990203]]
2025-10-27T17:41:29.245Z,1761586889.245 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174128.00,A,3646.61150,N,12151.89551,W,1.438,47.53,271025,,,A*4F
2025-10-27T17:41:29.248Z,1761586889.248 [NAL9602](INFO): GPS fix at 20251027T174128: (36.776858, -121.864925)
2025-10-27T17:41:29.320Z,1761586889.320 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:29.724Z,1761586889.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721864,-0.679762,-0.129749],[0.683312,0.729801,-0.021831],[0.109531,-0.072900,0.991307]]
2025-10-27T17:41:30.119Z,1761586890.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733503,-0.659336,-0.165072],[0.661485,0.748315,-0.049613],[0.156238,-0.072801,0.985033]]
2025-10-27T17:41:30.925Z,1761586890.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743961,-0.624998,-0.236433],[0.632735,0.772654,-0.051504],[0.214871,-0.111283,0.970282]]
2025-10-27T17:41:31.331Z,1761586891.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759627,-0.599510,-0.252102],[0.616604,0.787150,-0.013944],[0.206802,-0.144855,0.967600]]
2025-10-27T17:41:31.747Z,1761586891.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776472,-0.591054,-0.218508],[0.610532,0.791474,0.028636],[0.156017,-0.155641,0.975415]]
2025-10-27T17:41:31.887Z,1761586891.887 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:41:32.139Z,1761586892.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782623,-0.587765,-0.205023],[0.600252,0.799809,-0.001603],[0.164921,-0.121811,0.978756]]
2025-10-27T17:41:32.165Z,1761586892.165 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174131.00,A,3646.61240,N,12151.89486,W,1.244,29.58,271025,,,A*40
2025-10-27T17:41:32.172Z,1761586892.172 [NAL9602](INFO): GPS fix at 20251027T174131: (36.776873, -121.864914)
2025-10-27T17:41:32.447Z,1761586892.447 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:32.666Z,1761586892.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761213,-0.603908,-0.236325],[0.616988,0.786641,-0.022849],[0.199702,-0.128417,0.971405]]
2025-10-27T17:41:33.250Z,1761586893.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759796,-0.574027,-0.305292],[0.575086,0.812407,-0.096288],[0.303293,-0.102410,0.947378]]
2025-10-27T17:41:33.638Z,1761586893.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768385,-0.549567,-0.327965],[0.537043,0.832415,-0.136636],[0.348093,-0.071142,0.934757]]
2025-10-27T17:41:34.041Z,1761586894.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785609,-0.511818,-0.347649],[0.492855,0.857351,-0.148473],[0.374048,-0.054699,0.925795]]
2025-10-27T17:41:34.445Z,1761586894.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805337,-0.461988,-0.371483],[0.460534,0.882141,-0.098669],[0.373284,-0.091618,0.923182]]
2025-10-27T17:41:34.878Z,1761586894.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821610,-0.412914,-0.393014],[0.439210,0.898028,-0.025313],[0.363390,-0.151818,0.919184]]
2025-10-27T17:41:34.883Z,1761586894.883 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174134.00,A,3646.61339,N,12151.89459,W,1.516,20.22,271025,,,A*4C
2025-10-27T17:41:34.885Z,1761586894.885 [NAL9602](INFO): GPS fix at 20251027T174134: (36.776890, -121.864910)
2025-10-27T17:41:34.996Z,1761586894.996 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:35.340Z,1761586895.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823090,-0.372414,-0.428755],[0.430423,0.901594,0.043174],[0.370484,-0.220082,0.902389]]
2025-10-27T17:41:35.752Z,1761586895.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821768,-0.352842,-0.447437],[0.446105,0.886910,0.119920],[0.354523,-0.298150,0.886239]]
2025-10-27T17:41:35.832Z,1761586895.832 [DAT](INFO): setting remote address to 6
2025-10-27T17:41:36.084Z,1761586896.084 [DAT](INFO): DAT read: user:11>

2025-10-27T17:41:36.085Z,1761586896.085 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:41:36.085Z,1761586896.085 [DAT](INFO): set remote address to 6
2025-10-27T17:41:36.085Z,1761586896.085 [DAT](INFO): entering online mode
2025-10-27T17:41:36.146Z,1761586896.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819861,-0.359683,-0.445484],[0.460664,0.876438,0.140164],[0.340024,-0.320133,0.884250]]
2025-10-27T17:41:36.337Z,1761586896.337 [DAT](INFO): DAT read: user:12>

2025-10-27T17:41:36.337Z,1761586896.337 [DAT](INFO): DAT read: 

2025-10-27T17:41:36.339Z,1761586896.339 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:41:36.340Z,1761586896.340 [DAT](INFO): commRate: 600
2025-10-27T17:41:36.340Z,1761586896.340 [DAT](INFO): online mode acknowledged
2025-10-27T17:41:36.341Z,1761586896.341 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:41:36.542Z,1761586896.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808558,-0.377266,-0.451558],[0.474423,0.871939,0.121016],[0.348076,-0.312078,0.883997]]
2025-10-27T17:41:36.951Z,1761586896.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801130,-0.386978,-0.456551],[0.484636,0.867059,0.115481],[0.351168,-0.313777,0.882171]]
2025-10-27T17:41:37.358Z,1761586897.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798563,-0.409600,-0.441049],[0.486444,0.870730,0.072113],[0.354498,-0.272132,0.894581]]
2025-10-27T17:41:37.785Z,1761586897.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794180,-0.431548,-0.427837],[0.486800,0.873215,0.022841],[0.363737,-0.226411,0.903567]]
2025-10-27T17:41:38.163Z,1761586898.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790196,-0.435299,-0.431398],[0.491199,0.870793,0.021066],[0.366489,-0.228548,0.901915]]
2025-10-27T17:41:38.170Z,1761586898.170 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174137.00,A,3646.61398,N,12151.89351,W,0.622,32.38,271025,,,A*46
2025-10-27T17:41:38.173Z,1761586898.173 [NAL9602](INFO): GPS fix at 20251027T174137: (36.776900, -121.864892)
2025-10-27T17:41:38.268Z,1761586898.268 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761586944.00. Resetting abort timer.
2025-10-27T17:41:38.566Z,1761586898.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783211,-0.435944,-0.443320],[0.499450,0.865788,0.030993],[0.370310,-0.245690,0.895828]]
2025-10-27T17:41:38.971Z,1761586898.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774149,-0.442552,-0.452593],[0.499714,0.866156,0.007808],[0.388560,-0.232212,0.891683]]
2025-10-27T17:41:39.376Z,1761586899.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770482,-0.450668,-0.450839],[0.499708,0.866114,-0.011787],[0.395790,-0.216206,0.892527]]
2025-10-27T17:41:39.613Z,1761586899.613 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:41:39.6014

2025-10-27T17:41:39.613Z,1761586899.613 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:41:39.778Z,1761586899.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772573,-0.461683,-0.435867],[0.508603,0.860938,-0.010434],[0.380072,-0.213622,0.899951]]
2025-10-27T17:41:40.182Z,1761586900.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772409,-0.481647,-0.414006],[0.521275,0.853154,-0.020005],[0.362846,-0.200359,0.910055]]
2025-10-27T17:41:40.589Z,1761586900.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768183,-0.505982,-0.392272],[0.533644,0.844546,-0.044330],[0.353722,-0.175280,0.918780]]
2025-10-27T17:41:40.990Z,1761586900.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762989,-0.523826,-0.378754],[0.544490,0.836605,-0.060187],[0.348395,-0.160306,0.923538]]
2025-10-27T17:41:41.127Z,1761586901.127 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateRudder:A] Stopped
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:41:41.128Z,1761586901.128 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateCommandMode] Stopped
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:41:41.129Z,1761586901.129 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:41:41.130Z,1761586901.130 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:41:41.130Z,1761586901.130 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:41:41.130Z,1761586901.130 [marl:UpdateSpeed] Stopped
2025-10-27T17:41:41.130Z,1761586901.130 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:41:41.424Z,1761586901.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756206,-0.537042,-0.373817],[0.553468,0.829719,-0.072382],[0.349035,-0.152160,0.924674]]
2025-10-27T17:41:41.498Z,1761586901.498 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:41:41.498Z,1761586901.498 [marl:UpdateRudder:B] Stopped
2025-10-27T17:41:41.498Z,1761586901.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:41:41.498Z,1761586901.498 [marl:UpdateRudder] Stopped
2025-10-27T17:41:41.499Z,1761586901.499 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:41:41.813Z,1761586901.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749759,-0.547704,-0.371325],[0.556184,0.825635,-0.094796],[0.358499,-0.135450,0.923651]]
2025-10-27T17:41:42.223Z,1761586902.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750157,-0.551981,-0.364117],[0.549269,0.826739,-0.121680],[0.368195,-0.108719,0.923370]]
2025-10-27T17:41:42.619Z,1761586902.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755271,-0.547791,-0.359847],[0.538586,0.831601,-0.135516],[0.373484,-0.091457,0.923117]]
2025-10-27T17:41:43.430Z,1761586903.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762532,-0.528202,-0.373562],[0.525257,0.842559,-0.119166],[0.377691,-0.105348,0.919919]]
2025-10-27T17:41:43.833Z,1761586903.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766391,-0.514708,-0.384345],[0.523313,0.847254,-0.091131],[0.372543,-0.131291,0.918681]]
2025-10-27T17:41:44.235Z,1761586904.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770910,-0.502780,-0.391037],[0.524934,0.849231,-0.057027],[0.360753,-0.161306,0.918606]]
2025-10-27T17:41:44.638Z,1761586904.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774041,-0.497738,-0.391303],[0.529239,0.847884,-0.031615],[0.347516,-0.182622,0.919719]]
2025-10-27T17:41:45.458Z,1761586905.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774683,-0.504788,-0.380862],[0.543503,0.839378,-0.006999],[0.323221,-0.201577,0.924605]]
2025-10-27T17:41:45.856Z,1761586905.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774849,-0.508238,-0.375903],[0.550523,0.834798,0.006109],[0.310699,-0.211676,0.926639]]
2025-10-27T17:41:46.253Z,1761586906.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773335,-0.511640,-0.374402],[0.557054,0.830323,0.015926],[0.302726,-0.220878,0.927130]]
2025-10-27T17:41:46.658Z,1761586906.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769145,-0.515608,-0.377576],[0.563431,0.825924,0.019883],[0.301598,-0.228031,0.925765]]
2025-10-27T17:41:47.870Z,1761586907.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762051,-0.530086,-0.371870],[0.571088,0.820889,0.000152],[0.305183,-0.212486,0.928285]]
2025-10-27T17:41:48.274Z,1761586908.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765650,-0.536001,-0.355643],[0.569003,0.822213,-0.014198],[0.300024,-0.191492,0.934514]]
2025-10-27T17:41:48.448Z,1761586908.448 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:41:48.448Z,1761586908.448 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:41:48.714Z,1761586908.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771743,-0.539157,-0.337229],[0.566125,0.824029,-0.021878],[0.289682,-0.174029,0.941169]]
2025-10-27T17:41:48.774Z,1761586908.774 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:41:48.936Z,1761586908.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:41:48.987Z,1761586908.987 [DAT](INFO): entering command mode
2025-10-27T17:41:49.189Z,1761586909.189 [DAT](INFO): DAT read: 

2025-10-27T17:41:49.190Z,1761586909.190 [DAT](INFO): DAT read: user:13>

2025-10-27T17:41:49.190Z,1761586909.190 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:41:49.191Z,1761586909.191 [DAT](INFO): setting remote address to 0
2025-10-27T17:41:49.440Z,1761586909.440 [DAT](INFO): DAT read: user:13>

2025-10-27T17:41:49.441Z,1761586909.441 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:41:49.441Z,1761586909.441 [DAT](INFO): set remote address to 0
2025-10-27T17:41:49.441Z,1761586909.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:41:49.442Z,1761586909.442 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:41:49.498Z,1761586909.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786425,-0.532955,-0.312242],[0.558681,0.829339,-0.008453],[0.263460,-0.167797,0.949965]]
2025-10-27T17:41:49.694Z,1761586909.694 [DAT](INFO): DAT read: user:14>

2025-10-27T17:41:49.696Z,1761586909.696 [DAT](INFO): DAT read: Tx time:17:41:49.6026

2025-10-27T17:41:49.696Z,1761586909.696 [DAT](INFO): Ping request sent.
2025-10-27T17:41:49.697Z,1761586909.697 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:41:49.697Z,1761586909.697 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:41:49.697Z,1761586909.697 [DAT](INFO): publishing transmit ping time
2025-10-27T17:41:49.699Z,1761586909.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002985
2025-10-27T17:41:49.891Z,1761586909.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787472,-0.534818,-0.306363],[0.561629,0.827389,-0.000768],[0.253892,-0.171458,0.951915]]
2025-10-27T17:41:49.944Z,1761586909.944 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:41:49.944Z,1761586909.944 [DAT](INFO): #Outgoing data=8
2025-10-27T17:41:49.945Z,1761586909.945 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:41:49.945Z,1761586909.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248806
2025-10-27T17:41:50.196Z,1761586910.196 [DAT](INFO): setting remote address to 6
2025-10-27T17:41:50.198Z,1761586910.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501295
2025-10-27T17:41:50.293Z,1761586910.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785981,-0.539684,-0.301621],[0.567206,0.823564,0.004472],[0.245991,-0.174596,0.953417]]
2025-10-27T17:41:50.448Z,1761586910.448 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:50.448Z,1761586910.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751738
2025-10-27T17:41:50.701Z,1761586910.701 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:50.702Z,1761586910.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005675
2025-10-27T17:41:50.737Z,1761586910.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784254,-0.543106,-0.299969],[0.571834,0.820310,0.009826],[0.240732,-0.179239,0.953898]]
2025-10-27T17:41:50.952Z,1761586910.952 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:50.953Z,1761586910.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256278
2025-10-27T17:41:51.204Z,1761586911.204 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:51.205Z,1761586911.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508359
2025-10-27T17:41:51.456Z,1761586911.456 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:51.457Z,1761586911.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760870
2025-10-27T17:41:51.538Z,1761586911.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785350,-0.541230,-0.300491],[0.573252,0.819057,0.022981],[0.233682,-0.190305,0.953508]]
2025-10-27T17:41:51.708Z,1761586911.708 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:51.708Z,1761586911.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011861
2025-10-27T17:41:51.940Z,1761586911.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788582,-0.537640,-0.298466],[0.570835,0.820510,0.030191],[0.228662,-0.194183,0.953943]]
2025-10-27T17:41:51.960Z,1761586911.960 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:51.960Z,1761586911.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263874
2025-10-27T17:41:52.212Z,1761586912.212 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:52.212Z,1761586912.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515852
2025-10-27T17:41:52.463Z,1761586912.463 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:52.464Z,1761586912.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767692
2025-10-27T17:41:52.716Z,1761586912.716 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:52.716Z,1761586912.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019797
2025-10-27T17:41:52.752Z,1761586912.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796126,-0.531783,-0.288773],[0.566798,0.822455,0.048048],[0.211951,-0.201928,0.956191]]
2025-10-27T17:41:52.968Z,1761586912.968 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:52.968Z,1761586912.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271839
2025-10-27T17:41:53.150Z,1761586913.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798209,-0.533966,-0.278823],[0.568530,0.820772,0.055737],[0.199089,-0.203010,0.958723]]
2025-10-27T17:41:53.221Z,1761586913.221 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:53.222Z,1761586913.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525386
2025-10-27T17:41:53.472Z,1761586913.472 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:53.473Z,1761586913.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776383
2025-10-27T17:41:53.555Z,1761586913.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798095,-0.538880,-0.269543],[0.573732,0.816318,0.066761],[0.184056,-0.207927,0.960671]]
2025-10-27T17:41:53.724Z,1761586913.724 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:53.725Z,1761586913.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028595
2025-10-27T17:41:53.957Z,1761586913.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796897,-0.544212,-0.262277],[0.580171,0.810442,0.081149],[0.168398,-0.216832,0.961575]]
2025-10-27T17:41:53.976Z,1761586913.976 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:53.976Z,1761586913.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279804
2025-10-27T17:41:54.059Z,1761586914.059 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:41:54.059Z,1761586914.059 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:41:54.059Z,1761586914.059 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:41:54.059Z,1761586914.059 [marl:UpdateRudder:A] Stopped
2025-10-27T17:41:54.059Z,1761586914.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode] Stopped
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:41:54.060Z,1761586914.060 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed] Stopped
2025-10-27T17:41:54.061Z,1761586914.061 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:41:54.227Z,1761586914.227 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:54.228Z,1761586914.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531723
2025-10-27T17:41:54.362Z,1761586914.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795308,-0.550174,-0.254545],[0.586362,0.804727,0.092710],[0.153833,-0.222989,0.962607]]
2025-10-27T17:41:54.434Z,1761586914.434 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:41:54.434Z,1761586914.434 [marl:UpdateRudder:B] Stopped
2025-10-27T17:41:54.434Z,1761586914.434 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:41:54.434Z,1761586914.434 [marl:UpdateRudder] Stopped
2025-10-27T17:41:54.434Z,1761586914.434 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:41:54.480Z,1761586914.480 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:54.480Z,1761586914.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784048
2025-10-27T17:41:54.732Z,1761586914.732 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:54.733Z,1761586914.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036410
2025-10-27T17:41:54.775Z,1761586914.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793448,-0.556923,-0.245515],[0.591757,0.800238,0.097174],[0.142351,-0.222388,0.964510]]
2025-10-27T17:41:54.984Z,1761586914.984 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:54.985Z,1761586914.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288414
2025-10-27T17:41:55.236Z,1761586915.236 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:55.236Z,1761586915.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539954
2025-10-27T17:41:55.488Z,1761586915.488 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:55.488Z,1761586915.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791823
2025-10-27T17:41:55.596Z,1761586915.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789807,-0.567254,-0.233296],[0.598945,0.795246,0.094063],[0.132170,-0.214024,0.967845]]
2025-10-27T17:41:55.741Z,1761586915.741 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:55.742Z,1761586915.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045612
2025-10-27T17:41:55.992Z,1761586915.992 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:55.992Z,1761586915.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295848
2025-10-27T17:41:55.996Z,1761586915.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789801,-0.568610,-0.229991],[0.599244,0.795313,0.091570],[0.130847,-0.210143,0.968875]]
2025-10-27T17:41:56.244Z,1761586916.244 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:56.245Z,1761586916.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548463
2025-10-27T17:41:56.398Z,1761586916.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792082,-0.567023,-0.226035],[0.596595,0.797467,0.090116],[0.129157,-0.206231,0.969942]]
2025-10-27T17:41:56.495Z,1761586916.495 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:56.496Z,1761586916.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799657
2025-10-27T17:41:56.748Z,1761586916.748 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:56.749Z,1761586916.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052269
2025-10-27T17:41:56.849Z,1761586916.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803636,-0.554603,-0.215832],[0.582789,0.806850,0.096690],[0.120520,-0.203488,0.971631]]
2025-10-27T17:41:56.000Z,1761586917.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:57.000Z,1761586917.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303953
2025-10-27T17:41:57.252Z,1761586917.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:57.252Z,1761586917.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555889
2025-10-27T17:41:57.504Z,1761586917.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:57.504Z,1761586917.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807847
2025-10-27T17:41:57.610Z,1761586917.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811764,-0.545384,-0.208797],[0.573111,0.812667,0.105437],[0.112179,-0.205253,0.972259]]
2025-10-27T17:41:57.756Z,1761586917.756 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:57.757Z,1761586917.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060452
2025-10-27T17:41:58.008Z,1761586918.008 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:58.008Z,1761586918.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311774
2025-10-27T17:41:58.016Z,1761586918.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819858,-0.536335,-0.200444],[0.563683,0.817492,0.118188],[0.100473,-0.209884,0.972550]]
2025-10-27T17:41:58.261Z,1761586918.261 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:58.261Z,1761586918.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565142
2025-10-27T17:41:58.419Z,1761586918.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827018,-0.529274,-0.189497],[0.555634,0.820828,0.132332],[0.085505,-0.214732,0.972923]]
2025-10-27T17:41:58.511Z,1761586918.511 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:58.512Z,1761586918.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815649
2025-10-27T17:41:58.764Z,1761586918.764 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:58.764Z,1761586918.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067766
2025-10-27T17:41:59.016Z,1761586919.016 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:59.017Z,1761586919.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320514
2025-10-27T17:41:59.231Z,1761586919.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828745,-0.537160,-0.156971],[0.558102,0.813993,0.161051],[0.041263,-0.221077,0.974383]]
2025-10-27T17:41:59.268Z,1761586919.268 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:59.268Z,1761586919.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571878
2025-10-27T17:41:59.520Z,1761586919.520 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:59.521Z,1761586919.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824389
2025-10-27T17:41:59.634Z,1761586919.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823867,-0.546274,-0.151092],[0.565887,0.807788,0.165079],[0.031872,-0.221504,0.974638]]
2025-10-27T17:41:59.772Z,1761586919.772 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:41:59.772Z,1761586919.772 [DAT](INFO): Reached modem response timeout
2025-10-27T17:42:00.029Z,1761586920.029 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:00.040Z,1761586920.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818702,-0.554908,-0.147661],[0.573655,0.801782,0.167529],[0.025429,-0.221862,0.974746]]
2025-10-27T17:42:00.280Z,1761586920.280 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:00.458Z,1761586920.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813823,-0.562798,-0.144744],[0.580732,0.796670,0.167534],[0.021025,-0.220400,0.975183]]
2025-10-27T17:42:00.532Z,1761586920.532 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:00.784Z,1761586920.784 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:00.876Z,1761586920.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810337,-0.568638,-0.141438],[0.585709,0.793162,0.166850],[0.017306,-0.218046,0.975785]]
2025-10-27T17:42:01.036Z,1761586921.036 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:01.245Z,1761586921.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810170,-0.570309,-0.135544],[0.586076,0.792706,0.167723],[0.011792,-0.215323,0.976472]]
2025-10-27T17:42:01.288Z,1761586921.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:01.548Z,1761586921.548 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:01.650Z,1761586921.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812598,-0.568314,-0.129240],[0.582800,0.794329,0.171421],[0.005238,-0.214618,0.976684]]
2025-10-27T17:42:01.800Z,1761586921.800 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-27T17:42:02.052Z,1761586922.052 [DAT](INFO): DAT read: Response Not Received

2025-10-27T17:42:02.052Z,1761586922.052 [DAT](INFO): response not received
2025-10-27T17:42:02.053Z,1761586922.053 [DAT](INFO): DAT read: user:15>

2025-10-27T17:42:02.054Z,1761586922.054 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:42:02.054Z,1761586922.054 [DAT](INFO): set remote address to 6
2025-10-27T17:42:02.054Z,1761586922.054 [DAT](INFO): entering online mode
2025-10-27T17:42:02.061Z,1761586922.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814620,-0.566992,-0.122122],[0.579990,0.795547,0.175259],[-0.002216,-0.213599,0.976919]]
2025-10-27T17:42:02.304Z,1761586922.304 [DAT](INFO): DAT read: user:16>

2025-10-27T17:42:02.304Z,1761586922.304 [DAT](INFO): DAT read: 

2025-10-27T17:42:02.305Z,1761586922.305 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:42:02.306Z,1761586922.306 [DAT](INFO): commRate: 600
2025-10-27T17:42:02.306Z,1761586922.306 [DAT](INFO): online mode acknowledged
2025-10-27T17:42:02.306Z,1761586922.306 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:42:02.457Z,1761586922.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815995,-0.565940,-0.117750],[0.577977,0.795333,0.182724],[-0.009761,-0.217159,0.976088]]
2025-10-27T17:42:02.879Z,1761586922.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817375,-0.564707,-0.114034],[0.575872,0.795242,0.189634],[-0.016402,-0.220671,0.975210]]
2025-10-27T17:42:03.265Z,1761586923.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818487,-0.563276,-0.113129],[0.574110,0.794399,0.198312],[-0.021834,-0.227264,0.973588]]
2025-10-27T17:42:03.571Z,1761586923.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:42:04.075Z,1761586924.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822354,-0.558449,-0.108940],[0.568161,0.795740,0.209742],[-0.030442,-0.234378,0.971669]]
2025-10-27T17:42:04.478Z,1761586924.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824871,-0.555550,-0.104649],[0.564303,0.798053,0.211362],[-0.033907,-0.233400,0.971790]]
2025-10-27T17:42:04.886Z,1761586924.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828070,-0.551861,-0.098738],[0.559376,0.801568,0.211157],[-0.037384,-0.230084,0.972452]]
2025-10-27T17:42:05.288Z,1761586925.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831595,-0.547887,-0.090932],[0.553822,0.805806,0.209663],[-0.041598,-0.224715,0.973536]]
2025-10-27T17:42:05.589Z,1761586925.589 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:42:05.5513

2025-10-27T17:42:05.589Z,1761586925.589 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:42:06.095Z,1761586926.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836531,-0.542556,-0.076475],[0.545468,0.811449,0.209799],[-0.051772,-0.217218,0.974749]]
2025-10-27T17:42:06.498Z,1761586926.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834667,-0.545816,-0.073595],[0.547917,0.809370,0.211439],[-0.055841,-0.216805,0.974617]]
2025-10-27T17:42:06.903Z,1761586926.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830417,-0.551987,-0.075617],[0.554151,0.804271,0.214625],[-0.057653,-0.220132,0.973765]]
2025-10-27T17:42:06.985Z,1761586926.985 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:42:06.985Z,1761586926.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:42:06.985Z,1761586926.985 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:42:06.985Z,1761586926.985 [marl:UpdateRudder:A] Stopped
2025-10-27T17:42:06.985Z,1761586926.985 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode] Stopped
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:42:06.986Z,1761586926.986 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:42:06.987Z,1761586926.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:42:06.990Z,1761586926.990 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:42:06.990Z,1761586926.990 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:42:06.990Z,1761586926.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:42:06.991Z,1761586926.991 [marl:UpdateSpeed] Stopped
2025-10-27T17:42:07.015Z,1761586927.015 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:42:07.345Z,1761586927.345 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:42:07.345Z,1761586927.345 [marl:UpdateRudder:B] Stopped
2025-10-27T17:42:07.345Z,1761586927.345 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:42:07.345Z,1761586927.345 [marl:UpdateRudder] Stopped
2025-10-27T17:42:07.345Z,1761586927.345 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:42:07.710Z,1761586927.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823202,-0.561022,-0.087142],[0.564998,0.794412,0.222906],[-0.055829,-0.232732,0.970937]]
2025-10-27T17:42:08.116Z,1761586928.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822919,-0.560782,-0.091255],[0.565585,0.793288,0.225407],[-0.054013,-0.237104,0.969982]]
2025-10-27T17:42:08.954Z,1761586928.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831344,-0.548396,-0.090161],[0.553211,0.801056,0.228619],[-0.053150,-0.239939,0.969332]]
2025-10-27T17:42:09.361Z,1761586929.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836143,-0.541829,-0.085356],[0.545805,0.806442,0.227481],[-0.054422,-0.236794,0.970034]]
2025-10-27T17:42:09.766Z,1761586929.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839291,-0.537741,-0.080154],[0.540700,0.810147,0.226506],[-0.056865,-0.233443,0.970706]]
2025-10-27T17:42:10.177Z,1761586930.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838726,-0.539619,-0.073147],[0.541246,0.811291,0.221042],[-0.059935,-0.224984,0.972517]]
2025-10-27T17:42:10.569Z,1761586930.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832128,-0.551069,-0.062330],[0.551060,0.808954,0.204760],[-0.062416,-0.204734,0.976826]]
2025-10-27T17:42:10.974Z,1761586930.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819106,-0.571507,-0.049458],[0.570247,0.801856,0.178455],[-0.062330,-0.174376,0.982704]]
2025-10-27T17:42:11.808Z,1761586931.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785886,-0.617791,-0.026782],[0.616118,0.778595,0.119111],[-0.052733,-0.110109,0.992520]]
2025-10-27T17:42:12.209Z,1761586932.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771586,-0.635919,-0.016188],[0.634407,0.767384,0.093001],[-0.046719,-0.082028,0.995534]]
2025-10-27T17:42:12.614Z,1761586932.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760254,-0.649586,-0.007218],[0.648334,0.757994,0.071474],[-0.040958,-0.059018,0.997416]]
2025-10-27T17:42:13.021Z,1761586933.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751637,-0.659577,0.000329],[0.658544,0.750488,0.055564],[-0.036896,-0.041547,0.998455]]
2025-10-27T17:42:13.424Z,1761586933.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744905,-0.667113,0.008708],[0.666210,0.744470,0.043910],[-0.035776,-0.026907,0.998998]]
2025-10-27T17:42:13.825Z,1761586933.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739499,-0.672956,0.016491],[0.672101,0.739489,0.037899],[-0.037700,-0.016943,0.999145]]
2025-10-27T17:42:14.229Z,1761586934.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733767,-0.679048,0.021910],[0.678191,0.734004,0.035988],[-0.040519,-0.011548,0.999112]]
2025-10-27T17:42:14.633Z,1761586934.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723930,-0.689412,0.025217],[0.688662,0.724342,0.032764],[-0.040854,-0.006353,0.999145]]
2025-10-27T17:42:15.049Z,1761586935.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709049,-0.704711,0.025156],[0.704167,0.709492,0.027754],[-0.037407,-0.001965,0.999298]]
2025-10-27T17:42:15.442Z,1761586935.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691751,-0.721832,0.020954],[0.721520,0.692069,0.021209],[-0.029811,0.000448,0.999555]]
2025-10-27T17:42:15.673Z,1761586935.673 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:42:15.846Z,1761586935.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673191,-0.739373,0.011880],[0.739234,0.673295,0.014370],[-0.018623,-0.000892,0.999826]]
2025-10-27T17:42:15.925Z,1761586935.925 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:42:15.925Z,1761586935.925 [DAT](INFO): #Outgoing data=9
2025-10-27T17:42:15.926Z,1761586935.926 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:42:16.177Z,1761586936.177 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:42:16.251Z,1761586936.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654495,-0.756066,-0.000522],[0.756044,0.654470,0.008184],[-0.005846,-0.005751,0.999966]]
2025-10-27T17:42:16.668Z,1761586936.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637144,-0.770642,-0.012619],[0.770725,0.637160,0.003204],[0.005571,-0.011767,0.999915]]
2025-10-27T17:42:17.061Z,1761586937.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623013,-0.781906,-0.021884],[0.782105,0.623146,0.000891],[0.012940,-0.017671,0.999760]]
2025-10-27T17:42:17.462Z,1761586937.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613386,-0.789269,-0.028502],[0.789627,0.613583,0.002265],[0.015700,-0.023895,0.999591]]
2025-10-27T17:42:17.866Z,1761586937.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607502,-0.793650,-0.032569],[0.794173,0.607664,0.005832],[0.015162,-0.029409,0.999452]]
2025-10-27T17:42:18.271Z,1761586938.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603821,-0.796312,-0.035890],[0.797012,0.603868,0.010737],[0.013122,-0.035088,0.999298]]
2025-10-27T17:42:18.680Z,1761586938.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599891,-0.799144,-0.038725],[0.800009,0.599785,0.015572],[0.010782,-0.040322,0.999129]]
2025-10-27T17:42:19.452Z,1761586939.452 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:42:19.4013

2025-10-27T17:42:19.453Z,1761586939.453 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:42:19.486Z,1761586939.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583050,-0.811273,-0.043471],[0.812387,0.582767,0.020222],[0.008928,-0.047105,0.998850]]
2025-10-27T17:42:19.888Z,1761586939.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568421,-0.821683,-0.041648],[0.822673,0.568281,0.016295],[0.010278,-0.043525,0.998999]]
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateRudder:A] Stopped
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:42:19.930Z,1761586939.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:42:19.931Z,1761586939.931 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:42:19.947Z,1761586939.947 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:42:19.947Z,1761586939.947 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:42:19.947Z,1761586939.947 [marl:UpdateCommandMode] Stopped
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed] Stopped
2025-10-27T17:42:19.948Z,1761586939.948 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:42:20.290Z,1761586940.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550064,-0.834253,-0.038087],[0.835024,0.550127,0.009754],[0.012815,-0.037169,0.999227]]
2025-10-27T17:42:20.334Z,1761586940.334 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:42:20.334Z,1761586940.334 [marl:UpdateRudder:B] Stopped
2025-10-27T17:42:20.334Z,1761586940.334 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:42:20.334Z,1761586940.334 [marl:UpdateRudder] Stopped
2025-10-27T17:42:20.334Z,1761586940.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:42:20.693Z,1761586940.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529241,-0.847743,-0.035156],[0.848318,0.529478,0.002945],[0.016118,-0.031383,0.999377]]
2025-10-27T17:42:21.502Z,1761586941.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484488,-0.874312,-0.029163],[0.874436,0.484977,-0.012608],[0.025167,-0.019393,0.999495]]
2025-10-27T17:42:21.906Z,1761586941.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463190,-0.885806,-0.028329],[0.885741,0.463775,-0.019370],[0.030297,-0.016120,0.999411]]
2025-10-27T17:42:22.311Z,1761586942.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444736,-0.895218,-0.028197],[0.894970,0.445409,-0.025275],[0.035186,-0.013995,0.999283]]
2025-10-27T17:42:22.713Z,1761586942.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428743,-0.902960,-0.029030],[0.902532,0.429527,-0.030700],[0.040190,-0.013039,0.999107]]
2025-10-27T17:42:23.537Z,1761586943.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408185,-0.911844,-0.043882],[0.911575,0.409710,-0.034199],[0.049163,-0.026042,0.998451]]
2025-10-27T17:42:23.939Z,1761586943.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404244,-0.912523,-0.062365],[0.913146,0.406550,-0.029703],[0.052459,-0.044941,0.997611]]
2025-10-27T17:42:24.341Z,1761586944.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402296,-0.911471,-0.085899],[0.913876,0.405410,-0.021769],[0.054666,-0.069743,0.996066]]
2025-10-27T17:42:24.756Z,1761586944.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401010,-0.909212,-0.111917],[0.914330,0.404783,-0.012316],[0.056499,-0.097390,0.993641]]
2025-10-27T17:42:25.555Z,1761586945.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400854,-0.901866,-0.161101],[0.914084,0.405502,0.004381],[0.061376,-0.149016,0.986928]]
2025-10-27T17:42:25.989Z,1761586945.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403028,-0.896675,-0.183144],[0.912886,0.408067,0.011002],[0.064870,-0.171624,0.983024]]
2025-10-27T17:42:26.393Z,1761586946.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406088,-0.891059,-0.202750],[0.911240,0.411549,0.016419],[0.068811,-0.191421,0.979093]]
2025-10-27T17:42:26.797Z,1761586946.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409220,-0.885930,-0.218329],[0.909543,0.415111,0.020357],[0.072596,-0.206910,0.975663]]
2025-10-27T17:42:27.197Z,1761586947.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410915,-0.882740,-0.227858],[0.908638,0.416928,0.023408],[0.074337,-0.216659,0.973413]]
2025-10-27T17:42:27.605Z,1761586947.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408806,-0.882840,-0.231240],[0.909655,0.414592,0.025316],[0.073520,-0.220698,0.972567]]
2025-10-27T17:42:28.007Z,1761586948.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402028,-0.885773,-0.231906],[0.912908,0.407271,0.027017],[0.070518,-0.222570,0.972363]]
2025-10-27T17:42:28.410Z,1761586948.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392825,-0.890442,-0.229786],[0.917310,0.397085,0.029424],[0.065045,-0.222344,0.972796]]
2025-10-27T17:42:28.844Z,1761586948.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381868,-0.896242,-0.225669],[0.922315,0.385205,0.030865],[0.059266,-0.219924,0.973715]]
2025-10-27T17:42:29.217Z,1761586949.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370796,-0.902074,-0.220846],[0.927082,0.373618,0.030460],[0.055035,-0.216037,0.974833]]
2025-10-27T17:42:29.540Z,1761586949.540 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:42:29.632Z,1761586949.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361290,-0.907272,-0.215237],[0.930885,0.364327,0.026834],[0.054071,-0.210056,0.976193]]
2025-10-27T17:42:29.796Z,1761586949.796 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:42:29.796Z,1761586949.796 [DAT](INFO): #Outgoing data=10
2025-10-27T17:42:29.797Z,1761586949.797 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:42:30.044Z,1761586950.044 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:42:30.430Z,1761586950.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348970,-0.914347,-0.205400],[0.934881,0.354856,0.008683],[0.064948,-0.195055,0.978640]]
2025-10-27T17:42:30.874Z,1761586950.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345657,-0.916410,-0.201777],[0.934520,0.355625,-0.014249],[0.084815,-0.183640,0.979328]]
2025-10-27T17:42:31.667Z,1761586951.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349678,-0.914447,-0.203745],[0.932805,0.360065,-0.015110],[0.087179,-0.184771,0.978907]]
2025-10-27T17:42:31.684Z,1761586951.684 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.799355
2025-10-27T17:42:32.449Z,1761586952.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344002,-0.916422,-0.204531],[0.935224,0.353838,-0.012450],[0.083780,-0.187000,0.978781]]
2025-10-27T17:42:32.688Z,1761586952.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:42:32.942Z,1761586952.942 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:42:32.942Z,1761586952.942 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:42:32.942Z,1761586952.942 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:42:32.942Z,1761586952.942 [marl:UpdateRudder:A] Stopped
2025-10-27T17:42:32.942Z,1761586952.942 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:42:33.297Z,1761586953.297 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:42:33.297Z,1761586953.297 [marl:UpdateRudder:B] Stopped
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateRudder] Stopped
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:42:33.298Z,1761586953.298 [marl:UpdateCommandMode] Stopped
2025-10-27T17:42:33.299Z,1761586953.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:42:33.299Z,1761586953.299 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:42:33.299Z,1761586953.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:42:33.299Z,1761586953.299 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:42:33.299Z,1761586953.299 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:42:33.300Z,1761586953.300 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:42:33.300Z,1761586953.300 [marl:UpdateSpeed] Stopped
2025-10-27T17:42:33.300Z,1761586953.300 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:42:33.320Z,1761586953.320 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:42:33.3013

2025-10-27T17:42:33.320Z,1761586953.320 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:42:33.670Z,1761586953.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300151,-0.929981,-0.212239],[0.950051,0.311394,-0.020880],[0.085508,-0.195371,0.976995]]
2025-10-27T17:42:34.071Z,1761586954.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296396,-0.930275,-0.216189],[0.950596,0.309224,-0.027338],[0.092283,-0.197406,0.975969]]
2025-10-27T17:42:34.476Z,1761586954.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295629,-0.929958,-0.218592],[0.950031,0.310203,-0.034853],[0.100220,-0.197366,0.975194]]
2025-10-27T17:42:34.884Z,1761586954.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295862,-0.929270,-0.221186],[0.949157,0.312061,-0.041456],[0.107547,-0.197675,0.974350]]
2025-10-27T17:42:35.280Z,1761586955.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296657,-0.928749,-0.222306],[0.948365,0.313867,-0.045724],[0.112240,-0.197263,0.973904]]
2025-10-27T17:42:35.687Z,1761586955.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297508,-0.928135,-0.223729],[0.948039,0.314874,-0.045576],[0.112747,-0.198545,0.973585]]
2025-10-27T17:42:36.087Z,1761586956.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298129,-0.928343,-0.222032],[0.948176,0.314809,-0.043110],[0.109919,-0.197673,0.974086]]
2025-10-27T17:42:36.490Z,1761586956.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298228,-0.928653,-0.220600],[0.948691,0.313837,-0.038621],[0.105098,-0.197764,0.974599]]
2025-10-27T17:42:36.893Z,1761586956.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298175,-0.928969,-0.219336],[0.949242,0.312706,-0.033982],[0.100156,-0.198070,0.975057]]
2025-10-27T17:42:37.709Z,1761586957.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297006,-0.929751,-0.217603],[0.950217,0.310264,-0.028713],[0.094210,-0.198242,0.975615]]
2025-10-27T17:42:38.108Z,1761586958.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293996,-0.930699,-0.217638],[0.951282,0.307047,-0.028003],[0.092888,-0.198803,0.975628]]
2025-10-27T17:42:38.509Z,1761586958.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289069,-0.932824,-0.215126],[0.953051,0.301592,-0.027125],[0.090183,-0.197185,0.976210]]
2025-10-27T17:42:38.624Z,1761586958.624 [Radio_Surface](INFO): Powering down
2025-10-27T17:42:39.318Z,1761586959.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274679,-0.937570,-0.213341],[0.958466,0.284692,-0.017101],[0.076770,-0.199783,0.976828]]
2025-10-27T17:42:39.726Z,1761586959.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263450,-0.940714,-0.213661],[0.962316,0.271752,-0.009913],[0.067388,-0.202998,0.976858]]
2025-10-27T17:42:40.142Z,1761586960.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249714,-0.945057,-0.210975],[0.966488,0.256647,-0.005689],[0.059523,-0.202484,0.977475]]
2025-10-27T17:42:40.530Z,1761586960.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234724,-0.949454,-0.208429],[0.970449,0.241232,-0.006003],[0.055979,-0.200861,0.978019]]
2025-10-27T17:42:40.934Z,1761586960.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220339,-0.953787,-0.204307],[0.973637,0.227728,-0.013087],[0.059009,-0.196037,0.978819]]
2025-10-27T17:42:41.339Z,1761586961.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208563,-0.957608,-0.198719],[0.975570,0.218045,-0.026837],[0.069029,-0.188266,0.979689]]
2025-10-27T17:42:42.153Z,1761586962.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196939,-0.960874,-0.194773],[0.975161,0.212520,-0.062418],[0.101369,-0.177643,0.978860]]
2025-10-27T17:42:42.549Z,1761586962.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197646,-0.960597,-0.195422],[0.973255,0.216104,-0.077933],[0.117093,-0.174792,0.977618]]
2025-10-27T17:42:42.955Z,1761586962.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203289,-0.958751,-0.198671],[0.970797,0.223767,-0.086496],[0.127384,-0.175286,0.976242]]
2025-10-27T17:42:43.357Z,1761586963.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211902,-0.955701,-0.204289],[0.968571,0.233234,-0.086446],[0.130264,-0.179550,0.975086]]
2025-10-27T17:42:43.412Z,1761586963.412 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:42:43.412Z,1761586963.412 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:42:43.664Z,1761586963.664 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:42:43.765Z,1761586963.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220657,-0.952562,-0.209608],[0.967236,0.241373,-0.078697],[0.125558,-0.185375,0.974613]]
2025-10-27T17:42:43.917Z,1761586963.917 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:42:43.917Z,1761586963.917 [DAT](INFO): #Outgoing data=11
2025-10-27T17:42:43.918Z,1761586963.918 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:42:44.166Z,1761586964.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227702,-0.949202,-0.217180],[0.967004,0.246605,-0.063951],[0.114260,-0.195452,0.974034]]
2025-10-27T17:42:44.168Z,1761586964.168 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:42:44.573Z,1761586964.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228147,-0.947969,-0.222043],[0.968351,0.244640,-0.049469],[0.101216,-0.203729,0.973781]]
2025-10-27T17:42:45.378Z,1761586965.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208652,-0.951676,-0.225339],[0.974276,0.222328,-0.036830],[0.085150,-0.211858,0.973584]]
2025-10-27T17:42:45.782Z,1761586965.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198309,-0.954381,-0.223229],[0.976704,0.211473,-0.036448],[0.081992,-0.210801,0.974084]]
2025-10-27T17:42:45.840Z,1761586965.840 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:42:45.840Z,1761586965.840 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:42:45.840Z,1761586965.840 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:42:45.840Z,1761586965.840 [marl:UpdateRudder:A] Stopped
2025-10-27T17:42:45.841Z,1761586965.841 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:42:46.188Z,1761586966.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188811,-0.957042,-0.220046],[0.978505,0.202277,-0.040152],[0.082937,-0.207735,0.974663]]
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateRudder:B] Stopped
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateRudder] Stopped
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:42:46.217Z,1761586966.217 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateCommandMode] Stopped
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:42:46.218Z,1761586966.218 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:42:46.219Z,1761586966.219 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:42:46.219Z,1761586966.219 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:42:46.219Z,1761586966.219 [marl:UpdateSpeed] Stopped
2025-10-27T17:42:46.219Z,1761586966.219 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:42:46.592Z,1761586966.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180860,-0.959788,-0.214701],[0.979654,0.195114,-0.046987],[0.086989,-0.201835,0.975549]]
2025-10-27T17:42:47.444Z,1761586967.444 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:42:47.4013

2025-10-27T17:42:47.445Z,1761586967.445 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:42:47.802Z,1761586967.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176829,-0.962220,-0.207035],[0.979537,0.192588,-0.058450],[0.096114,-0.192462,0.976586]]
2025-10-27T17:42:48.208Z,1761586968.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181209,-0.960921,-0.209271],[0.978833,0.196811,-0.056130],[0.095123,-0.194670,0.976245]]
2025-10-27T17:42:48.618Z,1761586968.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185525,-0.959589,-0.211587],[0.978214,0.200771,-0.052812],[0.093158,-0.197180,0.975931]]
2025-10-27T17:42:48.811Z,1761586968.811 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:42:48.812Z,1761586968.812 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:42:49.014Z,1761586969.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187615,-0.958560,-0.214392],[0.977989,0.202589,-0.049951],[0.091314,-0.200302,0.975470]]
2025-10-27T17:42:49.093Z,1761586969.093 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:42:49.210Z,1761586969.210 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:42:49.263Z,1761586969.263 [DAT](INFO): entering command mode
2025-10-27T17:42:49.419Z,1761586969.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187834,-0.957997,-0.216703],[0.978062,0.202666,-0.048178],[0.090072,-0.202899,0.975048]]
2025-10-27T17:42:49.460Z,1761586969.460 [DAT](INFO): DAT read: 

2025-10-27T17:42:49.460Z,1761586969.460 [DAT](INFO): DAT read: user:17>

2025-10-27T17:42:49.461Z,1761586969.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:42:49.461Z,1761586969.461 [DAT](INFO): setting remote address to 0
2025-10-27T17:42:49.712Z,1761586969.712 [DAT](INFO): DAT read: user:17>

2025-10-27T17:42:49.713Z,1761586969.713 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:42:49.713Z,1761586969.713 [DAT](INFO): set remote address to 0
2025-10-27T17:42:49.713Z,1761586969.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:42:49.714Z,1761586969.714 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:42:49.821Z,1761586969.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186520,-0.957683,-0.219210],[0.978397,0.201317,-0.047018],[0.089159,-0.205704,0.974544]]
2025-10-27T17:42:49.965Z,1761586969.965 [DAT](INFO): DAT read: user:18>

2025-10-27T17:42:49.966Z,1761586969.966 [DAT](INFO): DAT read: Tx time:17:42:49.8525

2025-10-27T17:42:49.966Z,1761586969.966 [DAT](INFO): Ping request sent.
2025-10-27T17:42:49.966Z,1761586969.966 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:42:49.967Z,1761586969.967 [DAT](INFO): publishing transmit ping time
2025-10-27T17:42:49.968Z,1761586969.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001751
2025-10-27T17:42:50.216Z,1761586970.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249630
2025-10-27T17:42:50.228Z,1761586970.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183947,-0.958052,-0.219772],[0.978928,0.198731,-0.046975],[0.088680,-0.206500,0.974420]]
2025-10-27T17:42:50.468Z,1761586970.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501671
2025-10-27T17:42:50.638Z,1761586970.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180363,-0.959071,-0.218292],[0.979664,0.194996,-0.047276],[0.087907,-0.205326,0.974738]]
2025-10-27T17:42:50.721Z,1761586970.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754091
2025-10-27T17:42:50.973Z,1761586970.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006197
2025-10-27T17:42:51.034Z,1761586971.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175510,-0.960079,-0.217818],[0.980638,0.190014,-0.047364],[0.086862,-0.205288,0.974840]]
2025-10-27T17:42:51.224Z,1761586971.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257699
2025-10-27T17:42:51.438Z,1761586971.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169064,-0.961708,-0.215722],[0.981897,0.183313,-0.047700],[0.085418,-0.203752,0.975289]]
2025-10-27T17:42:51.476Z,1761586971.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509673
2025-10-27T17:42:51.729Z,1761586971.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762173
2025-10-27T17:42:51.842Z,1761586971.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161587,-0.964024,-0.211065],[0.983319,0.175381,-0.048230],[0.083512,-0.199751,0.976281]]
2025-10-27T17:42:51.980Z,1761586971.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013552
2025-10-27T17:42:52.232Z,1761586972.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265509
2025-10-27T17:42:52.253Z,1761586972.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153311,-0.966263,-0.206956],[0.984839,0.166607,-0.048316],[0.081166,-0.196411,0.977156]]
2025-10-27T17:42:52.485Z,1761586972.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518638
2025-10-27T17:42:52.650Z,1761586972.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144963,-0.968749,-0.201273],[0.986342,0.157566,-0.047984],[0.078198,-0.191568,0.978359]]
2025-10-27T17:42:52.737Z,1761586972.737 [DAT](INFO): DAT read: Rx Time:17:42:52.1766

2025-10-27T17:42:52.738Z,1761586972.738 [DAT](INFO): Rx dataTimestamp_ set to:1761586972.737094
2025-10-27T17:42:52.739Z,1761586972.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771899
2025-10-27T17:42:52.988Z,1761586972.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021600
2025-10-27T17:42:53.054Z,1761586973.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137954,-0.970613,-0.197177],[0.987597,0.149875,-0.046800],[0.074976,-0.188275,0.979250]]
2025-10-27T17:42:53.246Z,1761586973.246 [DAT](INFO): DAT read: 17:42:52.1766 LVL= 18400, 23537, 21906, 26323, AGC= 60, IDX=  57,-0.39, 2.800, 2.054, 0.973, 2.476, PHS= 0.427,-0.376,-1.547, RAW=  53.9,  17.1, CAL=  49.2,  21.0, ROT= 100.8, -21.0

2025-10-27T17:42:53.247Z,1761586973.247 [DAT](INFO): got valid direction response:
 17:42:52.1766 LVL= 18400, 23537, 21906, 26323, AGC= 60, IDX=  57,-0.39, 2.800, 2.054, 0.973, 2.476, PHS= 0.427,-0.376,-1.547, RAW=  53.9,  17.1, CAL=  49.2,  21.0, ROT= 100.8, -21.0

2025-10-27T17:42:53.248Z,1761586973.248 [DAT](INFO): DAT read: Bearing 170, -10 (Remote)

2025-10-27T17:42:53.248Z,1761586973.248 [DAT](INFO): Remote Bearing received:Bearing 170, -10 (Remote)

2025-10-27T17:42:53.249Z,1761586973.249 [DAT](INFO): DAT read: Bearing 334.9,  53.6 (Local)

2025-10-27T17:42:53.249Z,1761586973.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,  53.6 (Local)

2025-10-27T17:42:53.251Z,1761586973.251 [DAT](INFO): DAT read: Range 11 to 20 : 221.2 m  (Round-trip  295.0 ms) speed -0.4 m/s

2025-10-27T17:42:53.251Z,1761586973.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:42:53.252Z,1761586973.252 [DAT](INFO): direction in FSK: [-0.174936,0.917044,0.358368]
2025-10-27T17:42:53.253Z,1761586973.253 [DAT](INFO): publishing direction and range info
2025-10-27T17:42:53.457Z,1761586973.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131981,-0.972192,-0.193451],[0.988614,0.143328,-0.045823],[0.072276,-0.185201,0.980039]]
2025-10-27T17:42:53.544Z,1761586973.544 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761586944.00. Resetting abort timer.
2025-10-27T17:42:53.864Z,1761586973.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125589,-0.973648,-0.190360],[0.989616,0.136470,-0.045116],[0.069905,-0.182717,0.980677]]
2025-10-27T17:42:54.266Z,1761586974.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118981,-0.974769,-0.188860],[0.990542,0.129623,-0.044990],[0.068335,-0.181721,0.980973]]
2025-10-27T17:42:54.670Z,1761586974.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111582,-0.975740,-0.188362],[0.991450,0.122209,-0.045741],[0.067651,-0.181648,0.981034]]
2025-10-27T17:42:55.073Z,1761586975.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103160,-0.976742,-0.187969],[0.992340,0.113977,-0.047647],[0.067963,-0.181614,0.981019]]
2025-10-27T17:42:55.883Z,1761586975.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085731,-0.978200,-0.189143],[0.993906,0.097171,-0.052046],[0.069290,-0.183529,0.980569]]
2025-10-27T17:42:56.286Z,1761586976.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079894,-0.978727,-0.188974],[0.994399,0.091416,-0.053045],[0.069192,-0.183678,0.980548]]
2025-10-27T17:42:56.689Z,1761586976.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076234,-0.978765,-0.190281],[0.994701,0.087856,-0.053396],[0.068979,-0.185202,0.980277]]
2025-10-27T17:42:57.101Z,1761586977.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074120,-0.978950,-0.190168],[0.994837,0.085840,-0.054138],[0.069323,-0.185173,0.980258]]
2025-10-27T17:42:57.500Z,1761586977.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073013,-0.978973,-0.190475],[0.994862,0.084921,-0.055112],[0.070129,-0.185473,0.980144]]
2025-10-27T17:42:57.528Z,1761586977.528 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:42:57.780Z,1761586977.780 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:42:57.902Z,1761586977.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072870,-0.979030,-0.190238],[0.994777,0.085019,-0.056488],[0.071477,-0.185128,0.980112]]
2025-10-27T17:42:58.032Z,1761586978.032 [DAT](INFO): setting remote address to 6
2025-10-27T17:42:58.284Z,1761586978.284 [DAT](INFO): DAT read: user:19>

2025-10-27T17:42:58.285Z,1761586978.285 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:42:58.285Z,1761586978.285 [DAT](INFO): set remote address to 6
2025-10-27T17:42:58.285Z,1761586978.285 [DAT](INFO): entering online mode
2025-10-27T17:42:58.306Z,1761586978.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073636,-0.978868,-0.190774],[0.994571,0.086183,-0.058318],[0.073527,-0.185444,0.979900]]
2025-10-27T17:42:58.536Z,1761586978.536 [DAT](INFO): DAT read: user:20>

2025-10-27T17:42:58.536Z,1761586978.536 [DAT](INFO): DAT read: 

2025-10-27T17:42:58.537Z,1761586978.537 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:42:58.538Z,1761586978.538 [DAT](INFO): commRate: 600
2025-10-27T17:42:58.538Z,1761586978.538 [DAT](INFO): online mode acknowledged
2025-10-27T17:42:58.538Z,1761586978.538 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:42:58.710Z,1761586978.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075229,-0.978608,-0.191489],[0.994327,0.088098,-0.059595],[0.075190,-0.185919,0.979684]]
2025-10-27T17:42:59.124Z,1761586979.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077972,-0.978225,-0.192346],[0.994027,0.091059,-0.060151],[0.076356,-0.186507,0.979482]]
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateRudder:A] Stopped
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:42:59.194Z,1761586979.194 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateCommandMode] Stopped
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:42:59.195Z,1761586979.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:42:59.196Z,1761586979.196 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:42:59.196Z,1761586979.196 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:42:59.196Z,1761586979.196 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:42:59.196Z,1761586979.196 [marl:UpdateSpeed] Stopped
2025-10-27T17:42:59.196Z,1761586979.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:42:59.517Z,1761586979.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081698,-0.977760,-0.193158],[0.993683,0.094871,-0.059949],[0.076941,-0.187040,0.979335]]
2025-10-27T17:42:59.577Z,1761586979.577 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:42:59.577Z,1761586979.577 [marl:UpdateRudder:B] Stopped
2025-10-27T17:42:59.577Z,1761586979.577 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:42:59.577Z,1761586979.577 [marl:UpdateRudder] Stopped
2025-10-27T17:42:59.577Z,1761586979.577 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:42:59.922Z,1761586979.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086367,-0.977533,-0.192277],[0.993306,0.099353,-0.058934],[0.076714,-0.185900,0.979569]]
2025-10-27T17:43:00.327Z,1761586980.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091703,-0.976653,-0.194269],[0.992940,0.104424,-0.056262],[0.075234,-0.187738,0.979334]]
2025-10-27T17:43:00.740Z,1761586980.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097615,-0.975333,-0.197980],[0.992598,0.109854,-0.051785],[0.072257,-0.191460,0.978837]]
2025-10-27T17:43:01.538Z,1761586981.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109009,-0.972070,-0.207837],[0.992189,0.119158,-0.036916],[0.060651,-0.202190,0.977467]]
2025-10-27T17:43:01.812Z,1761586981.812 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:43:01.8013

2025-10-27T17:43:01.813Z,1761586981.813 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:43:01.942Z,1761586981.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113008,-0.970747,-0.211848],[0.992205,0.121524,-0.027574],[0.052512,-0.207081,0.976913]]
2025-10-27T17:43:02.347Z,1761586982.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114402,-0.970248,-0.213380],[0.992460,0.121136,-0.018710],[0.044002,-0.209630,0.976790]]
2025-10-27T17:43:02.758Z,1761586982.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111921,-0.970621,-0.212997],[0.993055,0.117068,-0.011669],[0.036262,-0.210212,0.976983]]
2025-10-27T17:43:02.809Z,1761586982.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:43:03.154Z,1761586983.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105450,-0.971837,-0.210745],[0.993985,0.109313,-0.006732],[0.029580,-0.208767,0.977518]]
2025-10-27T17:43:03.560Z,1761586983.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096334,-0.973327,-0.208218],[0.995065,0.099176,-0.003226],[0.023790,-0.206880,0.978077]]
2025-10-27T17:43:03.811Z,1761586983.811 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T17:43:03.812Z,1761586983.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:43:03.961Z,1761586983.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085711,-0.975180,-0.204151],[0.996137,0.087805,-0.001200],[0.019096,-0.203260,0.978939]]
2025-10-27T17:43:04.365Z,1761586984.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074206,-0.976906,-0.200368],[0.997116,0.075888,-0.000715],[0.015904,-0.199737,0.979720]]
2025-10-27T17:43:04.773Z,1761586984.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062046,-0.978676,-0.195813],[0.997969,0.063672,-0.002013],[0.014438,-0.195291,0.980639]]
2025-10-27T17:43:05.175Z,1761586985.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049235,-0.980344,-0.191056],[0.998672,0.051221,-0.005466],[0.015144,-0.190533,0.981564]]
2025-10-27T17:43:05.581Z,1761586985.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036484,-0.981669,-0.187071],[0.999176,0.039162,-0.010641],[0.017772,-0.186529,0.982289]]
2025-10-27T17:43:05.982Z,1761586985.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025771,-0.982763,-0.183066],[0.999434,0.029286,-0.016523],[0.021599,-0.182537,0.982962]]
2025-10-27T17:43:06.386Z,1761586986.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018996,-0.983311,-0.180937],[0.999489,0.023327,-0.021835],[0.025691,-0.180430,0.983252]]
2025-10-27T17:43:06.797Z,1761586986.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015905,-0.983831,-0.178392],[0.999425,0.020985,-0.026629],[0.029942,-0.177866,0.983599]]
2025-10-27T17:43:07.195Z,1761586987.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015804,-0.983764,-0.178770],[0.999288,0.021665,-0.030882],[0.034253,-0.178155,0.983406]]
2025-10-27T17:43:07.613Z,1761586987.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018277,-0.983283,-0.181163],[0.999107,0.024865,-0.034162],[0.038096,-0.180377,0.982859]]
2025-10-27T17:43:08.005Z,1761586988.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023236,-0.982377,-0.185461],[0.998894,0.030399,-0.035870],[0.040876,-0.184423,0.981997]]
2025-10-27T17:43:08.407Z,1761586988.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029492,-0.981148,-0.190993],[0.998676,0.036979,-0.035755],[0.042143,-0.189686,0.980940]]
2025-10-27T17:43:08.873Z,1761586988.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033641,-0.979985,-0.196208],[0.998508,0.041405,-0.035602],[0.043014,-0.194718,0.979916]]
2025-10-27T17:43:09.253Z,1761586989.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034764,-0.978665,-0.202500],[0.998445,0.042846,-0.035664],[0.043580,-0.200945,0.978633]]
2025-10-27T17:43:09.655Z,1761586989.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033303,-0.977551,-0.208050],[0.998487,0.041655,-0.035890],[0.043751,-0.206540,0.977459]]
2025-10-27T17:43:10.058Z,1761586990.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029489,-0.976853,-0.211869],[0.998590,0.038151,-0.036910],[0.044138,-0.210482,0.976601]]
2025-10-27T17:43:10.461Z,1761586990.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024293,-0.976305,-0.215033],[0.998684,0.033421,-0.038913],[0.045177,-0.213804,0.975831]]
2025-10-27T17:43:10.880Z,1761586990.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017977,-0.976860,-0.213122],[0.998728,0.027587,-0.042203],[0.047106,-0.212093,0.976114]]
2025-10-27T17:43:11.271Z,1761586991.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011856,-0.977629,-0.210004],[0.998673,0.022102,-0.046507],[0.050108,-0.209174,0.976594]]
2025-10-27T17:43:11.673Z,1761586991.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006152,-0.978636,-0.205507],[0.998500,0.017193,-0.051985],[0.054408,-0.204879,0.977274]]
2025-10-27T17:43:11.894Z,1761586991.894 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:43:12.089Z,1761586992.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001610,-0.979612,-0.200893],[0.998245,0.013466,-0.057667],[0.059196,-0.200447,0.977914]]
2025-10-27T17:43:12.127Z,1761586992.127 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:43:12.127Z,1761586992.127 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:43:12.127Z,1761586992.127 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateRudder:A] Stopped
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:43:12.128Z,1761586992.128 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateCommandMode] Stopped
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:43:12.129Z,1761586992.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:43:12.130Z,1761586992.130 [marl:UpdateSpeed] Stopped
2025-10-27T17:43:12.130Z,1761586992.130 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:43:12.148Z,1761586992.148 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:43:12.400Z,1761586992.400 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:43:12.541Z,1761586992.541 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:43:12.541Z,1761586992.541 [marl:UpdateRudder:B] Stopped
2025-10-27T17:43:12.541Z,1761586992.541 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:43:12.541Z,1761586992.541 [marl:UpdateRudder] Stopped
2025-10-27T17:43:12.541Z,1761586992.541 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:43:12.888Z,1761586992.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004187,-0.981938,-0.189155],[0.997628,0.008895,-0.068259],[0.068709,-0.188992,0.979572]]
2025-10-27T17:43:13.289Z,1761586993.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004787,-0.982582,-0.185770],[0.997356,0.008780,-0.072141],[0.072515,-0.185624,0.979941]]
2025-10-27T17:43:13.694Z,1761586993.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004674,-0.982716,-0.185059],[0.997116,0.009439,-0.075306],[0.075751,-0.184877,0.979838]]
2025-10-27T17:43:14.129Z,1761586994.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004435,-0.982698,-0.185160],[0.996802,0.010430,-0.079228],[0.079789,-0.184919,0.979509]]
2025-10-27T17:43:14.526Z,1761586994.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003851,-0.982375,-0.186883],[0.996800,0.011150,-0.079151],[0.079839,-0.186590,0.979188]]
2025-10-27T17:43:14.931Z,1761586994.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004373,-0.982489,-0.186267],[0.996864,0.010435,-0.078443],[0.079013,-0.186026,0.979363]]
2025-10-27T17:43:15.335Z,1761586995.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008973,-0.983360,-0.181447],[0.996979,0.005201,-0.077491],[0.077145,-0.181594,0.980343]]
2025-10-27T17:43:15.676Z,1761586995.676 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:43:15.6513

2025-10-27T17:43:15.676Z,1761586995.676 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:43:15.749Z,1761586995.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020856,-0.986365,-0.163243],[0.996937,-0.008208,-0.077773],[0.075373,-0.164365,0.983516]]
2025-10-27T17:43:16.142Z,1761586996.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039737,-0.989905,-0.136050],[0.996407,-0.029065,-0.079547],[0.074790,-0.138722,0.987503]]
2025-10-27T17:43:16.545Z,1761586996.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063650,-0.992517,-0.104206],[0.995087,-0.055185,-0.082196],[0.075830,-0.108925,0.991153]]
2025-10-27T17:43:16.952Z,1761586996.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090312,-0.993292,-0.072212],[0.992839,-0.084103,-0.084841],[0.078199,-0.079357,0.993774]]
2025-10-27T17:43:17.353Z,1761586997.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117604,-0.992159,-0.042310],[0.989719,-0.113610,-0.086882],[0.081394,-0.052092,0.995320]]
2025-10-27T17:43:17.762Z,1761586997.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142908,-0.989589,-0.017076],[0.986138,-0.140897,-0.087638],[0.084320,-0.029363,0.996006]]
2025-10-27T17:43:18.165Z,1761586998.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166049,-0.986116,0.001760],[0.982285,-0.165560,-0.087781],[0.086853,-0.012847,0.996138]]
2025-10-27T17:43:18.577Z,1761586998.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187105,-0.982214,0.015733],[0.978228,-0.187762,-0.088403],[0.089785,-0.001151,0.995961]]
2025-10-27T17:43:18.971Z,1761586998.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206579,-0.978104,0.025272],[0.974011,-0.208029,-0.089589],[0.092884,0.006108,0.995658]]
2025-10-27T17:43:19.374Z,1761586999.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225070,-0.973859,0.030696],[0.969561,-0.226971,-0.091845],[0.096411,0.009090,0.995300]]
2025-10-27T17:43:19.777Z,1761586999.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242701,-0.969522,0.033510],[0.964946,-0.244823,-0.094552],[0.099874,0.009388,0.994956]]
2025-10-27T17:43:20.182Z,1761587000.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260006,-0.964988,0.034561],[0.960112,-0.262174,-0.097212],[0.102870,0.007907,0.994663]]
2025-10-27T17:43:20.595Z,1761587000.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277904,-0.959871,0.037649],[0.954813,-0.280314,-0.098771],[0.105361,0.008499,0.994398]]
2025-10-27T17:43:20.991Z,1761587000.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296892,-0.954004,0.041622],[0.948843,-0.299631,-0.099591],[0.107481,0.009925,0.994158]]
2025-10-27T17:43:21.395Z,1761587001.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316505,-0.947515,0.045174],[0.942322,-0.319522,-0.099671],[0.108874,0.011023,0.993995]]
2025-10-27T17:43:21.798Z,1761587001.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335949,-0.940702,0.047101],[0.935428,-0.339073,-0.100023],[0.110062,0.010457,0.993870]]
2025-10-27T17:43:22.201Z,1761587002.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356420,-0.932972,0.050269],[0.927665,-0.359780,-0.099985],[0.111369,0.010996,0.993718]]
2025-10-27T17:43:22.606Z,1761587002.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376004,-0.925165,0.051873],[0.919767,-0.379434,-0.100297],[0.112473,0.009999,0.993604]]
2025-10-27T17:43:23.011Z,1761587003.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395239,-0.917025,0.053401],[0.911474,-0.398735,-0.101126],[0.114028,0.008705,0.993439]]
2025-10-27T17:43:23.413Z,1761587003.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413240,-0.908989,0.054517],[0.903240,-0.416763,-0.102308],[0.115717,0.006965,0.993258]]
2025-10-27T17:43:23.818Z,1761587003.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430142,-0.901087,0.054957],[0.895012,-0.433618,-0.104540],[0.118030,0.004220,0.993001]]
2025-10-27T17:43:24.222Z,1761587004.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445670,-0.893430,0.056233],[0.886992,-0.449198,-0.107083],[0.120931,0.002155,0.992659]]
2025-10-27T17:43:24.628Z,1761587004.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460122,-0.886062,0.056409],[0.879147,-0.463566,-0.110490],[0.124051,-0.001247,0.992275]]
2025-10-27T17:43:25.030Z,1761587005.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473519,-0.879015,0.055795],[0.871561,-0.476763,-0.114362],[0.127127,-0.005524,0.991871]]
2025-10-27T17:43:25.434Z,1761587005.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486042,-0.872207,0.054937],[0.864234,-0.489036,-0.118082],[0.129858,-0.009914,0.991483]]
2025-10-27T17:43:25.486Z,1761587005.486 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:43:25.486Z,1761587005.486 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:43:25.486Z,1761587005.486 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:43:25.486Z,1761587005.486 [marl:UpdateRudder:A] Stopped
2025-10-27T17:43:25.486Z,1761587005.486 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:43:25.487Z,1761587005.487 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:43:25.487Z,1761587005.487 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:43:25.487Z,1761587005.487 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:43:25.487Z,1761587005.487 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:43:25.487Z,1761587005.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateCommandMode] Stopped
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:43:25.488Z,1761587005.488 [marl:UpdateSpeed] Stopped
2025-10-27T17:43:25.489Z,1761587005.489 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:43:25.772Z,1761587005.772 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:43:25.914Z,1761587005.914 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:43:25.914Z,1761587005.914 [marl:UpdateRudder:B] Stopped
2025-10-27T17:43:25.914Z,1761587005.914 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:43:25.914Z,1761587005.914 [marl:UpdateRudder] Stopped
2025-10-27T17:43:25.914Z,1761587005.914 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:43:26.025Z,1761587006.025 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:43:26.242Z,1761587006.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510302,-0.858159,0.056171],[0.849382,-0.513158,-0.123369],[0.134695,-0.015245,0.990770]]
2025-10-27T17:43:26.276Z,1761587006.276 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:43:26.646Z,1761587006.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522991,-0.850383,0.057691],[0.841214,-0.525881,-0.125731],[0.137258,-0.017226,0.990386]]
2025-10-27T17:43:27.058Z,1761587007.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535816,-0.842082,0.061640],[0.832584,-0.539086,-0.127239],[0.140375,-0.016857,0.989955]]
2025-10-27T17:43:27.456Z,1761587007.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548573,-0.833554,0.065234],[0.823625,-0.552167,-0.129434],[0.143911,-0.017276,0.989440]]
2025-10-27T17:43:27.858Z,1761587007.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561110,-0.824855,0.069064],[0.814479,-0.565070,-0.131603],[0.147580,-0.017592,0.988894]]
2025-10-27T17:43:28.261Z,1761587008.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573363,-0.816085,0.072527],[0.805208,-0.577636,-0.134073],[0.151309,-0.018473,0.988314]]
2025-10-27T17:43:28.670Z,1761587008.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583495,-0.808683,0.074598],[0.797221,-0.587884,-0.137224],[0.154826,-0.020598,0.987727]]
2025-10-27T17:43:29.112Z,1761587009.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590316,-0.803936,0.072210],[0.791599,-0.594093,-0.142913],[0.157792,-0.027202,0.987098]]
2025-10-27T17:43:29.514Z,1761587009.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594031,-0.801988,0.062782],[0.788434,-0.595926,-0.152459],[0.159684,-0.041066,0.986314]]
2025-10-27T17:43:29.553Z,1761587009.553 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:43:29.5013

2025-10-27T17:43:29.554Z,1761587009.554 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:43:29.921Z,1761587009.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595549,-0.801896,0.047795],[0.787191,-0.594421,-0.164297],[0.160160,-0.060223,0.985252]]
2025-10-27T17:43:30.323Z,1761587010.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595916,-0.802469,0.030450],[0.787165,-0.591214,-0.175606],[0.158921,-0.080677,0.983989]]
2025-10-27T17:43:30.729Z,1761587010.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596262,-0.802706,0.011659],[0.787446,-0.587629,-0.186068],[0.156209,-0.101764,0.982468]]
2025-10-27T17:43:31.130Z,1761587011.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598223,-0.801308,-0.005798],[0.786588,-0.585822,-0.195171],[0.152995,-0.121316,0.980752]]
2025-10-27T17:43:31.537Z,1761587011.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602786,-0.797628,-0.020941],[0.783672,-0.586897,-0.203494],[0.150022,-0.139074,0.978852]]
2025-10-27T17:43:31.938Z,1761587011.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608284,-0.793021,-0.033291],[0.780006,-0.589486,-0.209993],[0.146904,-0.153703,0.977136]]
2025-10-27T17:43:32.342Z,1761587012.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613590,-0.788439,-0.043257],[0.776489,-0.592525,-0.214427],[0.143432,-0.165159,0.975782]]
2025-10-27T17:43:32.752Z,1761587012.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618507,-0.784213,-0.049591],[0.773121,-0.596048,-0.216817],[0.140472,-0.172443,0.974952]]
2025-10-27T17:43:33.151Z,1761587013.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623474,-0.780082,-0.052469],[0.769317,-0.600136,-0.219061],[0.139397,-0.176943,0.974299]]
2025-10-27T17:43:33.932Z,1761587013.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:43:33.958Z,1761587013.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634252,-0.771494,-0.050219],[0.759782,-0.609972,-0.225091],[0.143024,-0.180920,0.973043]]
2025-10-27T17:43:34.362Z,1761587014.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640557,-0.766436,-0.047573],[0.753616,-0.615526,-0.230631],[0.147481,-0.183584,0.971878]]
2025-10-27T17:43:34.937Z,1761587014.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:43:35.170Z,1761587015.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654473,-0.754776,-0.044491],[0.739317,-0.626524,-0.246737],[0.158356,-0.194375,0.968061]]
2025-10-27T17:43:35.574Z,1761587015.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659516,-0.750437,-0.043379],[0.733972,-0.630441,-0.252646],[0.162247,-0.198463,0.966586]]
2025-10-27T17:43:35.978Z,1761587015.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662261,-0.747964,-0.044263],[0.731047,-0.632074,-0.257006],[0.164254,-0.202563,0.965396]]
2025-10-27T17:43:36.384Z,1761587016.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664372,-0.746063,-0.044710],[0.728794,-0.633406,-0.260110],[0.165739,-0.205394,0.964543]]
2025-10-27T17:43:36.786Z,1761587016.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666312,-0.744342,-0.044524],[0.726650,-0.634755,-0.262804],[0.167354,-0.207463,0.963821]]
2025-10-27T17:43:37.212Z,1761587017.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667298,-0.743490,-0.044011],[0.725379,-0.635367,-0.264829],[0.168935,-0.208644,0.963291]]
2025-10-27T17:43:37.610Z,1761587017.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667648,-0.743206,-0.043478],[0.724565,-0.635265,-0.267291],[0.171032,-0.209959,0.962634]]
2025-10-27T17:43:38.013Z,1761587018.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667386,-0.743613,-0.040447],[0.724161,-0.635340,-0.268204],[0.173743,-0.208286,0.962513]]
2025-10-27T17:43:38.421Z,1761587018.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666429,-0.744654,-0.036914],[0.724224,-0.634793,-0.269329],[0.177124,-0.206223,0.962341]]
2025-10-27T17:43:38.491Z,1761587018.491 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateRudder:A] Stopped
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:43:38.492Z,1761587018.492 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateCommandMode] Stopped
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:43:38.493Z,1761587018.493 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:43:38.494Z,1761587018.494 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:43:38.494Z,1761587018.494 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:43:38.494Z,1761587018.494 [marl:UpdateSpeed] Stopped
2025-10-27T17:43:38.494Z,1761587018.494 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:43:38.877Z,1761587018.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665241,-0.745930,-0.032301],[0.724344,-0.634291,-0.270187],[0.181053,-0.203136,0.962266]]
2025-10-27T17:43:38.960Z,1761587018.960 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:43:38.960Z,1761587018.960 [marl:UpdateRudder:B] Stopped
2025-10-27T17:43:38.960Z,1761587018.960 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:43:38.960Z,1761587018.960 [marl:UpdateRudder] Stopped
2025-10-27T17:43:38.960Z,1761587018.960 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:43:39.225Z,1761587019.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664111,-0.747064,-0.029164],[0.724352,-0.633282,-0.272523],[0.185123,-0.202111,0.961707]]
2025-10-27T17:43:39.632Z,1761587019.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663049,-0.748132,-0.025764],[0.724290,-0.632463,-0.274579],[0.189126,-0.200720,0.961219]]
2025-10-27T17:43:39.636Z,1761587019.636 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:43:39.636Z,1761587019.636 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:43:39.888Z,1761587019.888 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:43:40.049Z,1761587020.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662229,-0.748982,-0.021899],[0.724008,-0.632072,-0.276220],[0.193042,-0.198776,0.960845]]
2025-10-27T17:43:40.145Z,1761587020.145 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:43:40.396Z,1761587020.396 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:43:40.438Z,1761587020.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661766,-0.749508,-0.017426],[0.723555,-0.632420,-0.276612],[0.196302,-0.195661,0.960824]]
2025-10-27T17:43:40.881Z,1761587020.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661593,-0.749746,-0.013262],[0.723155,-0.633250,-0.275755],[0.198348,-0.192028,0.961137]]
2025-10-27T17:43:41.246Z,1761587021.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661708,-0.749685,-0.010707],[0.722867,-0.634116,-0.274520],[0.199014,-0.189391,0.961522]]
2025-10-27T17:43:41.653Z,1761587021.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662267,-0.749223,-0.008142],[0.722652,-0.635833,-0.271091],[0.197931,-0.185418,0.962519]]
2025-10-27T17:43:42.458Z,1761587022.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664812,-0.746976,-0.007164],[0.722328,-0.640371,-0.261087],[0.190438,-0.178749,0.965289]]
2025-10-27T17:43:42.879Z,1761587022.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667879,-0.744215,-0.009039],[0.721075,-0.644009,-0.255543],[0.184358,-0.177189,0.966755]]
2025-10-27T17:43:43.265Z,1761587023.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672475,-0.740046,-0.010501],[0.718410,-0.649272,-0.249664],[0.177945,-0.175437,0.968275]]
2025-10-27T17:43:43.670Z,1761587023.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678119,-0.734866,-0.011251],[0.714602,-0.655688,-0.243758],[0.171752,-0.173337,0.969771]]
2025-10-27T17:43:43.672Z,1761587023.672 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:43:43.6512

2025-10-27T17:43:43.673Z,1761587023.673 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:43:44.073Z,1761587024.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683496,-0.729840,-0.012919],[0.710892,-0.661523,-0.238788],[0.165731,-0.172394,0.970986]]
2025-10-27T17:43:44.479Z,1761587024.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687992,-0.725561,-0.015131],[0.707858,-0.666317,-0.234431],[0.160012,-0.171997,0.972015]]
2025-10-27T17:43:44.885Z,1761587024.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691567,-0.722122,-0.016556],[0.705437,-0.670308,-0.230318],[0.155220,-0.170960,0.972974]]
2025-10-27T17:43:45.285Z,1761587025.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694361,-0.719411,-0.017612],[0.703283,-0.673201,-0.228459],[0.152500,-0.171020,0.973394]]
2025-10-27T17:43:45.691Z,1761587025.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696942,-0.716905,-0.017861],[0.700633,-0.675390,-0.230135],[0.152922,-0.172905,0.972995]]
2025-10-27T17:43:46.095Z,1761587026.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699460,-0.714476,-0.016749],[0.697455,-0.677309,-0.234114],[0.155924,-0.175435,0.972065]]
2025-10-27T17:43:46.497Z,1761587026.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702015,-0.711994,-0.015478],[0.693636,-0.678667,-0.241415],[0.161381,-0.180213,0.970299]]
2025-10-27T17:43:46.901Z,1761587026.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703766,-0.710274,-0.015012],[0.690287,-0.678660,-0.250847],[0.167982,-0.186900,0.967910]]
2025-10-27T17:43:47.306Z,1761587027.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702381,-0.711588,-0.017446],[0.690605,-0.675323,-0.258849],[0.172412,-0.193859,0.965760]]
2025-10-27T17:43:47.714Z,1761587027.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699267,-0.714531,-0.021732],[0.693079,-0.670200,-0.265468],[0.175120,-0.200695,0.963875]]
2025-10-27T17:43:48.114Z,1761587028.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696723,-0.716908,-0.024892],[0.695001,-0.666027,-0.270892],[0.177626,-0.206037,0.962288]]
2025-10-27T17:43:48.529Z,1761587028.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694882,-0.718603,-0.027357],[0.696500,-0.663066,-0.274281],[0.178960,-0.209647,0.961260]]
2025-10-27T17:43:48.921Z,1761587028.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693298,-0.720034,-0.029809],[0.698176,-0.660852,-0.275364],[0.178572,-0.211721,0.960878]]
2025-10-27T17:43:49.135Z,1761587029.135 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:43:49.135Z,1761587029.135 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:43:49.328Z,1761587029.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691658,-0.721511,-0.032107],[0.700493,-0.659360,-0.273045],[0.175835,-0.211345,0.961465]]
2025-10-27T17:43:49.395Z,1761587029.395 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:43:49.472Z,1761587029.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:43:49.530Z,1761587029.530 [DAT](INFO): entering command mode
2025-10-27T17:43:49.724Z,1761587029.724 [DAT](INFO): DAT read: 

2025-10-27T17:43:49.725Z,1761587029.725 [DAT](INFO): DAT read: user:21>

2025-10-27T17:43:49.726Z,1761587029.726 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:43:49.726Z,1761587029.726 [DAT](INFO): setting remote address to 0
2025-10-27T17:43:49.779Z,1761587029.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688470,-0.724307,-0.037267],[0.706045,-0.657589,-0.262825],[0.165860,-0.207260,0.964123]]
2025-10-27T17:43:49.977Z,1761587029.977 [DAT](INFO): DAT read: user:21>

2025-10-27T17:43:49.978Z,1761587029.978 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:43:49.978Z,1761587029.978 [DAT](INFO): set remote address to 0
2025-10-27T17:43:49.979Z,1761587029.979 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:43:49.979Z,1761587029.979 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:43:50.228Z,1761587030.228 [DAT](INFO): DAT read: user:22>

2025-10-27T17:43:50.230Z,1761587030.230 [DAT](INFO): DAT read: Tx time:17:43:50.1024

2025-10-27T17:43:50.230Z,1761587030.230 [DAT](INFO): Ping request sent.
2025-10-27T17:43:50.230Z,1761587030.230 [DAT](INFO): transmitted an acoustic signal
2025-10-27T17:43:50.231Z,1761587030.231 [DAT](INFO): publishing transmit ping time
2025-10-27T17:43:50.232Z,1761587030.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001774
2025-10-27T17:43:50.480Z,1761587030.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249725
2025-10-27T17:43:50.552Z,1761587030.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691791,-0.721177,-0.036444],[0.704646,-0.663184,-0.252312],[0.157793,-0.200227,0.966959]]
2025-10-27T17:43:50.733Z,1761587030.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502441
2025-10-27T17:43:50.984Z,1761587030.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753885
2025-10-27T17:43:51.236Z,1761587031.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005710
2025-10-27T17:43:51.352Z,1761587031.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697931,-0.715311,-0.034962],[0.699777,-0.670763,-0.245743],[0.152332,-0.195977,0.968704]]
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateRudder:A] Stopped
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:43:51.398Z,1761587031.398 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:43:51.415Z,1761587031.415 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:43:51.415Z,1761587031.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateCommandMode] Stopped
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:43:51.416Z,1761587031.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:43:51.417Z,1761587031.417 [marl:UpdateSpeed] Stopped
2025-10-27T17:43:51.417Z,1761587031.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:43:51.490Z,1761587031.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259700
2025-10-27T17:43:51.741Z,1761587031.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510274
2025-10-27T17:43:51.762Z,1761587031.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701164,-0.712186,-0.034053],[0.696944,-0.674515,-0.243513],[0.150457,-0.194476,0.969300]]
2025-10-27T17:43:51.833Z,1761587031.833 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:43:51.833Z,1761587031.833 [marl:UpdateRudder:B] Stopped
2025-10-27T17:43:51.833Z,1761587031.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:43:51.833Z,1761587031.833 [marl:UpdateRudder] Stopped
2025-10-27T17:43:51.834Z,1761587031.834 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:43:51.994Z,1761587031.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763227
2025-10-27T17:43:52.159Z,1761587032.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704573,-0.708861,-0.033060],[0.693689,-0.678176,-0.242636],[0.149574,-0.193888,0.969554]]
2025-10-27T17:43:52.244Z,1761587032.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013634
2025-10-27T17:43:52.498Z,1761587032.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267368
2025-10-27T17:43:52.562Z,1761587032.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707706,-0.705813,-0.031296],[0.690558,-0.681692,-0.241714],[0.149271,-0.192674,0.969843]]
2025-10-27T17:43:52.749Z,1761587032.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518369
2025-10-27T17:43:52.967Z,1761587032.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710318,-0.703260,-0.029562],[0.687930,-0.684718,-0.240653],[0.149001,-0.191277,0.970161]]
2025-10-27T17:43:53.001Z,1761587033.001 [DAT](INFO): DAT read: Rx Time:17:43:52.4502

2025-10-27T17:43:53.001Z,1761587033.001 [DAT](INFO): Rx dataTimestamp_ set to:1761587033.001075
2025-10-27T17:43:53.003Z,1761587033.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772095
2025-10-27T17:43:53.252Z,1761587033.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021793
2025-10-27T17:43:53.367Z,1761587033.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712126,-0.701449,-0.029068],[0.686145,-0.686631,-0.240298],[0.148598,-0.191067,0.970264]]
2025-10-27T17:43:53.514Z,1761587033.514 [DAT](INFO): DAT read: 17:43:52.4502 LVL= 20464, 32753, 31730, 32755, AGC= 61, IDX=  28, 0.18,-2.557, 1.758, 2.189, 2.988, PHS= 0.840,-1.184,-0.843, RAW=  99.1,  12.6, CAL=  99.8,  14.6, ROT=  50.2, -14.6

2025-10-27T17:43:53.517Z,1761587033.517 [DAT](INFO): got valid direction response:
 17:43:52.4502 LVL= 20464, 32753, 31730, 32755, AGC= 61, IDX=  28, 0.18,-2.557, 1.758, 2.189, 2.988, PHS= 0.840,-1.184,-0.843, RAW=  99.1,  12.6, CAL=  99.8,  14.6, ROT=  50.2, -14.6

2025-10-27T17:43:53.518Z,1761587033.518 [DAT](INFO): DAT read: Bearing 172, -17 (Remote)

2025-10-27T17:43:53.520Z,1761587033.520 [DAT](INFO): Remote Bearing received:Bearing 172, -17 (Remote)

2025-10-27T17:43:53.521Z,1761587033.521 [DAT](INFO): DAT read: Bearing 312.9,  49.7 (Local)

2025-10-27T17:43:53.521Z,1761587033.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.9,  49.7 (Local)

2025-10-27T17:43:53.523Z,1761587033.523 [DAT](INFO): DAT read: Range 11 to 20 : 239.0 m  (Round-trip  318.7 ms) speed  0.0 m/s

2025-10-27T17:43:53.524Z,1761587033.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T17:43:53.526Z,1761587033.526 [DAT](INFO): direction in FSK: [0.619440,0.743475,0.252069]
2025-10-27T17:43:53.526Z,1761587033.526 [DAT](INFO): publishing direction and range info
2025-10-27T17:43:53.757Z,1761587033.757 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:43:53.813Z,1761587033.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713521,-0.700079,-0.027881],[0.684795,-0.688425,-0.239011],[0.148133,-0.189632,0.970616]]
2025-10-27T17:43:53.850Z,1761587033.850 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761587072.00. Resetting abort timer.
2025-10-27T17:43:54.009Z,1761587034.009 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:43:54.186Z,1761587034.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714498,-0.699055,-0.028555],[0.683832,-0.689148,-0.239684],[0.147874,-0.190780,0.970431]]
2025-10-27T17:43:54.260Z,1761587034.260 [DAT](INFO): setting remote address to 6
2025-10-27T17:43:54.513Z,1761587034.513 [DAT](INFO): DAT read: user:23>

2025-10-27T17:43:54.514Z,1761587034.514 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:43:54.515Z,1761587034.515 [DAT](INFO): set remote address to 6
2025-10-27T17:43:54.515Z,1761587034.515 [DAT](INFO): entering online mode
2025-10-27T17:43:54.591Z,1761587034.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714850,-0.698696,-0.028506],[0.683499,-0.689529,-0.239537],[0.147708,-0.190717,0.970469]]
2025-10-27T17:43:54.764Z,1761587034.764 [DAT](INFO): DAT read: user:24>

2025-10-27T17:43:54.764Z,1761587034.764 [DAT](INFO): DAT read: 

2025-10-27T17:43:54.766Z,1761587034.766 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:43:54.766Z,1761587034.766 [DAT](INFO): commRate: 600
2025-10-27T17:43:54.766Z,1761587034.766 [DAT](INFO): online mode acknowledged
2025-10-27T17:43:54.766Z,1761587034.766 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:43:55.003Z,1761587035.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715095,-0.698446,-0.028503],[0.683259,-0.689772,-0.239524],[0.147634,-0.190757,0.970472]]
2025-10-27T17:43:55.402Z,1761587035.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715227,-0.698295,-0.028882],[0.683197,-0.689859,-0.239449],[0.147282,-0.190993,0.970479]]
2025-10-27T17:43:55.802Z,1761587035.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715717,-0.697776,-0.029271],[0.682827,-0.690354,-0.239078],[0.146616,-0.191100,0.970559]]
2025-10-27T17:43:56.207Z,1761587036.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716330,-0.697150,-0.029198],[0.682352,-0.691151,-0.238130],[0.145832,-0.190503,0.970794]]
2025-10-27T17:43:56.610Z,1761587036.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717243,-0.696194,-0.029608],[0.681633,-0.692150,-0.237287],[0.144704,-0.190374,0.970988]]
2025-10-27T17:43:57.021Z,1761587037.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719025,-0.694323,-0.030307],[0.679943,-0.693770,-0.237403],[0.143808,-0.191306,0.970938]]
2025-10-27T17:43:57.422Z,1761587037.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721337,-0.691896,-0.030869],[0.677706,-0.695952,-0.237415],[0.142782,-0.192176,0.970918]]
2025-10-27T17:43:57.823Z,1761587037.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724176,-0.688923,-0.030890],[0.674842,-0.698729,-0.237416],[0.141978,-0.192777,0.970917]]
2025-10-27T17:43:58.040Z,1761587038.040 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:43:58.0012

2025-10-27T17:43:58.041Z,1761587038.041 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:43:58.226Z,1761587038.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726946,-0.686003,-0.030808],[0.672076,-0.701545,-0.236958],[0.140940,-0.192961,0.971031]]
2025-10-27T17:43:58.629Z,1761587038.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729416,-0.683374,-0.030873],[0.669712,-0.704179,-0.235834],[0.139423,-0.192697,0.971303]]
2025-10-27T17:43:59.034Z,1761587039.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731336,-0.681288,-0.031547],[0.668002,-0.706210,-0.234608],[0.137556,-0.192651,0.971578]]
2025-10-27T17:43:59.450Z,1761587039.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732910,-0.679558,-0.032295],[0.666633,-0.707874,-0.233485],[0.135806,-0.192652,0.971824]]
2025-10-27T17:43:59.847Z,1761587039.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733867,-0.678490,-0.033033],[0.665987,-0.709063,-0.231711],[0.133791,-0.192045,0.972224]]
2025-10-27T17:44:00.250Z,1761587040.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734001,-0.678289,-0.034146],[0.666212,-0.709342,-0.230208],[0.131927,-0.191722,0.972542]]
2025-10-27T17:44:00.653Z,1761587040.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733649,-0.678560,-0.036265],[0.666957,-0.708833,-0.229617],[0.130103,-0.192646,0.972605]]
2025-10-27T17:44:01.062Z,1761587041.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733208,-0.678881,-0.039073],[0.667799,-0.708019,-0.229681],[0.128261,-0.194497,0.972481]]
2025-10-27T17:44:01.469Z,1761587041.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732601,-0.679409,-0.041225],[0.668833,-0.707310,-0.228855],[0.126327,-0.195232,0.972587]]
2025-10-27T17:44:01.866Z,1761587041.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731893,-0.680058,-0.043053],[0.669943,-0.706582,-0.227854],[0.124533,-0.195608,0.972743]]
2025-10-27T17:44:02.269Z,1761587042.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731485,-0.680333,-0.045577],[0.670708,-0.705875,-0.227798],[0.122807,-0.197199,0.972641]]
2025-10-27T17:44:02.673Z,1761587042.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731421,-0.680237,-0.047964],[0.671192,-0.705693,-0.226935],[0.120522,-0.198178,0.972728]]
2025-10-27T17:44:03.080Z,1761587043.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732020,-0.679455,-0.049878],[0.670954,-0.706287,-0.225784],[0.118182,-0.198745,0.972900]]
2025-10-27T17:44:03.505Z,1761587043.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733122,-0.678142,-0.051523],[0.670193,-0.707489,-0.224279],[0.115641,-0.198955,0.973162]]
2025-10-27T17:44:03.886Z,1761587043.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734640,-0.676409,-0.052681],[0.668939,-0.709186,-0.222658],[0.113247,-0.198813,0.973472]]
2025-10-27T17:44:04.290Z,1761587044.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736523,-0.674335,-0.052967],[0.667245,-0.711461,-0.220473],[0.110989,-0.197725,0.973954]]
2025-10-27T17:44:04.695Z,1761587044.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738670,-0.672037,-0.052284],[0.665136,-0.714102,-0.218295],[0.109366,-0.196024,0.974481]]
2025-10-27T17:44:04.765Z,1761587044.765 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateRudder:A] Stopped
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:44:04.766Z,1761587044.766 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:44:04.767Z,1761587044.767 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:44:04.793Z,1761587044.793 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:44:04.793Z,1761587044.793 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:44:04.793Z,1761587044.793 [marl:UpdateCommandMode] Stopped
2025-10-27T17:44:04.793Z,1761587044.793 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed] Stopped
2025-10-27T17:44:04.794Z,1761587044.794 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:44:05.059Z,1761587045.059 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:44:05.099Z,1761587045.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741003,-0.669417,-0.052872],[0.662782,-0.716463,-0.217716],[0.107862,-0.196371,0.974579]]
2025-10-27T17:44:05.168Z,1761587045.168 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:44:05.168Z,1761587045.168 [marl:UpdateRudder:B] Stopped
2025-10-27T17:44:05.168Z,1761587045.168 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:44:05.168Z,1761587045.168 [marl:UpdateRudder] Stopped
2025-10-27T17:44:05.168Z,1761587045.168 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:44:05.510Z,1761587045.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742880,-0.667433,-0.051601],[0.660901,-0.718977,-0.215133],[0.106487,-0.193922,0.975221]]
2025-10-27T17:44:06.065Z,1761587046.065 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:44:06.309Z,1761587046.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745515,-0.664508,-0.051347],[0.658305,-0.722136,-0.212495],[0.104125,-0.192220,0.975812]]
2025-10-27T17:44:06.715Z,1761587046.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745930,-0.664050,-0.051251],[0.658034,-0.722912,-0.210689],[0.102858,-0.190884,0.976209]]
2025-10-27T17:44:07.118Z,1761587047.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745985,-0.663864,-0.052819],[0.658204,-0.722902,-0.210188],[0.101353,-0.191563,0.976233]]
2025-10-27T17:44:07.533Z,1761587047.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745931,-0.663802,-0.054351],[0.658538,-0.722886,-0.209198],[0.099576,-0.191839,0.976362]]
2025-10-27T17:44:07.925Z,1761587047.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745826,-0.663705,-0.056912],[0.658960,-0.722578,-0.208934],[0.097547,-0.193331,0.976272]]
2025-10-27T17:44:08.129Z,1761587048.129 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:44:08.329Z,1761587048.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746150,-0.663234,-0.058149],[0.658887,-0.723071,-0.207449],[0.095541,-0.193102,0.976516]]
2025-10-27T17:44:08.380Z,1761587048.380 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:44:08.632Z,1761587048.632 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:44:08.740Z,1761587048.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747420,-0.661648,-0.059879],[0.657739,-0.724283,-0.206866],[0.093503,-0.194001,0.976535]]
2025-10-27T17:44:09.140Z,1761587049.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749130,-0.659643,-0.060628],[0.656103,-0.726257,-0.205133],[0.091283,-0.193450,0.976854]]
2025-10-27T17:44:09.149Z,1761587049.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321322776,35.0, +14.2,   0.0, 0
2025-10-27T17:44:09.545Z,1761587049.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751270,-0.657145,-0.061262],[0.653957,-0.728658,-0.203464],[0.089066,-0.192919,0.977164]]
2025-10-27T17:44:09.946Z,1761587049.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754021,-0.653939,-0.061774],[0.651017,-0.731508,-0.202667],[0.087343,-0.193031,0.977297]]
2025-10-27T17:44:10.350Z,1761587050.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756344,-0.651254,-0.061732],[0.648530,-0.734105,-0.201241],[0.085742,-0.192243,0.977594]]
2025-10-27T17:44:10.761Z,1761587050.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758729,-0.648382,-0.062696],[0.645950,-0.736448,-0.200981],[0.084140,-0.192989,0.977587]]
2025-10-27T17:44:11.161Z,1761587051.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761026,-0.645625,-0.063308],[0.643448,-0.738817,-0.200310],[0.082552,-0.193176,0.977685]]
2025-10-27T17:44:11.562Z,1761587051.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763263,-0.642888,-0.064221],[0.641079,-0.741241,-0.198947],[0.080297,-0.193020,0.977904]]
2025-10-27T17:44:11.909Z,1761587051.909 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:44:11.8511

2025-10-27T17:44:11.909Z,1761587051.909 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:44:11.988Z,1761587051.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765425,-0.640134,-0.065978],[0.638839,-0.743496,-0.197730],[0.077520,-0.193497,0.978034]]
2025-10-27T17:44:12.371Z,1761587052.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767571,-0.637462,-0.066908],[0.636588,-0.745989,-0.195592],[0.074769,-0.192724,0.978400]]
2025-10-27T17:44:12.774Z,1761587052.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769284,-0.635139,-0.069290],[0.634913,-0.747858,-0.193893],[0.071330,-0.193152,0.978573]]
2025-10-27T17:44:13.178Z,1761587053.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770535,-0.633310,-0.072069],[0.633794,-0.749259,-0.192136],[0.067683,-0.193724,0.978719]]
2025-10-27T17:44:13.228Z,1761587053.228 [marl:SendObservationData] Running Loop=1
2025-10-27T17:44:13.229Z,1761587053.229 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:44:13.229Z,1761587053.229 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:44:13.229Z,1761587053.229 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:44:13.232Z,1761587053.232 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:44:13.232Z,1761587053.232 [marl:SendObservationData:A] Stopped
2025-10-27T17:44:13.232Z,1761587053.232 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:44:13.583Z,1761587053.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771402,-0.631934,-0.074824],[0.633141,-0.750401,-0.189819],[0.063805,-0.193801,0.978964]]
2025-10-27T17:44:13.642Z,1761587053.642 [marl:SendObservationData:B] Stopped
2025-10-27T17:44:13.642Z,1761587053.642 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:44:13.989Z,1761587053.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771985,-0.630886,-0.077601],[0.632795,-0.751244,-0.187624],[0.060072,-0.193948,0.979171]]
2025-10-27T17:44:14.055Z,1761587054.055 [marl:SendObservationData:C] Stopped
2025-10-27T17:44:14.056Z,1761587054.056 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:44:14.390Z,1761587054.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772075,-0.630552,-0.079399],[0.633006,-0.751857,-0.184430],[0.056596,-0.192654,0.979633]]
2025-10-27T17:44:14.434Z,1761587054.434 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008033 min 
2025-10-27T17:44:14.434Z,1761587054.434 [marl:SendObservationData:E] Stopped
2025-10-27T17:44:14.435Z,1761587054.435 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:44:14.435Z,1761587054.435 [marl:SendObservationData] Stopped
2025-10-27T17:44:14.436Z,1761587054.436 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:44:14.436Z,1761587054.436 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:44:14.798Z,1761587054.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771966,-0.630314,-0.082299],[0.633424,-0.751911,-0.182765],[0.053318,-0.193218,0.979706]]
2025-10-27T17:44:15.200Z,1761587055.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771123,-0.631064,-0.084430],[0.634692,-0.751429,-0.180333],[0.050358,-0.192646,0.979975]]
2025-10-27T17:44:15.602Z,1761587055.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770174,-0.631810,-0.087454],[0.636010,-0.750356,-0.180161],[0.048206,-0.194377,0.979742]]
2025-10-27T17:44:16.410Z,1761587056.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767192,-0.634821,-0.091749],[0.639842,-0.747418,-0.178798],[0.044929,-0.195877,0.979599]]
2025-10-27T17:44:16.845Z,1761587056.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765445,-0.636745,-0.093003],[0.642014,-0.745840,-0.177595],[0.043717,-0.195648,0.979699]]
2025-10-27T17:44:17.218Z,1761587057.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763757,-0.638371,-0.095691],[0.644099,-0.743900,-0.178184],[0.042563,-0.197724,0.979333]]
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateRudder:A] Stopped
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:44:17.270Z,1761587057.270 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:44:17.271Z,1761587057.271 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:44:17.271Z,1761587057.271 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:44:17.271Z,1761587057.271 [marl:UpdateCommandMode] Stopped
2025-10-27T17:44:17.271Z,1761587057.271 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:44:17.271Z,1761587057.271 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed] Stopped
2025-10-27T17:44:17.272Z,1761587057.272 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:44:17.622Z,1761587057.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762190,-0.640075,-0.096802],[0.646069,-0.742711,-0.176000],[0.040757,-0.196686,0.979619]]
2025-10-27T17:44:17.646Z,1761587057.646 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:44:17.646Z,1761587057.646 [marl:UpdateRudder:B] Stopped
2025-10-27T17:44:17.646Z,1761587057.646 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:44:17.646Z,1761587057.646 [marl:UpdateRudder] Stopped
2025-10-27T17:44:17.646Z,1761587057.646 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:44:18.027Z,1761587058.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760834,-0.641514,-0.097935],[0.647818,-0.741917,-0.172890],[0.038251,-0.194985,0.980060]]
2025-10-27T17:44:18.431Z,1761587058.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759936,-0.642221,-0.100248],[0.649088,-0.741633,-0.169309],[0.034387,-0.193734,0.980451]]
2025-10-27T17:44:18.879Z,1761587058.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759714,-0.642168,-0.102249],[0.649583,-0.742325,-0.164304],[0.029608,-0.191243,0.981096]]
2025-10-27T17:44:18.895Z,1761587058.895 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321323776,35.0, +14.1,   0.0,1504.0RA,  0.00, 746.90, 571.70, 666.99, 623.96
2025-10-27T17:44:19.252Z,1761587059.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760666,-0.640723,-0.104216],[0.648691,-0.744281,-0.158889],[0.024238,-0.188466,0.981781]]
2025-10-27T17:44:19.654Z,1761587059.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762685,-0.638038,-0.105923],[0.646502,-0.747350,-0.153308],[0.018655,-0.185405,0.982485]]
2025-10-27T17:44:20.058Z,1761587060.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766285,-0.633372,-0.107918],[0.642362,-0.751752,-0.149132],[0.013329,-0.183601,0.982911]]
2025-10-27T17:44:20.882Z,1761587060.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778434,-0.618975,-0.104450],[0.627723,-0.767037,-0.132733],[0.002041,-0.168890,0.985633]]
2025-10-27T17:44:21.281Z,1761587061.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788423,-0.607971,-0.093598],[0.615120,-0.780218,-0.113520],[-0.004010,-0.147076,0.989117]]
2025-10-27T17:44:21.688Z,1761587061.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800516,-0.594234,-0.077841],[0.599244,-0.795596,-0.089078],[-0.008997,-0.117954,0.992978]]
2025-10-27T17:44:21.988Z,1761587061.988 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:44:22.089Z,1761587062.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813452,-0.578459,-0.060680],[0.581499,-0.811062,-0.063544],[-0.012457,-0.086975,0.996133]]
2025-10-27T17:44:22.241Z,1761587062.241 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:44:22.241Z,1761587062.241 [DAT](INFO): #Outgoing data=10
2025-10-27T17:44:22.242Z,1761587062.242 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:44:22.489Z,1761587062.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826187,-0.561559,-0.045469],[0.563211,-0.825292,-0.041073],[-0.014461,-0.059542,0.998121]]
2025-10-27T17:44:22.492Z,1761587062.492 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:44:22.894Z,1761587062.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838736,-0.543559,-0.032643],[0.544331,-0.838563,-0.022708],[-0.015030,-0.036814,0.999209]]
2025-10-27T17:44:23.299Z,1761587063.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850779,-0.525039,-0.022553],[0.525315,-0.850866,-0.008406],[-0.014776,-0.018999,0.999710]]
2025-10-27T17:44:23.701Z,1761587063.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861977,-0.506728,-0.014924],[0.506760,-0.862085,0.001894],[-0.013825,-0.005930,0.999887]]
2025-10-27T17:44:24.105Z,1761587064.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871905,-0.489567,-0.010305],[0.489512,-0.871964,0.007476],[-0.012646,0.001474,0.999919]]
2025-10-27T17:44:24.512Z,1761587064.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880039,-0.474852,-0.006780],[0.474756,-0.880034,0.012119],[-0.011721,0.007446,0.999904]]
2025-10-27T17:44:24.914Z,1761587064.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886994,-0.461759,-0.004472],[0.461648,-0.886931,0.015323],[-0.011042,0.011527,0.999873]]
2025-10-27T17:44:25.318Z,1761587065.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893043,-0.449962,-0.002780],[0.449857,-0.892940,0.016905],[-0.010089,0.013846,0.999853]]
2025-10-27T17:44:25.723Z,1761587065.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898556,-0.438851,-0.002536],[0.438763,-0.898467,0.015593],[-0.009121,0.012899,0.999875]]
2025-10-27T17:44:25.768Z,1761587065.768 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:44:25.7511

2025-10-27T17:44:25.769Z,1761587065.769 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:44:26.133Z,1761587066.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903495,-0.428592,-0.002166],[0.428530,-0.903431,0.013193],[-0.007611,0.010991,0.999911]]
2025-10-27T17:44:26.945Z,1761587066.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913142,-0.407640,-0.001074],[0.407617,-0.913112,0.008599],[-0.004486,0.007414,0.999962]]
2025-10-27T17:44:27.337Z,1761587067.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917989,-0.396606,-0.000122],[0.396592,-0.917959,0.008143],[-0.003341,0.007426,0.999967]]
2025-10-27T17:44:27.752Z,1761587067.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922915,-0.385003,0.000978],[0.384995,-0.922873,0.009191],[-0.002636,0.008859,0.999957]]
2025-10-27T17:44:28.146Z,1761587068.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927797,-0.373084,0.001164],[0.373074,-0.927740,0.010680],[-0.002905,0.010343,0.999942]]
2025-10-27T17:44:28.552Z,1761587068.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932604,-0.360901,0.000527],[0.360875,-0.932516,0.013512],[-0.004385,0.012791,0.999909]]
2025-10-27T17:44:28.956Z,1761587068.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936916,-0.349550,-0.001692],[0.349476,-0.936797,0.016672],[-0.007413,0.015028,0.999860]]
2025-10-27T17:44:28.979Z,1761587068.979 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503213247761.0,1503.4,  0
2025-10-27T17:44:29.359Z,1761587069.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941067,-0.338192,-0.004456],[0.338033,-0.940901,0.020962],[-0.011282,0.018220,0.999770]]
2025-10-27T17:44:29.765Z,1761587069.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945234,-0.326292,-0.008146],[0.326030,-0.945064,0.023633],[-0.015410,0.019683,0.999687]]
2025-10-27T17:44:30.166Z,1761587070.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949749,-0.312763,-0.012478],[0.312399,-0.949630,0.024704],[-0.019576,0.019564,0.999617]]
2025-10-27T17:44:30.219Z,1761587070.219 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:44:30.219Z,1761587070.219 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:44:30.219Z,1761587070.219 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateRudder:A] Stopped
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode] Stopped
2025-10-27T17:44:30.220Z,1761587070.220 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed] Stopped
2025-10-27T17:44:30.221Z,1761587070.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:44:30.572Z,1761587070.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954627,-0.297346,-0.016542],[0.296909,-0.954590,0.024542],[-0.023088,0.018517,0.999562]]
2025-10-27T17:44:30.606Z,1761587070.606 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:44:30.607Z,1761587070.607 [marl:UpdateRudder:B] Stopped
2025-10-27T17:44:30.607Z,1761587070.607 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:44:30.607Z,1761587070.607 [marl:UpdateRudder] Stopped
2025-10-27T17:44:30.607Z,1761587070.607 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:44:30.974Z,1761587070.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959785,-0.279965,-0.020819],[0.279491,-0.959872,0.023037],[-0.026433,0.016291,0.999518]]
2025-10-27T17:44:31.378Z,1761587071.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964763,-0.262034,-0.023895],[0.261530,-0.964938,0.022272],[-0.028893,0.015238,0.999466]]
2025-10-27T17:44:31.782Z,1761587071.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969381,-0.244189,-0.025922],[0.243684,-0.969623,0.021178],[-0.030306,0.014212,0.999440]]
2025-10-27T17:44:32.266Z,1761587072.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977951,-0.207318,-0.025116],[0.206856,-0.978170,0.019836],[-0.028680,0.014203,0.999488]]
2025-10-27T17:44:32.663Z,1761587072.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981904,-0.188003,-0.022808],[0.187571,-0.982051,0.019819],[-0.026125,0.015183,0.999543]]
2025-10-27T17:44:33.065Z,1761587073.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985536,-0.168264,-0.020149],[0.167895,-0.985625,0.018805],[-0.023024,0.015150,0.999620]]
2025-10-27T17:44:33.470Z,1761587073.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988431,-0.150571,-0.018233],[0.150373,-0.988559,0.011775],[-0.019797,0.008897,0.999764]]
2025-10-27T17:44:33.873Z,1761587073.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990481,-0.136543,-0.017440],[0.136663,-0.990600,-0.005849],[-0.016478,-0.008176,0.999831]]
2025-10-27T17:44:34.286Z,1761587074.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991778,-0.126784,-0.017383],[0.127273,-0.991392,-0.030712],[-0.013340,-0.032672,0.999377]]
2025-10-27T17:44:34.688Z,1761587074.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992436,-0.121432,-0.018056],[0.122312,-0.990655,-0.060344],[-0.010559,-0.062096,0.998014]]
2025-10-27T17:44:35.089Z,1761587075.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992501,-0.120700,-0.019338],[0.121958,-0.988472,-0.089716],[-0.008286,-0.091401,0.995780]]
2025-10-27T17:44:35.493Z,1761587075.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992138,-0.123344,-0.021191],[0.124968,-0.985541,-0.114416],[-0.006772,-0.116164,0.993207]]
2025-10-27T17:44:35.848Z,1761587075.848 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:44:35.848Z,1761587075.848 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:44:35.902Z,1761587075.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991580,-0.127375,-0.023344],[0.129370,-0.982327,-0.135263],[-0.005702,-0.137144,0.990535]]
2025-10-27T17:44:36.100Z,1761587076.100 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:44:36.189Z,1761587076.189 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:44:36.305Z,1761587076.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990898,-0.132093,-0.025916],[0.134514,-0.978980,-0.153311],[-0.005120,-0.155401,0.987838]]
2025-10-27T17:44:36.352Z,1761587076.352 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:44:36.352Z,1761587076.352 [DAT](INFO): #Outgoing data=11
2025-10-27T17:44:36.353Z,1761587076.353 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:44:36.604Z,1761587076.604 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:44:36.705Z,1761587076.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990184,-0.136797,-0.028693],[0.139686,-0.975738,-0.168590],[-0.004935,-0.170943,0.985269]]
2025-10-27T17:44:37.112Z,1761587077.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989425,-0.141579,-0.031529],[0.144955,-0.972883,-0.180239],[-0.005156,-0.182903,0.983117]]
2025-10-27T17:44:37.191Z,1761587077.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:44:37.513Z,1761587077.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988729,-0.145850,-0.033790],[0.149616,-0.970718,-0.187943],[-0.005389,-0.190880,0.981599]]
2025-10-27T17:44:37.928Z,1761587077.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988194,-0.149038,-0.035497],[0.153106,-0.969053,-0.193636],[-0.005540,-0.196785,0.980431]]
2025-10-27T17:44:38.321Z,1761587078.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987937,-0.150588,-0.036099],[0.154762,-0.968177,-0.196676],[-0.005333,-0.199890,0.979804]]
2025-10-27T17:44:38.729Z,1761587078.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987991,-0.150289,-0.035872],[0.154442,-0.967495,-0.200254],[-0.004610,-0.203389,0.979087]]
2025-10-27T17:44:39.132Z,1761587079.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988260,-0.148771,-0.034773],[0.152737,-0.967509,-0.201489],[-0.003667,-0.204435,0.978873]]
2025-10-27T17:44:39.148Z,1761587079.148 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00, 638.41, 638.41
2025-10-27T17:44:39.536Z,1761587079.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988469,-0.147648,-0.033616],[0.151404,-0.967441,-0.202816],[-0.002576,-0.205567,0.978640]]
2025-10-27T17:44:39.880Z,1761587079.880 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:44:39.8511

2025-10-27T17:44:39.880Z,1761587079.880 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:44:39.938Z,1761587079.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988580,-0.147246,-0.032056],[0.150690,-0.967524,-0.202954],[-0.001131,-0.205466,0.978664]]
2025-10-27T17:44:40.342Z,1761587080.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988727,-0.146629,-0.030315],[0.149730,-0.967773,-0.202474],[0.000351,-0.204730,0.978818]]
2025-10-27T17:44:40.754Z,1761587080.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988639,-0.147609,-0.028358],[0.150294,-0.968255,-0.199736],[0.002025,-0.201729,0.979439]]
2025-10-27T17:44:41.157Z,1761587081.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988601,-0.148254,-0.026242],[0.150507,-0.968583,-0.197978],[0.003934,-0.199670,0.979855]]
2025-10-27T17:44:41.553Z,1761587081.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988571,-0.148711,-0.024727],[0.150664,-0.968959,-0.196007],[0.005189,-0.197493,0.980291]]
2025-10-27T17:44:42.361Z,1761587082.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988861,-0.147113,-0.022603],[0.148704,-0.970026,-0.192188],[0.006347,-0.193408,0.981098]]
2025-10-27T17:44:42.769Z,1761587082.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989321,-0.144060,-0.022140],[0.145626,-0.970710,-0.191089],[0.006036,-0.192273,0.981323]]
2025-10-27T17:44:43.174Z,1761587083.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990003,-0.139379,-0.021620],[0.140941,-0.971688,-0.189628],[0.005423,-0.190779,0.981618]]
2025-10-27T17:44:43.244Z,1761587083.244 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateRudder:A] Stopped
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:44:43.245Z,1761587083.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateCommandMode] Stopped
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:44:43.246Z,1761587083.246 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:44:43.251Z,1761587083.251 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:44:43.251Z,1761587083.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:44:43.251Z,1761587083.251 [marl:UpdateSpeed] Stopped
2025-10-27T17:44:43.251Z,1761587083.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:44:43.578Z,1761587083.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990868,-0.133180,-0.021050],[0.134752,-0.972716,-0.188852],[0.004676,-0.189964,0.981780]]
2025-10-27T17:44:43.629Z,1761587083.629 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:44:43.629Z,1761587083.629 [marl:UpdateRudder:B] Stopped
2025-10-27T17:44:43.629Z,1761587083.629 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:44:43.629Z,1761587083.629 [marl:UpdateRudder] Stopped
2025-10-27T17:44:43.629Z,1761587083.629 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:44:43.982Z,1761587083.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991733,-0.126666,-0.020541],[0.128263,-0.973715,-0.188222],[0.003841,-0.189300,0.981912]]
2025-10-27T17:44:44.417Z,1761587084.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992547,-0.120217,-0.019942],[0.121825,-0.974939,-0.186154],[0.002937,-0.187196,0.982318]]
2025-10-27T17:44:44.796Z,1761587084.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993287,-0.114092,-0.019093],[0.115656,-0.976293,-0.182964],[0.002235,-0.183943,0.982934]]
2025-10-27T17:44:45.193Z,1761587085.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993905,-0.108717,-0.018248],[0.110223,-0.977350,-0.180660],[0.001806,-0.181570,0.983376]]
2025-10-27T17:44:45.597Z,1761587085.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994418,-0.104106,-0.017157],[0.105493,-0.978072,-0.179575],[0.001914,-0.180383,0.983595]]
2025-10-27T17:44:46.002Z,1761587086.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994895,-0.099763,-0.015187],[0.100861,-0.978281,-0.181091],[0.003209,-0.181699,0.983349]]
2025-10-27T17:44:46.414Z,1761587086.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995350,-0.095512,-0.012476],[0.096174,-0.978245,-0.183813],[0.005352,-0.184158,0.982882]]
2025-10-27T17:44:46.876Z,1761587086.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995775,-0.091323,-0.009616],[0.091505,-0.978046,-0.187222],[0.007692,-0.187311,0.982271]]
2025-10-27T17:44:47.213Z,1761587087.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996120,-0.087741,-0.006800],[0.087427,-0.977790,-0.190483],[0.010064,-0.190339,0.981667]]
2025-10-27T17:44:48.021Z,1761587088.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996636,-0.081955,-0.000319],[0.080419,-0.977193,-0.196535],[0.015795,-0.195899,0.980497]]
2025-10-27T17:44:48.427Z,1761587088.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996681,-0.081364,0.002582],[0.079252,-0.977090,-0.197520],[0.018594,-0.196659,0.980296]]
2025-10-27T17:44:48.922Z,1761587088.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996544,-0.082940,0.004515],[0.080406,-0.976878,-0.198102],[0.020841,-0.197054,0.980171]]
2025-10-27T17:44:49.237Z,1761587089.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996200,-0.086913,0.005666],[0.084098,-0.976773,-0.197082],[0.022663,-0.195857,0.980371]]
2025-10-27T17:44:49.365Z,1761587089.365 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:44:49.365Z,1761587089.365 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:44:49.638Z,1761587089.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995787,-0.091462,0.006474],[0.088426,-0.976608,-0.196005],[0.024250,-0.194607,0.980581]]
2025-10-27T17:44:49.714Z,1761587089.714 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:44:49.964Z,1761587089.964 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:44:49.964Z,1761587089.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:44:50.015Z,1761587090.015 [DAT](INFO): entering command mode
2025-10-27T17:44:50.044Z,1761587090.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995311,-0.096471,0.007006],[0.093259,-0.976337,-0.195112],[0.025663,-0.193544,0.980756]]
2025-10-27T17:44:50.216Z,1761587090.216 [DAT](INFO): DAT read: 

2025-10-27T17:44:50.217Z,1761587090.217 [DAT](INFO): DAT read: user:25>

2025-10-27T17:44:50.218Z,1761587090.218 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:44:50.219Z,1761587090.219 [DAT](INFO): #Outgoing data=11
2025-10-27T17:44:50.219Z,1761587090.219 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:44:50.219Z,1761587090.219 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:44:50.220Z,1761587090.220 [DAT](INFO): setting remote address to 0
2025-10-27T17:44:50.445Z,1761587090.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994818,-0.101394,0.007531],[0.098020,-0.976115,-0.193884],[0.027010,-0.192141,0.980996]]
2025-10-27T17:44:50.468Z,1761587090.468 [DAT](INFO): DAT read: user:25>

2025-10-27T17:44:50.469Z,1761587090.469 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:44:50.469Z,1761587090.469 [DAT](INFO): set remote address to 0
2025-10-27T17:44:50.469Z,1761587090.469 [DAT](INFO): setting remote address to 6
2025-10-27T17:44:50.470Z,1761587090.470 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:44:50.470Z,1761587090.470 [DAT](INFO): setting remote address to 0
2025-10-27T17:44:50.720Z,1761587090.720 [DAT](INFO): DAT read: user:26>

2025-10-27T17:44:50.722Z,1761587090.722 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:44:50.723Z,1761587090.723 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:44:50.723Z,1761587090.723 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:44:50.723Z,1761587090.723 [DAT](ERROR): Communications Fault
2025-10-27T17:44:50.724Z,1761587090.724 [DAT](INFO): DAT read: user:27>

2025-10-27T17:44:50.726Z,1761587090.726 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:44:50.726Z,1761587090.726 [DAT](INFO): set remote address to 0
2025-10-27T17:44:50.726Z,1761587090.726 [DAT](INFO): setting remote address to 6
2025-10-27T17:44:50.728Z,1761587090.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:44:50.729Z,1761587090.729 [DAT](INFO): setting remote address to 0
2025-10-27T17:44:50.913Z,1761587090.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994309,-0.106256,0.007758],[0.102774,-0.975811,-0.192950],[0.028072,-0.191054,0.981178]]
2025-10-27T17:44:51.107Z,1761587091.107 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:44:51.135Z,1761587091.135 [DAT](INFO): Powering down
2025-10-27T17:44:51.254Z,1761587091.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993814,-0.110803,0.007461],[0.107327,-0.975553,-0.191773],[0.028527,-0.189786,0.981411]]
2025-10-27T17:44:51.657Z,1761587091.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993380,-0.114682,0.006681],[0.111298,-0.975208,-0.191265],[0.028450,-0.189255,0.981516]]
2025-10-27T17:44:52.061Z,1761587092.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993053,-0.117536,0.005480],[0.114361,-0.975089,-0.190061],[0.027682,-0.188114,0.981757]]
2025-10-27T17:44:52.252Z,1761587092.252 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:44:52.252Z,1761587092.252 [DAT] No Fault, FailCount= 1
2025-10-27T17:44:52.467Z,1761587092.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992920,-0.118711,0.004241],[0.115750,-0.974934,-0.190015],[0.026692,-0.188179,0.981772]]
2025-10-27T17:44:52.898Z,1761587092.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993075,-0.117444,0.002881],[0.114757,-0.975018,-0.190185],[0.025145,-0.188538,0.981744]]
2025-10-27T17:44:53.273Z,1761587093.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993459,-0.114173,0.001740],[0.111760,-0.975357,-0.190234],[0.023417,-0.188795,0.981737]]
2025-10-27T17:44:53.678Z,1761587093.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994000,-0.109381,0.000663],[0.107237,-0.975674,-0.191206],[0.021561,-0.189988,0.981550]]
2025-10-27T17:44:54.083Z,1761587094.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994567,-0.104095,-0.000241],[0.102244,-0.976442,-0.190021],[0.019544,-0.189014,0.981780]]
2025-10-27T17:44:54.364Z,1761587094.364 [DAT](INFO): Powering up
2025-10-27T17:44:54.364Z,1761587094.364 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:44:54.485Z,1761587094.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995093,-0.098944,-0.000802],[0.097347,-0.977515,-0.187053],[0.017724,-0.186213,0.982350]]
2025-10-27T17:44:54.895Z,1761587094.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995584,-0.093867,-0.001165],[0.092469,-0.978467,-0.184532],[0.016182,-0.183825,0.982826]]
2025-10-27T17:44:55.294Z,1761587095.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996028,-0.089030,-0.000988],[0.087702,-0.979138,-0.183296],[0.015352,-0.182655,0.983057]]
2025-10-27T17:44:55.699Z,1761587095.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996424,-0.084495,-0.000276],[0.083115,-0.979543,-0.183267],[0.015215,-0.182634,0.983063]]
2025-10-27T17:44:56.102Z,1761587096.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996810,-0.079797,0.001581],[0.078171,-0.980105,-0.182436],[0.016108,-0.181731,0.983216]]
2025-10-27T17:44:56.141Z,1761587096.141 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:44:56.141Z,1761587096.141 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateRudder:A] Stopped
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:44:56.142Z,1761587096.142 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateCommandMode] Stopped
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:44:56.143Z,1761587096.143 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:44:56.144Z,1761587096.144 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:44:56.144Z,1761587096.144 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:44:56.144Z,1761587096.144 [marl:UpdateSpeed] Stopped
2025-10-27T17:44:56.144Z,1761587096.144 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:44:56.506Z,1761587096.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997200,-0.074668,0.004188],[0.072620,-0.980183,-0.184302],[0.017867,-0.183481,0.982861]]
2025-10-27T17:44:56.560Z,1761587096.560 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:44:56.560Z,1761587096.560 [marl:UpdateRudder:B] Stopped
2025-10-27T17:44:56.560Z,1761587096.560 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:44:56.561Z,1761587096.561 [marl:UpdateRudder] Stopped
2025-10-27T17:44:56.561Z,1761587096.561 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:44:56.911Z,1761587096.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997586,-0.069087,0.007055],[0.066541,-0.979992,-0.187586],[0.019874,-0.186663,0.982223]]
2025-10-27T17:44:57.314Z,1761587097.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997958,-0.062988,0.010650],[0.059788,-0.979656,-0.191571],[0.022500,-0.190543,0.981421]]
2025-10-27T17:44:57.718Z,1761587097.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998243,-0.057437,0.014532],[0.053480,-0.979103,-0.196209],[0.025498,-0.195088,0.980454]]
2025-10-27T17:44:58.121Z,1761587098.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998391,-0.053890,0.017617],[0.049312,-0.978707,-0.199248],[0.027979,-0.198059,0.979791]]
2025-10-27T17:44:58.526Z,1761587098.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998362,-0.053898,0.019199],[0.048992,-0.978633,-0.199692],[0.029552,-0.198424,0.979671]]
2025-10-27T17:44:58.935Z,1761587098.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998250,-0.055636,0.020040],[0.050558,-0.978742,-0.198767],[0.030673,-0.197406,0.979842]]
2025-10-27T17:44:59.333Z,1761587099.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998090,-0.058445,0.020019],[0.053353,-0.978820,-0.197648],[0.031146,-0.196202,0.980069]]
2025-10-27T17:44:59.745Z,1761587099.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997903,-0.061624,0.019790],[0.056590,-0.979110,-0.195296],[0.031411,-0.193766,0.980545]]
2025-10-27T17:45:00.142Z,1761587100.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997719,-0.064735,0.019156],[0.059860,-0.979500,-0.192346],[0.031215,-0.190760,0.981140]]
2025-10-27T17:45:00.557Z,1761587100.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997548,-0.067612,0.018081],[0.062963,-0.979763,-0.190001],[0.030561,-0.188397,0.981617]]
2025-10-27T17:45:00.952Z,1761587100.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997424,-0.069726,0.016821],[0.065350,-0.980077,-0.187561],[0.029563,-0.185979,0.982109]]
2025-10-27T17:45:01.366Z,1761587101.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997405,-0.070288,0.015600],[0.066182,-0.980366,-0.185747],[0.028350,-0.184233,0.982474]]
2025-10-27T17:45:01.764Z,1761587101.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997501,-0.069159,0.014453],[0.065297,-0.980520,-0.185249],[0.026984,-0.183843,0.982585]]
2025-10-27T17:45:02.161Z,1761587102.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997740,-0.065799,0.013592],[0.062111,-0.980421,-0.186861],[0.025621,-0.185594,0.982292]]
2025-10-27T17:45:02.565Z,1761587102.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998036,-0.061328,0.012763],[0.057860,-0.980587,-0.187352],[0.024005,-0.186246,0.982210]]
2025-10-27T17:45:02.973Z,1761587102.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998346,-0.056225,0.012021],[0.052965,-0.980698,-0.188219],[0.022372,-0.187271,0.982054]]
2025-10-27T17:45:03.380Z,1761587103.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998635,-0.050934,0.011536],[0.047838,-0.980783,-0.189148],[0.020948,-0.188338,0.981881]]
2025-10-27T17:45:03.777Z,1761587103.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998881,-0.045848,0.011615],[0.042808,-0.980821,-0.190153],[0.020111,-0.189443,0.981686]]
2025-10-27T17:45:04.181Z,1761587104.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999089,-0.040826,0.012404],[0.037714,-0.980898,-0.190834],[0.019958,-0.190192,0.981544]]
2025-10-27T17:45:04.586Z,1761587104.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999243,-0.036183,0.014283],[0.032790,-0.981005,-0.191191],[0.020930,-0.190578,0.981449]]
2025-10-27T17:45:05.001Z,1761587105.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999346,-0.031772,0.017275],[0.027863,-0.980944,-0.192283],[0.023055,-0.191676,0.981187]]
2025-10-27T17:45:05.394Z,1761587105.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.028554,0.020500],[0.024086,-0.981050,-0.192253],[0.025601,-0.191640,0.981131]]
2025-10-27T17:45:05.797Z,1761587105.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999333,-0.028121,0.023306],[0.023106,-0.980955,-0.192856],[0.028285,-0.192189,0.980950]]
2025-10-27T17:45:05.956Z,1761587105.956 [DAT](INFO): DAT read: 

2025-10-27T17:45:05.957Z,1761587105.957 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:45:06.202Z,1761587106.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999214,-0.030660,0.025111],[0.025269,-0.981009,-0.192309],[0.030530,-0.191523,0.981013]]
2025-10-27T17:45:06.608Z,1761587106.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999054,-0.034835,0.026013],[0.029210,-0.980987,-0.191863],[0.032202,-0.190922,0.981077]]
2025-10-27T17:45:07.012Z,1761587107.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998867,-0.039809,0.026061],[0.034087,-0.980846,-0.191778],[0.033196,-0.190673,0.981092]]
2025-10-27T17:45:07.311Z,1761587107.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:45:07.414Z,1761587107.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998680,-0.044568,0.025538],[0.038842,-0.980569,-0.192292],[0.033612,-0.191047,0.981005]]
2025-10-27T17:45:07.468Z,1761587107.468 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:45:07.469Z,1761587107.469 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:45:07.470Z,1761587107.470 [DAT](INFO): DAT read: Oct 27 2025 17:45:02 

2025-10-27T17:45:07.818Z,1761587107.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998503,-0.048977,0.024340],[0.043368,-0.980187,-0.193267],[0.033323,-0.191922,0.980844]]
2025-10-27T17:45:08.234Z,1761587108.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998259,-0.055146,0.020946],[0.049928,-0.978956,-0.197868],[0.031417,-0.196478,0.980005]]
2025-10-27T17:45:08.316Z,1761587108.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:45:08.478Z,1761587108.478 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:45:08.480Z,1761587108.480 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:45:08.480Z,1761587108.480 [DAT](INFO): commRate: 600
2025-10-27T17:45:09.038Z,1761587109.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998433,-0.052952,0.018120],[0.048230,-0.978320,-0.201407],[0.028392,-0.200217,0.979340]]
2025-10-27T17:45:09.068Z,1761587109.068 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS,   -83,  +974,  +2BE  +974, 
2025-10-27T17:45:09.088Z,1761587109.088 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:45:09.088Z,1761587109.088 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateRudder:A] Stopped
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:45:09.089Z,1761587109.089 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateCommandMode] Stopped
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:45:09.090Z,1761587109.090 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:45:09.091Z,1761587109.091 [marl:UpdateSpeed] Stopped
2025-10-27T17:45:09.091Z,1761587109.091 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:45:09.496Z,1761587109.496 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:45:09.496Z,1761587109.496 [marl:UpdateRudder:B] Stopped
2025-10-27T17:45:09.496Z,1761587109.496 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:45:09.496Z,1761587109.496 [marl:UpdateRudder] Stopped
2025-10-27T17:45:09.496Z,1761587109.496 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:45:09.858Z,1761587109.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999060,-0.039751,0.017271],[0.035447,-0.978712,-0.202156],[0.024939,-0.201353,0.979201]]
2025-10-27T17:45:10.246Z,1761587110.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999362,-0.031324,0.017145],[0.027247,-0.979243,-0.200850],[0.023081,-0.200255,0.979472]]
2025-10-27T17:45:10.543Z,1761587110.543 [DAT](INFO): entering command mode
2025-10-27T17:45:10.646Z,1761587110.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999590,-0.022718,0.017413],[0.018847,-0.980237,-0.196928],[0.021542,-0.196519,0.980263]]
2025-10-27T17:45:10.745Z,1761587110.745 [DAT](INFO): DAT read: 

2025-10-27T17:45:10.745Z,1761587110.745 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:10.746Z,1761587110.746 [DAT](INFO): setting verbose to 3
2025-10-27T17:45:10.996Z,1761587110.996 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:10.997Z,1761587110.997 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:45:10.997Z,1761587110.997 [DAT](INFO): set verbose to 3
2025-10-27T17:45:10.997Z,1761587110.997 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:45:11.082Z,1761587111.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999742,-0.014540,0.017470],[0.010903,-0.981203,-0.192670],[0.019943,-0.192430,0.981108]]
2025-10-27T17:45:11.248Z,1761587111.248 [DAT](INFO): DAT read: user:2>

2025-10-27T17:45:11.249Z,1761587111.249 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:45:11.249Z,1761587111.249 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:45:11.249Z,1761587111.249 [DAT](INFO): setting transmit power to 8
2025-10-27T17:45:11.454Z,1761587111.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999818,-0.007021,0.017750],[0.003570,-0.982272,-0.187429],[0.018751,-0.187331,0.982118]]
2025-10-27T17:45:11.500Z,1761587111.500 [DAT](INFO): DAT read: user:3>

2025-10-27T17:45:11.501Z,1761587111.501 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:45:11.501Z,1761587111.501 [DAT](INFO): set transmit power to 8
2025-10-27T17:45:11.501Z,1761587111.501 [DAT](INFO): setting local address to 11
2025-10-27T17:45:11.752Z,1761587111.752 [DAT](INFO): DAT read: user:4>

2025-10-27T17:45:11.754Z,1761587111.754 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:45:11.754Z,1761587111.754 [DAT](INFO): set local address to 11
2025-10-27T17:45:11.756Z,1761587111.756 [DAT](INFO): Setting time to: 17:45:11 And date to:10/27/2025
2025-10-27T17:45:12.004Z,1761587112.004 [DAT](INFO): DAT read: user:5>

2025-10-27T17:45:12.005Z,1761587112.005 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:45:11  

2025-10-27T17:45:12.005Z,1761587112.005 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:45:11  

2025-10-27T17:45:12.005Z,1761587112.005 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:12.006Z,1761587112.006 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:12.006Z,1761587112.006 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:12.256Z,1761587112.256 [DAT](INFO): DAT read: user:6>

2025-10-27T17:45:12.257Z,1761587112.257 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:45:12.257Z,1761587112.257 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:45:12.257Z,1761587112.257 [DAT] Communications Fault, FailCount= 2
2025-10-27T17:45:12.258Z,1761587112.258 [DAT](ERROR): Communications Fault
2025-10-27T17:45:12.258Z,1761587112.258 [DAT](INFO): DAT read: user:7>

2025-10-27T17:45:12.259Z,1761587112.259 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:45:12.260Z,1761587112.260 [DAT](INFO): set remote address to 0
2025-10-27T17:45:12.260Z,1761587112.260 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:12.260Z,1761587112.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:12.260Z,1761587112.260 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:12.282Z,1761587112.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999803,0.006117,0.018879],[-0.009413,-0.983659,-0.179795],[0.017471,-0.179938,0.983523]]
2025-10-27T17:45:12.519Z,1761587112.519 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:45:12.663Z,1761587112.663 [DAT](INFO): Powering down
2025-10-27T17:45:12.669Z,1761587112.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999743,0.011124,0.019768],[-0.014446,-0.984145,-0.176779],[0.017488,-0.177019,0.984052]]
2025-10-27T17:45:13.074Z,1761587113.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999667,0.015204,0.020830],[-0.018644,-0.984135,-0.176436],[0.017817,-0.176766,0.984092]]
2025-10-27T17:45:13.475Z,1761587113.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999600,0.017808,0.021966],[-0.021417,-0.984006,-0.176841],[0.018466,-0.177240,0.983994]]
2025-10-27T17:45:13.710Z,1761587113.710 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:45:13.710Z,1761587113.710 [DAT] No Fault, FailCount= 2
2025-10-27T17:45:13.884Z,1761587113.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,0.018860,0.022728],[-0.022626,-0.983619,-0.178834],[0.018983,-0.179270,0.983617]]
2025-10-27T17:45:14.285Z,1761587114.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999564,0.018110,0.023318],[-0.022041,-0.983199,-0.181202],[0.019645,-0.181637,0.983169]]
2025-10-27T17:45:14.685Z,1761587114.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999600,0.015623,0.023576],[-0.019692,-0.982796,-0.183641],[0.020301,-0.184032,0.982711]]
2025-10-27T17:45:15.093Z,1761587115.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999665,0.011564,0.023145],[-0.015666,-0.982469,-0.185766],[0.020591,-0.186067,0.982321]]
2025-10-27T17:45:15.495Z,1761587115.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999734,0.006488,0.022146],[-0.010557,-0.981941,-0.188891],[0.020521,-0.189075,0.981748]]
2025-10-27T17:45:15.891Z,1761587115.891 [DAT](INFO): Powering up
2025-10-27T17:45:15.891Z,1761587115.891 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:45:15.899Z,1761587115.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999780,0.001092,0.020962],[-0.005065,-0.981688,-0.190426],[0.020370,-0.190491,0.981478]]
2025-10-27T17:45:16.308Z,1761587116.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999801,-0.004437,0.019471],[0.000621,-0.981439,-0.191776],[0.019960,-0.191725,0.981246]]
2025-10-27T17:45:16.709Z,1761587116.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999797,-0.009934,0.017524],[0.006357,-0.981080,-0.193500],[0.019114,-0.193349,0.980944]]
2025-10-27T17:45:17.113Z,1761587117.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999774,-0.015079,0.014986],[0.011832,-0.980319,-0.197063],[0.017663,-0.196841,0.980276]]
2025-10-27T17:45:17.518Z,1761587117.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999728,-0.019768,0.012360],[0.016935,-0.980111,-0.197728],[0.016023,-0.197465,0.980179]]
2025-10-27T17:45:17.924Z,1761587117.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999682,-0.023166,0.009906],[0.020721,-0.979608,-0.199846],[0.014334,-0.199577,0.979777]]
2025-10-27T17:45:18.735Z,1761587118.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999700,-0.023823,0.005740],[0.022196,-0.979572,-0.199864],[0.010384,-0.199676,0.979807]]
2025-10-27T17:45:19.134Z,1761587119.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999784,-0.020342,0.004377],[0.019061,-0.979739,-0.199368],[0.008344,-0.199241,0.979915]]
2025-10-27T17:45:20.349Z,1761587120.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999996,-0.001681,0.002078],[0.001250,-0.981289,-0.192536],[0.002363,-0.192533,0.981288]]
2025-10-27T17:45:20.758Z,1761587120.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999984,0.005399,0.001394],[-0.005565,-0.981926,-0.189183],[0.000347,-0.189188,0.981941]]
2025-10-27T17:45:21.153Z,1761587121.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999926,0.012160,0.000445],[-0.012028,-0.982138,-0.187778],[-0.001846,-0.187770,0.982211]]
2025-10-27T17:45:21.558Z,1761587121.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999826,0.018661,-0.000389],[-0.018269,-0.982684,-0.184384],[-0.003824,-0.184345,0.982854]]
2025-10-27T17:45:21.964Z,1761587121.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999690,0.024875,-0.000829],[-0.024303,-0.982780,-0.183175],[-0.005372,-0.183098,0.983080]]
2025-10-27T17:45:21.988Z,1761587121.988 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateRudder:A] Stopped
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:45:21.989Z,1761587121.989 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateCommandMode] Stopped
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:45:21.990Z,1761587121.990 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:45:21.991Z,1761587121.991 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:45:21.991Z,1761587121.991 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:45:21.991Z,1761587121.991 [marl:UpdateSpeed] Stopped
2025-10-27T17:45:21.991Z,1761587121.991 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:45:22.366Z,1761587122.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999537,0.030415,-0.001208],[-0.029689,-0.982912,-0.181666],[-0.006713,-0.181545,0.983360]]
2025-10-27T17:45:22.412Z,1761587122.412 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:45:22.412Z,1761587122.412 [marl:UpdateRudder:B] Stopped
2025-10-27T17:45:22.412Z,1761587122.412 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:45:22.412Z,1761587122.412 [marl:UpdateRudder] Stopped
2025-10-27T17:45:22.412Z,1761587122.412 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:45:23.176Z,1761587123.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999197,0.040063,-0.000245],[-0.039360,-0.982773,-0.180579],[-0.007475,-0.180424,0.983560]]
2025-10-27T17:45:23.586Z,1761587123.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999028,0.044061,0.001256],[-0.043563,-0.982600,-0.180555],[-0.006721,-0.180434,0.983564]]
2025-10-27T17:45:23.982Z,1761587123.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998875,0.047281,0.003660],[-0.047162,-0.982342,-0.181051],[-0.004965,-0.181020,0.983467]]
2025-10-27T17:45:24.386Z,1761587124.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998775,0.049107,0.006158],[-0.049409,-0.982140,-0.181548],[-0.002868,-0.181630,0.983363]]
2025-10-27T17:45:24.796Z,1761587124.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998752,0.049221,0.008426],[-0.049932,-0.982039,-0.181953],[-0.000681,-0.182147,0.983271]]
2025-10-27T17:45:25.201Z,1761587125.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998863,0.046574,0.010172],[-0.047649,-0.981992,-0.182814],[0.001475,-0.183091,0.983095]]
2025-10-27T17:45:25.598Z,1761587125.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999081,0.041482,0.010763],[-0.042750,-0.982311,-0.182310],[0.003010,-0.182603,0.983182]]
2025-10-27T17:45:26.001Z,1761587126.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999322,0.035400,0.010105],[-0.036652,-0.982435,-0.182969],[0.003451,-0.183215,0.983067]]
2025-10-27T17:45:26.407Z,1761587126.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999515,0.029962,0.008454],[-0.031005,-0.982527,-0.183519],[0.002808,-0.183692,0.982980]]
2025-10-27T17:45:27.221Z,1761587127.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999702,0.024095,0.003810],[-0.024381,-0.981842,-0.188128],[-0.000792,-0.188165,0.982137]]
2025-10-27T17:45:27.496Z,1761587127.496 [DAT](INFO): DAT read: 

2025-10-27T17:45:27.496Z,1761587127.496 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:45:27.618Z,1761587127.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999691,0.024785,0.002034],[-0.024720,-0.981441,-0.190163],[-0.002717,-0.190155,0.981750]]
2025-10-27T17:45:28.022Z,1761587128.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999607,0.028017,0.001206],[-0.027724,-0.980868,-0.192692],[-0.004216,-0.192650,0.981259]]
2025-10-27T17:45:28.428Z,1761587128.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999461,0.032819,0.001227],[-0.032429,-0.980273,-0.194968],[-0.005196,-0.194903,0.980809]]
2025-10-27T17:45:28.896Z,1761587128.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999281,0.037874,0.001817],[-0.037494,-0.979826,-0.196302],[-0.005655,-0.196229,0.980542]]
2025-10-27T17:45:28.927Z,1761587128.927 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -64.+2      +18.39,  63.79,  0.00
2025-10-27T17:45:29.009Z,1761587129.009 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:45:29.010Z,1761587129.010 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:45:29.011Z,1761587129.011 [DAT](INFO): DAT read: Oct 27 2025 17:45:23 

2025-10-27T17:45:29.234Z,1761587129.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999076,0.042877,0.002922],[-0.042612,-0.979495,-0.196910],[-0.005581,-0.196853,0.980417]]
2025-10-27T17:45:29.638Z,1761587129.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998852,0.047678,0.004537],[-0.047635,-0.979149,-0.197478],[-0.004973,-0.197467,0.980297]]
2025-10-27T17:45:30.017Z,1761587130.017 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:45:30.018Z,1761587130.018 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:45:30.018Z,1761587130.018 [DAT](INFO): commRate: 600
2025-10-27T17:45:30.060Z,1761587130.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998645,0.051642,0.006436],[-0.051899,-0.979146,-0.196415],[-0.003841,-0.196483,0.980500]]
2025-10-27T17:45:30.448Z,1761587130.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998494,0.054239,0.008265],[-0.054809,-0.979249,-0.195110],[-0.002489,-0.195269,0.980746]]
2025-10-27T17:45:30.877Z,1761587130.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998433,0.055160,0.009449],[-0.055944,-0.979386,-0.194098],[-0.001452,-0.194322,0.980937]]
2025-10-27T17:45:31.259Z,1761587131.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998481,0.054278,0.009463],[-0.055087,-0.980146,-0.190474],[-0.001064,-0.190705,0.981647]]
2025-10-27T17:45:31.659Z,1761587131.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998582,0.052436,0.009211],[-0.053231,-0.980530,-0.189019],[-0.000880,-0.189241,0.981930]]
2025-10-27T17:45:32.061Z,1761587132.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998677,0.050682,0.008654],[-0.051405,-0.980803,-0.188105],[-0.001046,-0.188301,0.982111]]
2025-10-27T17:45:32.083Z,1761587132.083 [DAT](INFO): entering command mode
2025-10-27T17:45:32.284Z,1761587132.284 [DAT](INFO): DAT read: 

2025-10-27T17:45:32.285Z,1761587132.285 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:32.286Z,1761587132.286 [DAT](INFO): setting verbose to 3
2025-10-27T17:45:32.465Z,1761587132.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998718,0.049991,0.007897],[-0.050586,-0.981090,-0.186827],[-0.001592,-0.186987,0.982361]]
2025-10-27T17:45:32.536Z,1761587132.536 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:32.537Z,1761587132.537 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:45:32.537Z,1761587132.537 [DAT](INFO): set verbose to 3
2025-10-27T17:45:32.537Z,1761587132.537 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:45:32.792Z,1761587132.792 [DAT](INFO): DAT read: user:2>

2025-10-27T17:45:32.794Z,1761587132.794 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:45:32.794Z,1761587132.794 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:45:32.795Z,1761587132.795 [DAT](INFO): setting transmit power to 8
2025-10-27T17:45:32.907Z,1761587132.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998745,0.049528,0.007432],[-0.050046,-0.981257,-0.186091],[-0.001924,-0.186230,0.982504]]
2025-10-27T17:45:33.040Z,1761587133.040 [DAT](INFO): DAT read: user:3>

2025-10-27T17:45:33.041Z,1761587133.041 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:45:33.041Z,1761587133.041 [DAT](INFO): set transmit power to 8
2025-10-27T17:45:33.041Z,1761587133.041 [DAT](INFO): setting local address to 11
2025-10-27T17:45:33.293Z,1761587133.293 [DAT](INFO): DAT read: user:4>

2025-10-27T17:45:33.295Z,1761587133.295 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:45:33.295Z,1761587133.295 [DAT](INFO): set local address to 11
2025-10-27T17:45:33.297Z,1761587133.297 [DAT](INFO): Setting time to: 17:45:33 And date to:10/27/2025
2025-10-27T17:45:33.348Z,1761587133.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998744,0.049666,0.006627],[-0.050035,-0.981536,-0.184618],[-0.002664,-0.184717,0.982788]]
2025-10-27T17:45:33.544Z,1761587133.544 [DAT](INFO): DAT read: user:5>

2025-10-27T17:45:33.545Z,1761587133.545 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:45:33  

2025-10-27T17:45:33.545Z,1761587133.545 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:45:33  

2025-10-27T17:45:33.545Z,1761587133.545 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:33.546Z,1761587133.546 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:33.546Z,1761587133.546 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:33.766Z,1761587133.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998718,0.050313,0.005488],[-0.050465,-0.981723,-0.183505],[-0.003845,-0.183547,0.983003]]
2025-10-27T17:45:33.798Z,1761587133.798 [DAT](INFO): DAT read: user:6>

2025-10-27T17:45:33.799Z,1761587133.799 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:45:33.801Z,1761587133.801 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:45:33.801Z,1761587133.801 [DAT] Communications Fault, FailCount= 3
2025-10-27T17:45:33.801Z,1761587133.801 [DAT](ERROR): Communications Fault
2025-10-27T17:45:33.802Z,1761587133.802 [DAT](INFO): DAT read: user:7>

2025-10-27T17:45:33.803Z,1761587133.803 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:45:33.803Z,1761587133.803 [DAT](INFO): set remote address to 0
2025-10-27T17:45:33.804Z,1761587133.804 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:33.804Z,1761587133.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:33.804Z,1761587133.804 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:34.166Z,1761587134.166 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:45:34.189Z,1761587134.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998683,0.051162,0.003958],[-0.051016,-0.981606,-0.183977],[-0.005528,-0.183936,0.982923]]
2025-10-27T17:45:34.207Z,1761587134.207 [DAT](INFO): Powering down
2025-10-27T17:45:34.590Z,1761587134.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998622,0.052444,0.002107],[-0.051934,-0.981494,-0.184318],[-0.007598,-0.184174,0.982864]]
2025-10-27T17:45:34.593Z,1761587134.593 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.594Z,1761587134.594 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:45:34.594Z,1761587134.594 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.596Z,1761587134.596 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-27T17:45:34.597Z,1761587134.597 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:45:34.597Z,1761587134.597 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.598Z,1761587134.598 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.599Z,1761587134.599 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.600Z,1761587134.600 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-27T17:45:34.601Z,1761587134.601 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.601Z,1761587134.601 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T17:45:34.602Z,1761587134.602 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T17:45:34.603Z,1761587134.603 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.
2025-10-27T17:45:34.608Z,1761587134.608 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 38, 39, 44, 47, 54, 58, 62.
2025-10-27T17:45:34.994Z,1761587134.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998513,0.054512,0.000491],[-0.053660,-0.981232,-0.185216],[-0.009615,-0.184967,0.982698]]
2025-10-27T17:45:35.081Z,1761587135.081 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateRudder:A] Stopped
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:45:35.082Z,1761587135.082 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateCommandMode] Stopped
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:45:35.083Z,1761587135.083 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:45:35.084Z,1761587135.084 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:45:35.084Z,1761587135.084 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:45:35.084Z,1761587135.084 [marl:UpdateSpeed] Stopped
2025-10-27T17:45:35.084Z,1761587135.084 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:45:35.218Z,1761587135.218 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:45:35.218Z,1761587135.218 [DAT] No Fault, FailCount= 3
2025-10-27T17:45:35.399Z,1761587135.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998347,0.057478,-0.000613],[-0.056355,-0.980836,-0.186505],[-0.011321,-0.186162,0.982454]]
2025-10-27T17:45:35.446Z,1761587135.446 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:45:35.446Z,1761587135.446 [marl:UpdateRudder:B] Stopped
2025-10-27T17:45:35.446Z,1761587135.446 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:45:35.446Z,1761587135.446 [marl:UpdateRudder] Stopped
2025-10-27T17:45:35.446Z,1761587135.446 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:45:35.808Z,1761587135.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998117,0.061310,-0.001850],[-0.059866,-0.980293,-0.188259],[-0.013355,-0.187794,0.982118]]
2025-10-27T17:45:36.207Z,1761587136.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997831,0.065751,-0.003100],[-0.063971,-0.979766,-0.189645],[-0.015506,-0.189036,0.981848]]
2025-10-27T17:45:36.612Z,1761587136.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997460,0.071101,-0.004284],[-0.068959,-0.978978,-0.191957],[-0.017842,-0.191174,0.981394]]
2025-10-27T17:45:37.435Z,1761587137.435 [DAT](INFO): Powering up
2025-10-27T17:45:37.435Z,1761587137.435 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:45:38.227Z,1761587138.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995496,0.094540,-0.007085],[-0.091355,-0.976561,-0.194891],[-0.025344,-0.193366,0.980799]]
2025-10-27T17:45:38.456Z,1761587138.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:45:38.630Z,1761587138.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995022,0.099389,-0.007286],[-0.096111,-0.976386,-0.193479],[-0.026344,-0.191815,0.981077]]
2025-10-27T17:45:39.034Z,1761587139.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994643,0.103125,-0.007145],[-0.099844,-0.976305,-0.191987],[-0.026774,-0.190245,0.981371]]
2025-10-27T17:45:39.072Z,1761587139.072 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -65.57,   7  0.00
2025-10-27T17:45:39.442Z,1761587139.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994460,0.104875,-0.007056],[-0.101660,-0.976691,-0.189051],[-0.026719,-0.187287,0.981942]]
2025-10-27T17:45:39.461Z,1761587139.461 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:45:39.850Z,1761587139.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994447,0.104994,-0.007216],[-0.101800,-0.977055,-0.187081],[-0.026693,-0.185308,0.982318]]
2025-10-27T17:45:40.246Z,1761587140.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994632,0.103225,-0.007244],[-0.100114,-0.977635,-0.184951],[-0.026174,-0.183233,0.982721]]
2025-10-27T17:45:40.650Z,1761587140.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994945,0.100113,-0.007839],[-0.096991,-0.978271,-0.183243],[-0.026013,-0.181557,0.983036]]
2025-10-27T17:45:41.055Z,1761587141.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995348,0.095947,-0.008789],[-0.092707,-0.978575,-0.183837],[-0.026239,-0.182167,0.982918]]
2025-10-27T17:45:41.465Z,1761587141.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995783,0.091186,-0.010068],[-0.087743,-0.978684,-0.185682],[-0.026785,-0.184016,0.982558]]
2025-10-27T17:45:42.292Z,1761587142.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996893,0.077323,-0.014995],[-0.072803,-0.977250,-0.199206],[-0.030057,-0.197495,0.979843]]
2025-10-27T17:45:42.675Z,1761587142.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997140,0.073555,-0.017343],[-0.068549,-0.976949,-0.202167],[-0.031814,-0.200400,0.979198]]
2025-10-27T17:45:43.081Z,1761587143.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997301,0.070665,-0.019938],[-0.065196,-0.977170,-0.202209],[-0.033771,-0.200363,0.979140]]
2025-10-27T17:45:43.482Z,1761587143.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997353,0.069050,-0.022775],[-0.063076,-0.977484,-0.201360],[-0.036167,-0.199391,0.979252]]
2025-10-27T17:45:43.908Z,1761587143.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997246,0.069276,-0.026469],[-0.062639,-0.977903,-0.199456],[-0.039702,-0.197248,0.979549]]
2025-10-27T17:45:44.692Z,1761587144.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996446,0.077501,-0.032986],[-0.069512,-0.977823,-0.197562],[-0.047565,-0.194568,0.979735]]
2025-10-27T17:45:45.499Z,1761587145.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994904,0.094118,-0.036159],[-0.085344,-0.977078,-0.195028],[-0.053686,-0.190948,0.980131]]
2025-10-27T17:45:45.902Z,1761587145.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994058,0.102498,-0.036656],[-0.093539,-0.976540,-0.193960],[-0.055676,-0.189379,0.980324]]
2025-10-27T17:45:46.309Z,1761587146.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993243,0.110199,-0.036382],[-0.101373,-0.976493,-0.190222],[-0.056489,-0.185248,0.981067]]
2025-10-27T17:45:46.710Z,1761587146.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992481,0.117323,-0.034897],[-0.108686,-0.975824,-0.189619],[-0.056300,-0.184400,0.981237]]
2025-10-27T17:45:47.114Z,1761587147.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991825,0.123321,-0.032800],[-0.114963,-0.975077,-0.189760],[-0.055384,-0.184438,0.981282]]
2025-10-27T17:45:47.526Z,1761587147.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991230,0.128566,-0.030570],[-0.120540,-0.974434,-0.189598],[-0.054164,-0.184250,0.981386]]
2025-10-27T17:45:47.922Z,1761587147.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990799,0.132277,-0.028631],[-0.124503,-0.973780,-0.190400],[-0.053066,-0.185083,0.981289]]
2025-10-27T17:45:47.962Z,1761587147.962 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:45:47.962Z,1761587147.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:45:47.962Z,1761587147.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:45:47.967Z,1761587147.967 [marl:UpdateRudder:A] Stopped
2025-10-27T17:45:47.967Z,1761587147.967 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:45:47.967Z,1761587147.967 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:45:47.967Z,1761587147.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateCommandMode] Stopped
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:45:47.968Z,1761587147.968 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:45:47.969Z,1761587147.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:45:47.969Z,1761587147.969 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:45:47.969Z,1761587147.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:45:47.969Z,1761587147.969 [marl:UpdateSpeed] Stopped
2025-10-27T17:45:47.969Z,1761587147.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:45:48.326Z,1761587148.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990565,0.134249,-0.027534],[-0.126583,-0.973289,-0.191535],[-0.052512,-0.186242,0.981099]]
2025-10-27T17:45:48.350Z,1761587148.350 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:45:48.350Z,1761587148.350 [marl:UpdateRudder:B] Stopped
2025-10-27T17:45:48.350Z,1761587148.350 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:45:48.350Z,1761587148.350 [marl:UpdateRudder] Stopped
2025-10-27T17:45:48.350Z,1761587148.350 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:45:48.738Z,1761587148.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990489,0.135074,-0.026208],[-0.127529,-0.972741,-0.193677],[-0.051654,-0.188493,0.980715]]
2025-10-27T17:45:49.044Z,1761587149.044 [DAT](INFO): DAT read: 

2025-10-27T17:45:49.044Z,1761587149.044 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:45:49.902Z,1761587149.902 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:45:49.903Z,1761587149.903 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:45:49.957Z,1761587149.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990588,0.134578,-0.024987],[-0.127057,-0.971960,-0.197864],[-0.050915,-0.192827,0.979911]]
2025-10-27T17:45:50.010Z,1761587150.010 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:45:50.361Z,1761587150.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990525,0.135070,-0.024823],[-0.127506,-0.971647,-0.199109],[-0.051013,-0.194058,0.979663]]
2025-10-27T17:45:50.557Z,1761587150.557 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:45:50.559Z,1761587150.559 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:45:50.560Z,1761587150.560 [DAT](INFO): DAT read: Oct 27 2025 17:45:45 

2025-10-27T17:45:50.765Z,1761587150.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990272,0.136938,-0.024679],[-0.129360,-0.971374,-0.199244],[-0.051257,-0.194113,0.979639]]
2025-10-27T17:45:51.154Z,1761587151.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989361,0.143280,-0.025206],[-0.135924,-0.972152,-0.190907],[-0.051857,-0.185450,0.981285]]
2025-10-27T17:45:51.558Z,1761587151.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987956,0.152148,-0.028184],[-0.145250,-0.974668,-0.170071],[-0.053347,-0.163929,0.985029]]
2025-10-27T17:45:51.580Z,1761587151.580 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:45:51.581Z,1761587151.581 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:45:51.582Z,1761587151.582 [DAT](INFO): commRate: 600
2025-10-27T17:45:51.976Z,1761587151.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986081,0.163020,-0.032689],[-0.156837,-0.977274,-0.142611],[-0.055194,-0.135499,0.989239]]
2025-10-27T17:45:52.366Z,1761587152.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983877,0.174667,-0.038425],[-0.169536,-0.979300,-0.110587],[-0.056945,-0.102290,0.993123]]
2025-10-27T17:45:52.772Z,1761587152.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981534,0.186066,-0.044384],[-0.182106,-0.979944,-0.080915],[-0.058549,-0.071339,0.995732]]
2025-10-27T17:45:53.189Z,1761587153.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979132,0.197117,-0.049455],[-0.194372,-0.979369,-0.055289],[-0.059333,-0.044523,0.997245]]
2025-10-27T17:45:53.590Z,1761587153.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976839,0.207344,-0.052864],[-0.205619,-0.977960,-0.036268],[-0.059218,-0.024558,0.997943]]
2025-10-27T17:45:53.648Z,1761587153.648 [DAT](INFO): entering command mode
2025-10-27T17:45:53.848Z,1761587153.848 [DAT](INFO): DAT read: 

2025-10-27T17:45:53.848Z,1761587153.848 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:53.848Z,1761587153.848 [DAT](INFO): setting verbose to 3
2025-10-27T17:45:54.100Z,1761587154.100 [DAT](INFO): DAT read: user:1>

2025-10-27T17:45:54.102Z,1761587154.102 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:45:54.102Z,1761587154.102 [DAT](INFO): set verbose to 3
2025-10-27T17:45:54.102Z,1761587154.102 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:45:54.352Z,1761587154.352 [DAT](INFO): DAT read: user:2>

2025-10-27T17:45:54.353Z,1761587154.353 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:45:54.353Z,1761587154.353 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:45:54.353Z,1761587154.353 [DAT](INFO): setting transmit power to 8
2025-10-27T17:45:54.420Z,1761587154.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972481,0.226409,-0.054958],[-0.226024,-0.974032,-0.013206],[-0.056520,-0.000420,0.998401]]
2025-10-27T17:45:54.604Z,1761587154.604 [DAT](INFO): DAT read: user:3>

2025-10-27T17:45:54.605Z,1761587154.605 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:45:54.605Z,1761587154.605 [DAT](INFO): set transmit power to 8
2025-10-27T17:45:54.605Z,1761587154.605 [DAT](INFO): setting local address to 11
2025-10-27T17:45:54.826Z,1761587154.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970060,0.236818,-0.053853],[-0.236658,-0.971547,-0.009419],[-0.054551,0.003608,0.998504]]
2025-10-27T17:45:54.858Z,1761587154.858 [DAT](INFO): DAT read: user:4>

2025-10-27T17:45:54.861Z,1761587154.861 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:45:54.862Z,1761587154.862 [DAT](INFO): set local address to 11
2025-10-27T17:45:54.865Z,1761587154.865 [DAT](INFO): Setting time to: 17:45:54 And date to:10/27/2025
2025-10-27T17:45:55.108Z,1761587155.108 [DAT](INFO): DAT read: user:5>

2025-10-27T17:45:55.109Z,1761587155.109 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:45:54  

2025-10-27T17:45:55.109Z,1761587155.109 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:45:54  

2025-10-27T17:45:55.110Z,1761587155.110 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:55.110Z,1761587155.110 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:55.110Z,1761587155.110 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:55.205Z,1761587155.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967107,0.249021,-0.051896],[-0.248877,-0.968490,-0.009337],[-0.052586,0.003885,0.998609]]
2025-10-27T17:45:55.360Z,1761587155.360 [DAT](INFO): DAT read: user:6>

2025-10-27T17:45:55.361Z,1761587155.361 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:45:55.361Z,1761587155.361 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:45:55.361Z,1761587155.361 [DAT] Communications Fault, FailCount= 4
2025-10-27T17:45:55.362Z,1761587155.362 [DAT](ERROR): Communications Fault
2025-10-27T17:45:55.362Z,1761587155.362 [DAT](INFO): DAT read: user:7>

2025-10-27T17:45:55.363Z,1761587155.363 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:45:55.364Z,1761587155.364 [DAT](INFO): set remote address to 0
2025-10-27T17:45:55.364Z,1761587155.364 [DAT](INFO): setting remote address to 6
2025-10-27T17:45:55.364Z,1761587155.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:45:55.364Z,1761587155.364 [DAT](INFO): setting remote address to 0
2025-10-27T17:45:55.609Z,1761587155.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963475,0.263213,-0.049355],[-0.262977,-0.964736,-0.011331],[-0.050597,0.002062,0.998717]]
2025-10-27T17:45:55.753Z,1761587155.753 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:45:55.767Z,1761587155.767 [DAT](INFO): Powering down
2025-10-27T17:45:56.013Z,1761587156.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959399,0.278181,-0.046575],[-0.277854,-0.960529,-0.013491],[-0.048490,-0.000003,0.998824]]
2025-10-27T17:45:56.417Z,1761587156.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954974,0.293363,-0.044293],[-0.293013,-0.956001,-0.014344],[-0.046552,-0.000720,0.998916]]
2025-10-27T17:45:56.622Z,1761587156.622 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:45:56.622Z,1761587156.622 [DAT] No Fault, FailCount= 4
2025-10-27T17:45:57.239Z,1761587157.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943724,0.328438,-0.038905],[-0.327969,-0.944516,-0.018045],[-0.042673,-0.004269,0.999080]]
2025-10-27T17:45:57.630Z,1761587157.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937067,0.347227,-0.036579],[-0.346767,-0.937770,-0.018453],[-0.040711,-0.004607,0.999160]]
2025-10-27T17:45:58.034Z,1761587158.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929608,0.366912,-0.034719],[-0.366489,-0.930247,-0.018070],[-0.038927,-0.004073,0.999234]]
2025-10-27T17:45:58.439Z,1761587158.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921458,0.387027,-0.033533],[-0.386697,-0.922066,-0.016102],[-0.037152,-0.001870,0.999308]]
2025-10-27T17:45:58.874Z,1761587158.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912719,0.407219,-0.033428],[-0.407041,-0.913327,-0.012277],[-0.035530,0.002401,0.999366]]
2025-10-27T17:45:58.995Z,1761587158.995 [DAT](INFO): Powering up
2025-10-27T17:45:58.995Z,1761587158.995 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:45:59.253Z,1761587159.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903351,0.427524,-0.034358],[-0.427517,-0.903973,-0.007910],[-0.034440,0.007543,0.999378]]
2025-10-27T17:45:59.649Z,1761587159.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893567,0.447507,-0.035718],[-0.447670,-0.894191,-0.003751],[-0.033617,0.012638,0.999355]]
2025-10-27T17:46:00.067Z,1761587160.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883706,0.466522,-0.037700],[-0.466895,-0.884312,0.001249],[-0.032756,0.018705,0.999288]]
2025-10-27T17:46:00.468Z,1761587160.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873619,0.484987,-0.039717],[-0.485577,-0.874172,0.006221],[-0.031703,0.024720,0.999192]]
2025-10-27T17:46:00.881Z,1761587160.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863592,0.502509,-0.041166],[-0.503278,-0.864062,0.010400],[-0.030344,0.029699,0.999098]]
2025-10-27T17:46:00.945Z,1761587160.945 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:46:00.945Z,1761587160.945 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:46:00.945Z,1761587160.945 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:46:00.946Z,1761587160.946 [marl:UpdateRudder:A] Stopped
2025-10-27T17:46:00.946Z,1761587160.946 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:46:00.946Z,1761587160.946 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:46:00.946Z,1761587160.946 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:46:00.946Z,1761587160.946 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:46:00.947Z,1761587160.947 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateCommandMode] Stopped
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:46:00.951Z,1761587160.951 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:46:00.952Z,1761587160.952 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:46:00.952Z,1761587160.952 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:46:00.952Z,1761587160.952 [marl:UpdateSpeed] Stopped
2025-10-27T17:46:00.952Z,1761587160.952 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:46:01.269Z,1761587161.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853898,0.518807,-0.041203],[-0.519646,-0.854291,0.012438],[-0.028747,0.032032,0.999073]]
2025-10-27T17:46:01.318Z,1761587161.318 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:46:01.318Z,1761587161.318 [marl:UpdateRudder:B] Stopped
2025-10-27T17:46:01.318Z,1761587161.318 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:46:01.318Z,1761587161.318 [marl:UpdateRudder] Stopped
2025-10-27T17:46:01.318Z,1761587161.318 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:46:01.673Z,1761587161.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844906,0.533450,-0.039558],[-0.534255,-0.845226,0.012864],[-0.026573,0.032003,0.999134]]
2025-10-27T17:46:02.077Z,1761587162.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837007,0.545971,-0.036532],[-0.546678,-0.837248,0.012593],[-0.023710,0.030512,0.999253]]
2025-10-27T17:46:02.485Z,1761587162.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830753,0.555648,-0.033239],[-0.556266,-0.830903,0.012925],[-0.020436,0.029227,0.999364]]
2025-10-27T17:46:02.892Z,1761587162.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826190,0.562594,-0.029964],[-0.563126,-0.826264,0.013285],[-0.017284,0.027850,0.999463]]
2025-10-27T17:46:03.294Z,1761587163.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822355,0.568380,-0.025994],[-0.568798,-0.822379,0.012687],[-0.014166,0.025219,0.999582]]
2025-10-27T17:46:03.697Z,1761587163.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819041,0.573334,-0.021466],[-0.573621,-0.819052,0.010631],[-0.011487,0.021021,0.999713]]
2025-10-27T17:46:04.506Z,1761587164.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817678,0.575676,-0.000884],[-0.575633,-0.817634,-0.011034],[-0.007075,-0.008513,0.999939]]
2025-10-27T17:46:04.912Z,1761587164.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820591,0.571283,0.016333],[-0.571497,-0.819991,-0.031732],[-0.004735,-0.035373,0.999363]]
2025-10-27T17:46:05.314Z,1761587165.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824644,0.564521,0.035746],[-0.565647,-0.822734,-0.056141],[-0.002284,-0.066516,0.997783]]
2025-10-27T17:46:05.729Z,1761587165.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828422,0.557354,0.055447],[-0.560105,-0.824344,-0.082088],[-0.000045,-0.099060,0.995081]]
2025-10-27T17:46:06.121Z,1761587166.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831106,0.551190,0.073841],[-0.556110,-0.824215,-0.106824],[0.001980,-0.129846,0.991532]]
2025-10-27T17:46:07.335Z,1761587167.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831530,0.543480,0.114839],[-0.555421,-0.816494,-0.157625],[0.008099,-0.194854,0.980799]]
2025-10-27T17:46:07.746Z,1761587167.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829528,0.544913,0.122281],[-0.558372,-0.813250,-0.163845],[0.010163,-0.204193,0.978878]]
2025-10-27T17:46:08.146Z,1761587168.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826638,0.547850,0.128569],[-0.562605,-0.809481,-0.167975],[0.012049,-0.211188,0.977371]]
2025-10-27T17:46:08.550Z,1761587168.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822459,0.553052,0.133019],[-0.568652,-0.805162,-0.168370],[0.013984,-0.214119,0.976707]]
2025-10-27T17:46:08.950Z,1761587168.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817770,0.559458,0.135123],[-0.575336,-0.800950,-0.165735],[0.015505,-0.213274,0.976869]]
2025-10-27T17:46:09.354Z,1761587169.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812217,0.567462,0.135242],[-0.583118,-0.796385,-0.160450],[0.016655,-0.209182,0.977735]]
2025-10-27T17:46:09.587Z,1761587169.587 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:46:09.762Z,1761587169.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806110,0.576638,0.132949],[-0.591509,-0.791783,-0.152308],[0.017440,-0.201417,0.979350]]
2025-10-27T17:46:10.163Z,1761587170.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799624,0.586500,0.128915],[-0.600237,-0.787001,-0.142636],[0.017800,-0.191434,0.981344]]
2025-10-27T17:46:10.566Z,1761587170.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793689,0.595487,0.124310],[-0.608060,-0.782615,-0.133329],[0.017892,-0.181410,0.983245]]
2025-10-27T17:46:10.591Z,1761587170.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:46:10.600Z,1761587170.600 [DAT](INFO): DAT read: 

2025-10-27T17:46:10.601Z,1761587170.601 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:46:10.969Z,1761587170.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788157,0.603793,0.119342],[-0.615217,-0.778480,-0.124408],[0.017789,-0.171474,0.985028]]
2025-10-27T17:46:11.374Z,1761587171.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783488,0.610646,0.115144],[-0.621153,-0.774903,-0.117021],[0.017767,-0.163206,0.986432]]
2025-10-27T17:46:11.779Z,1761587171.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780089,0.615481,0.112447],[-0.625396,-0.772361,-0.111077],[0.018484,-0.156973,0.987430]]
2025-10-27T17:46:12.112Z,1761587172.112 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:46:12.113Z,1761587172.113 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:46:12.114Z,1761587172.114 [DAT](INFO): DAT read: Oct 27 2025 17:46:06 

2025-10-27T17:46:12.182Z,1761587172.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778704,0.617290,0.112126],[-0.627072,-0.771478,-0.107711],[0.020014,-0.154187,0.987839]]
2025-10-27T17:46:12.586Z,1761587172.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779413,0.616288,0.112712],[-0.626116,-0.772595,-0.105242],[0.022221,-0.152598,0.988038]]
2025-10-27T17:46:12.991Z,1761587172.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781671,0.613144,0.114217],[-0.623214,-0.775025,-0.104592],[0.024391,-0.152938,0.987935]]
2025-10-27T17:46:13.121Z,1761587173.121 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:46:13.123Z,1761587173.123 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:46:13.123Z,1761587173.123 [DAT](INFO): commRate: 600
2025-10-27T17:46:13.396Z,1761587173.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784214,0.609361,0.116995],[-0.619946,-0.777371,-0.106588],[0.025998,-0.156118,0.987396]]
2025-10-27T17:46:13.797Z,1761587173.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787249,0.605034,0.119047],[-0.616032,-0.780219,-0.108458],[0.027262,-0.158721,0.986947]]
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateRudder:A] Stopped
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:46:14.270Z,1761587174.270 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:46:14.271Z,1761587174.271 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:46:14.271Z,1761587174.271 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:46:14.271Z,1761587174.271 [marl:UpdateCommandMode] Stopped
2025-10-27T17:46:14.271Z,1761587174.271 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:46:14.271Z,1761587174.271 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed] Stopped
2025-10-27T17:46:14.272Z,1761587174.272 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:46:14.642Z,1761587174.642 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:46:14.642Z,1761587174.642 [marl:UpdateRudder:B] Stopped
2025-10-27T17:46:14.643Z,1761587174.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:46:14.659Z,1761587174.659 [marl:UpdateRudder] Stopped
2025-10-27T17:46:14.659Z,1761587174.659 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:46:15.009Z,1761587175.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797219,0.590381,0.126064],[-0.602938,-0.789097,-0.117438],[0.030144,-0.169633,0.985046]]
2025-10-27T17:46:15.187Z,1761587175.187 [DAT](INFO): entering command mode
2025-10-27T17:46:15.388Z,1761587175.388 [DAT](INFO): DAT read: 

2025-10-27T17:46:15.388Z,1761587175.388 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:15.388Z,1761587175.388 [DAT](INFO): setting verbose to 3
2025-10-27T17:46:15.414Z,1761587175.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800057,0.585894,0.128985],[-0.599136,-0.791339,-0.121732],[0.030749,-0.174672,0.984146]]
2025-10-27T17:46:15.640Z,1761587175.640 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:15.641Z,1761587175.641 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:46:15.641Z,1761587175.641 [DAT](INFO): set verbose to 3
2025-10-27T17:46:15.641Z,1761587175.641 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:46:15.817Z,1761587175.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801664,0.582913,0.132467],[-0.596955,-0.792269,-0.126316],[0.031318,-0.180340,0.983106]]
2025-10-27T17:46:15.892Z,1761587175.892 [DAT](INFO): DAT read: user:2>

2025-10-27T17:46:15.893Z,1761587175.893 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:46:15.893Z,1761587175.893 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:46:15.893Z,1761587175.893 [DAT](INFO): setting transmit power to 8
2025-10-27T17:46:16.144Z,1761587176.144 [DAT](INFO): DAT read: user:3>

2025-10-27T17:46:16.145Z,1761587176.145 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:46:16.145Z,1761587176.145 [DAT](INFO): set transmit power to 8
2025-10-27T17:46:16.145Z,1761587176.145 [DAT](INFO): setting local address to 11
2025-10-27T17:46:16.229Z,1761587176.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802287,0.581571,0.134580],[-0.596103,-0.792466,-0.129068],[0.031588,-0.183773,0.982461]]
2025-10-27T17:46:16.396Z,1761587176.396 [DAT](INFO): DAT read: user:4>

2025-10-27T17:46:16.397Z,1761587176.397 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:46:16.397Z,1761587176.397 [DAT](INFO): set local address to 11
2025-10-27T17:46:16.398Z,1761587176.398 [DAT](INFO): Setting time to: 17:46:16 And date to:10/27/2025
2025-10-27T17:46:16.626Z,1761587176.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801836,0.581563,0.137273],[-0.596690,-0.791556,-0.131911],[0.031945,-0.187681,0.981710]]
2025-10-27T17:46:16.648Z,1761587176.648 [DAT](INFO): DAT read: user:5>

2025-10-27T17:46:16.649Z,1761587176.649 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:46:16  

2025-10-27T17:46:16.649Z,1761587176.649 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:46:16  

2025-10-27T17:46:16.650Z,1761587176.650 [DAT](INFO): setting remote address to 6
2025-10-27T17:46:16.650Z,1761587176.650 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:46:16.650Z,1761587176.650 [DAT](INFO): setting remote address to 0
2025-10-27T17:46:16.900Z,1761587176.900 [DAT](INFO): DAT read: user:6>

2025-10-27T17:46:16.901Z,1761587176.901 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:46:16.901Z,1761587176.901 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:46:16.901Z,1761587176.901 [DAT] Communications Fault, FailCount= 5
2025-10-27T17:46:16.902Z,1761587176.902 [DAT](ERROR): Communications Fault
2025-10-27T17:46:16.902Z,1761587176.902 [DAT](INFO): DAT read: user:7>

2025-10-27T17:46:16.903Z,1761587176.903 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:46:16.904Z,1761587176.904 [DAT](INFO): set remote address to 0
2025-10-27T17:46:16.904Z,1761587176.904 [DAT](INFO): setting remote address to 6
2025-10-27T17:46:16.904Z,1761587176.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:46:16.904Z,1761587176.904 [DAT](INFO): setting remote address to 0
2025-10-27T17:46:17.242Z,1761587177.242 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:46:17.307Z,1761587177.307 [DAT](INFO): Powering down
2025-10-27T17:46:17.434Z,1761587177.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795724,0.588404,0.143543],[-0.604798,-0.784587,-0.136536],[0.032284,-0.195459,0.980180]]
2025-10-27T17:46:17.838Z,1761587177.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791396,0.593729,0.145528],[-0.610425,-0.780299,-0.136068],[0.032768,-0.196518,0.979952]]
2025-10-27T17:46:18.442Z,1761587178.442 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:46:18.442Z,1761587178.442 [DAT] No Fault, FailCount= 5
2025-10-27T17:46:18.648Z,1761587178.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782660,0.604613,0.147940],[-0.621528,-0.772036,-0.132908],[0.033857,-0.195970,0.980025]]
2025-10-27T17:46:19.049Z,1761587179.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778357,0.610363,0.147028],[-0.626873,-0.768442,-0.128561],[0.034514,-0.192234,0.980742]]
2025-10-27T17:46:19.453Z,1761587179.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774363,0.615681,0.145939],[-0.631761,-0.765150,-0.124189],[0.035205,-0.188365,0.981468]]
2025-10-27T17:46:19.857Z,1761587179.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772053,0.618908,0.144522],[-0.634533,-0.763524,-0.119993],[0.036082,-0.184345,0.982199]]
2025-10-27T17:46:20.268Z,1761587180.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771048,0.620769,0.141884],[-0.635711,-0.763297,-0.115108],[0.036844,-0.178951,0.983168]]
2025-10-27T17:46:20.535Z,1761587180.535 [DAT](INFO): Powering up
2025-10-27T17:46:20.535Z,1761587180.535 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:46:21.070Z,1761587181.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773532,0.618576,0.137886],[-0.632574,-0.766884,-0.108350],[0.038720,-0.171035,0.984504]]
2025-10-27T17:46:21.473Z,1761587181.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776510,0.615319,0.135699],[-0.628861,-0.770319,-0.105560],[0.039579,-0.167304,0.985111]]
2025-10-27T17:46:21.879Z,1761587181.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779555,0.611409,0.135916],[-0.625016,-0.773450,-0.105504],[0.040618,-0.167196,0.985087]]
2025-10-27T17:46:22.281Z,1761587182.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782101,0.607804,0.137448],[-0.621780,-0.775784,-0.107463],[0.041313,-0.169509,0.984662]]
2025-10-27T17:46:22.697Z,1761587182.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783811,0.605009,0.140018],[-0.619556,-0.777219,-0.109912],[0.042327,-0.172899,0.984030]]
2025-10-27T17:46:23.089Z,1761587183.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784253,0.603698,0.143164],[-0.618922,-0.777359,-0.112464],[0.043395,-0.176807,0.983288]]
2025-10-27T17:46:23.927Z,1761587183.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781157,0.605487,0.152247],[-0.622701,-0.773223,-0.119873],[0.045139,-0.188444,0.981046]]
2025-10-27T17:46:24.715Z,1761587184.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773748,0.613275,0.158770],[-0.631835,-0.765215,-0.123412],[0.045807,-0.195806,0.979572]]
2025-10-27T17:46:25.116Z,1761587185.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763489,0.625733,0.159820],[-0.644296,-0.754990,-0.121955],[0.044351,-0.196083,0.979584]]
2025-10-27T17:46:25.519Z,1761587185.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759398,0.631286,0.157457],[-0.649162,-0.751394,-0.118300],[0.043631,-0.192052,0.980414]]
2025-10-27T17:46:25.923Z,1761587185.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757353,0.634783,0.153192],[-0.651543,-0.750264,-0.112233],[0.043691,-0.184811,0.981802]]
2025-10-27T17:46:26.326Z,1761587186.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757570,0.635464,0.149242],[-0.651270,-0.751234,-0.107217],[0.043983,-0.178421,0.982971]]
2025-10-27T17:46:26.736Z,1761587186.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759216,0.634340,0.145611],[-0.649332,-0.753470,-0.103203],[0.044248,-0.172903,0.983944]]
2025-10-27T17:46:27.132Z,1761587187.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761571,0.632055,0.143231],[-0.646539,-0.756209,-0.100673],[0.044682,-0.169274,0.984556]]
2025-10-27T17:46:27.210Z,1761587187.210 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:46:27.211Z,1761587187.211 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:46:27.215Z,1761587187.215 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:46:27.215Z,1761587187.215 [marl:UpdateRudder:A] Stopped
2025-10-27T17:46:27.215Z,1761587187.215 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:46:27.215Z,1761587187.215 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode] Stopped
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:46:27.216Z,1761587187.216 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:46:27.217Z,1761587187.217 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:46:27.217Z,1761587187.217 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:46:27.217Z,1761587187.217 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:46:27.217Z,1761587187.217 [marl:UpdateSpeed] Stopped
2025-10-27T17:46:27.217Z,1761587187.217 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:46:27.534Z,1761587187.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764365,0.628956,0.141986],[-0.643215,-0.759141,-0.099903],[0.044953,-0.167690,0.984814]]
2025-10-27T17:46:27.575Z,1761587187.575 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:46:27.575Z,1761587187.575 [marl:UpdateRudder:B] Stopped
2025-10-27T17:46:27.576Z,1761587187.576 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:46:27.576Z,1761587187.576 [marl:UpdateRudder] Stopped
2025-10-27T17:46:27.576Z,1761587187.576 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:46:27.937Z,1761587187.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767036,0.625646,0.142207],[-0.639998,-0.761758,-0.100635],[0.045366,-0.168203,0.984708]]
2025-10-27T17:46:28.341Z,1761587188.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769170,0.622638,0.143872],[-0.637445,-0.763465,-0.103853],[0.045178,-0.171591,0.984132]]
2025-10-27T17:46:28.765Z,1761587188.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770244,0.620785,0.146117],[-0.636141,-0.764126,-0.106942],[0.045264,-0.175322,0.983470]]
2025-10-27T17:46:29.193Z,1761587189.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770867,0.619665,0.147576],[-0.635406,-0.764380,-0.109465],[0.044973,-0.178154,0.982974]]
2025-10-27T17:46:29.597Z,1761587189.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770944,0.619195,0.149144],[-0.635342,-0.764056,-0.112064],[0.044566,-0.181152,0.982445]]
2025-10-27T17:46:30.000Z,1761587190.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770379,0.619505,0.150762],[-0.636059,-0.763095,-0.114522],[0.044099,-0.184119,0.981914]]
2025-10-27T17:46:30.402Z,1761587190.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769440,0.620372,0.151989],[-0.637236,-0.761812,-0.116507],[0.043509,-0.186498,0.981491]]
2025-10-27T17:46:30.819Z,1761587190.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768067,0.621549,0.154111],[-0.638933,-0.759929,-0.119463],[0.042861,-0.190222,0.980805]]
2025-10-27T17:46:31.626Z,1761587191.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764161,0.625818,0.156235],[-0.643757,-0.755128,-0.123930],[0.040420,-0.195280,0.979914]]
2025-10-27T17:46:32.027Z,1761587192.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761753,0.628677,0.156516],[-0.646686,-0.752425,-0.125116],[0.039109,-0.196525,0.979719]]
2025-10-27T17:46:32.147Z,1761587192.147 [DAT](INFO): DAT read: 

2025-10-27T17:46:32.149Z,1761587192.149 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:46:32.430Z,1761587192.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759030,0.631914,0.156712],[-0.649931,-0.749586,-0.125344],[0.038263,-0.196992,0.979658]]
2025-10-27T17:46:32.875Z,1761587192.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756321,0.635758,0.154243],[-0.653149,-0.747179,-0.122963],[0.037072,-0.193743,0.980352]]
2025-10-27T17:46:33.239Z,1761587193.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753871,0.639469,0.150856],[-0.656040,-0.745184,-0.119634],[0.035913,-0.189156,0.981290]]
2025-10-27T17:46:33.657Z,1761587193.657 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:46:33.659Z,1761587193.659 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:46:33.660Z,1761587193.660 [DAT](INFO): DAT read: Oct 27 2025 17:46:28 

2025-10-27T17:46:33.662Z,1761587193.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753033,0.641682,0.145553],[-0.657079,-0.744957,-0.115264],[0.034468,-0.182438,0.982613]]
2025-10-27T17:46:34.450Z,1761587194.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754899,0.641353,0.137091],[-0.655073,-0.747471,-0.110301],[0.031730,-0.173071,0.984398]]
2025-10-27T17:46:34.665Z,1761587194.665 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:46:34.668Z,1761587194.668 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:46:34.668Z,1761587194.668 [DAT](INFO): commRate: 600
2025-10-27T17:46:34.883Z,1761587194.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757281,0.639368,0.133167],[-0.652390,-0.750009,-0.108968],[0.030206,-0.169396,0.985085]]
2025-10-27T17:46:35.259Z,1761587195.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760970,0.635555,0.130365],[-0.648150,-0.753622,-0.109343],[0.028753,-0.167703,0.985418]]
2025-10-27T17:46:35.670Z,1761587195.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765484,0.630410,0.128911],[-0.642866,-0.757853,-0.111278],[0.027545,-0.168054,0.985393]]
2025-10-27T17:46:36.066Z,1761587196.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770026,0.624788,0.129227],[-0.637450,-0.761900,-0.114741],[0.026770,-0.170729,0.984954]]
2025-10-27T17:46:36.470Z,1761587196.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773712,0.619802,0.131209],[-0.632984,-0.764930,-0.119218],[0.026474,-0.175293,0.984160]]
2025-10-27T17:46:36.735Z,1761587196.735 [DAT](INFO): entering command mode
2025-10-27T17:46:36.884Z,1761587196.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775943,0.616340,0.134306],[-0.630266,-0.766293,-0.124740],[0.026035,-0.181439,0.983057]]
2025-10-27T17:46:36.936Z,1761587196.936 [DAT](INFO): DAT read: 

2025-10-27T17:46:36.936Z,1761587196.936 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:36.937Z,1761587196.937 [DAT](INFO): setting verbose to 3
2025-10-27T17:46:37.188Z,1761587197.188 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:37.189Z,1761587197.189 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:46:37.189Z,1761587197.189 [DAT](INFO): set verbose to 3
2025-10-27T17:46:37.190Z,1761587197.190 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:46:37.278Z,1761587197.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776424,0.615039,0.137453],[-0.629693,-0.765949,-0.129649],[0.025542,-0.187216,0.981987]]
2025-10-27T17:46:37.440Z,1761587197.440 [DAT](INFO): DAT read: user:2>

2025-10-27T17:46:37.441Z,1761587197.441 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:46:37.441Z,1761587197.441 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:46:37.441Z,1761587197.441 [DAT](INFO): setting transmit power to 8
2025-10-27T17:46:37.681Z,1761587197.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775445,0.615638,0.140266],[-0.630913,-0.764328,-0.133235],[0.025185,-0.191812,0.981108]]
2025-10-27T17:46:37.692Z,1761587197.692 [DAT](INFO): DAT read: user:3>

2025-10-27T17:46:37.693Z,1761587197.693 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:46:37.693Z,1761587197.693 [DAT](INFO): set transmit power to 8
2025-10-27T17:46:37.693Z,1761587197.693 [DAT](INFO): setting local address to 11
2025-10-27T17:46:37.944Z,1761587197.944 [DAT](INFO): DAT read: user:4>

2025-10-27T17:46:37.945Z,1761587197.945 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:46:37.945Z,1761587197.945 [DAT](INFO): set local address to 11
2025-10-27T17:46:37.946Z,1761587197.946 [DAT](INFO): Setting time to: 17:46:37 And date to:10/27/2025
2025-10-27T17:46:38.086Z,1761587198.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773011,0.617873,0.143831],[-0.633910,-0.761155,-0.137117],[0.024757,-0.197169,0.980057]]
2025-10-27T17:46:38.196Z,1761587198.196 [DAT](INFO): DAT read: user:5>

2025-10-27T17:46:38.197Z,1761587198.197 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:46:37  

2025-10-27T17:46:38.198Z,1761587198.198 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:46:37  

2025-10-27T17:46:38.199Z,1761587198.199 [DAT](INFO): setting remote address to 6
2025-10-27T17:46:38.200Z,1761587198.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:46:38.201Z,1761587198.201 [DAT](INFO): setting remote address to 0
2025-10-27T17:46:38.448Z,1761587198.448 [DAT](INFO): DAT read: user:6>

2025-10-27T17:46:38.449Z,1761587198.449 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:46:38.449Z,1761587198.449 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:46:38.449Z,1761587198.449 [DAT] Communications Fault, FailCount= 6
2025-10-27T17:46:38.449Z,1761587198.449 [DAT](ERROR): Communications Fault
2025-10-27T17:46:38.450Z,1761587198.450 [DAT](INFO): DAT read: user:7>

2025-10-27T17:46:38.451Z,1761587198.451 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:46:38.452Z,1761587198.452 [DAT](INFO): set remote address to 0
2025-10-27T17:46:38.452Z,1761587198.452 [DAT](INFO): setting remote address to 6
2025-10-27T17:46:38.452Z,1761587198.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:46:38.452Z,1761587198.452 [DAT](INFO): setting remote address to 0
2025-10-27T17:46:38.490Z,1761587198.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769758,0.621179,0.146997],[-0.637876,-0.757265,-0.140225],[0.024211,-0.201706,0.979147]]
2025-10-27T17:46:38.729Z,1761587198.729 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:46:38.856Z,1761587198.856 [DAT](INFO): Powering down
2025-10-27T17:46:38.897Z,1761587198.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765677,0.625670,0.149250],[-0.642807,-0.752655,-0.142508],[0.023171,-0.205054,0.978476]]
2025-10-27T17:46:39.298Z,1761587199.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760598,0.631724,0.149715],[-0.648856,-0.747428,-0.142607],[0.021813,-0.205610,0.978391]]
2025-10-27T17:46:39.701Z,1761587199.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754821,0.638827,0.148815],[-0.655629,-0.741683,-0.141620],[0.019903,-0.204465,0.978672]]
2025-10-27T17:46:39.916Z,1761587199.916 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:46:39.916Z,1761587199.916 [DAT] No Fault, FailCount= 6
2025-10-27T17:46:40.105Z,1761587200.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749428,0.645651,0.146603],[-0.661838,-0.736604,-0.139231],[0.018094,-0.201372,0.979348]]
2025-10-27T17:46:40.159Z,1761587200.159 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:46:40.159Z,1761587200.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateRudder:A] Stopped
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:46:40.160Z,1761587200.160 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateCommandMode] Stopped
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:46:40.161Z,1761587200.161 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:46:40.162Z,1761587200.162 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:46:40.162Z,1761587200.162 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:46:40.162Z,1761587200.162 [marl:UpdateSpeed] Stopped
2025-10-27T17:46:40.162Z,1761587200.162 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:46:40.510Z,1761587200.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744728,0.651708,0.143727],[-0.667168,-0.732308,-0.136426],[0.016343,-0.197490,0.980169]]
2025-10-27T17:46:40.565Z,1761587200.565 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:46:40.566Z,1761587200.566 [marl:UpdateRudder:B] Stopped
2025-10-27T17:46:40.566Z,1761587200.566 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:46:40.566Z,1761587200.566 [marl:UpdateRudder] Stopped
2025-10-27T17:46:40.566Z,1761587200.566 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:46:40.711Z,1761587200.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:46:40.915Z,1761587200.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741391,0.656642,0.138423],[-0.670908,-0.729850,-0.131154],[0.014907,-0.190106,0.981650]]
2025-10-27T17:46:41.318Z,1761587201.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739266,0.660046,0.133512],[-0.673270,-0.728539,-0.126249],[0.013938,-0.183222,0.982973]]
2025-10-27T17:46:41.715Z,1761587201.715 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:46:41.725Z,1761587201.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737958,0.662333,0.129358],[-0.674717,-0.727890,-0.122200],[0.013221,-0.177459,0.984039]]
2025-10-27T17:46:42.111Z,1761587202.111 [DAT](INFO): Powering up
2025-10-27T17:46:42.111Z,1761587202.111 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:46:42.137Z,1761587202.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737709,0.663211,0.126242],[-0.674994,-0.728162,-0.119012],[0.012995,-0.173009,0.984834]]
2025-10-27T17:46:42.933Z,1761587202.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738417,0.663071,0.122789],[-0.674222,-0.729408,-0.115708],[0.012841,-0.168228,0.985664]]
2025-10-27T17:46:43.337Z,1761587203.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738871,0.662528,0.122993],[-0.673712,-0.729977,-0.115094],[0.013529,-0.167902,0.985711]]
2025-10-27T17:46:43.748Z,1761587203.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739579,0.661469,0.124424],[-0.672927,-0.730481,-0.116478],[0.013843,-0.169873,0.985369]]
2025-10-27T17:46:44.549Z,1761587204.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740697,0.659779,0.126725],[-0.671679,-0.731337,-0.118294],[0.014631,-0.172739,0.984859]]
2025-10-27T17:46:44.954Z,1761587204.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741843,0.658430,0.127036],[-0.670413,-0.732375,-0.119053],[0.014650,-0.173485,0.984728]]
2025-10-27T17:46:45.766Z,1761587205.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746849,0.653165,0.124870],[-0.664864,-0.737136,-0.120778],[0.013158,-0.173224,0.984795]]
2025-10-27T17:46:46.166Z,1761587206.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750613,0.649128,0.123344],[-0.660629,-0.740751,-0.121891],[0.012244,-0.172977,0.984850]]
2025-10-27T17:46:46.570Z,1761587206.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754773,0.644358,0.122968],[-0.655885,-0.744574,-0.124194],[0.011534,-0.174392,0.984609]]
2025-10-27T17:46:46.973Z,1761587206.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759009,0.639431,0.122610],[-0.650991,-0.748437,-0.126701],[0.010749,-0.175985,0.984334]]
2025-10-27T17:46:47.379Z,1761587207.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762988,0.634403,0.124022],[-0.646330,-0.751782,-0.130697],[0.010323,-0.179880,0.983634]]
2025-10-27T17:46:47.782Z,1761587207.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765662,0.630645,0.126684],[-0.643162,-0.753708,-0.135158],[0.010245,-0.184964,0.982692]]
2025-10-27T17:46:48.186Z,1761587208.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766602,0.628654,0.130827],[-0.642037,-0.753742,-0.140218],[0.010461,-0.191487,0.981439]]
2025-10-27T17:46:48.589Z,1761587208.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766118,0.628336,0.135119],[-0.642610,-0.752407,-0.144692],[0.010749,-0.197680,0.980208]]
2025-10-27T17:46:48.996Z,1761587208.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763786,0.630045,0.140265],[-0.645377,-0.749101,-0.149451],[0.010912,-0.204672,0.978770]]
2025-10-27T17:46:49.398Z,1761587209.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760336,0.633484,0.143486],[-0.649442,-0.745103,-0.151813],[0.010741,-0.208615,0.977939]]
2025-10-27T17:46:49.801Z,1761587209.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755793,0.638371,0.145809],[-0.654736,-0.740104,-0.153515],[0.009914,-0.211492,0.977329]]
2025-10-27T17:46:49.997Z,1761587209.997 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:46:49.997Z,1761587209.997 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:46:50.206Z,1761587210.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750206,0.644859,0.146108],[-0.661152,-0.734371,-0.153545],[0.008282,-0.211790,0.977280]]
2025-10-27T17:46:50.263Z,1761587210.263 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:46:50.622Z,1761587210.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744097,0.652372,0.143982],[-0.668045,-0.728520,-0.151574],[0.006011,-0.208972,0.977903]]
2025-10-27T17:46:51.013Z,1761587211.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738319,0.659690,0.140336],[-0.674442,-0.723273,-0.148335],[0.003646,-0.204167,0.978929]]
2025-10-27T17:46:51.418Z,1761587211.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733911,0.665685,0.135049],[-0.679243,-0.719780,-0.143337],[0.001788,-0.196927,0.980416]]
2025-10-27T17:46:51.821Z,1761587211.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731060,0.669722,0.130471],[-0.682312,-0.717791,-0.138658],[0.000788,-0.190390,0.981708]]
2025-10-27T17:46:52.636Z,1761587212.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726128,0.675961,0.125758],[-0.687560,-0.714018,-0.132059],[0.000527,-0.182357,0.983232]]
2025-10-27T17:46:53.052Z,1761587213.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722810,0.679558,0.125486],[-0.691046,-0.711071,-0.129744],[0.001061,-0.180496,0.983575]]
2025-10-27T17:46:53.147Z,1761587213.147 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:46:53.147Z,1761587213.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:46:53.147Z,1761587213.147 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateRudder:A] Stopped
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode] Stopped
2025-10-27T17:46:53.148Z,1761587213.148 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed] Stopped
2025-10-27T17:46:53.149Z,1761587213.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:46:53.437Z,1761587213.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719143,0.683310,0.126178],[-0.694860,-0.707629,-0.128184],[0.001698,-0.179859,0.983691]]
2025-10-27T17:46:53.498Z,1761587213.498 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:46:53.498Z,1761587213.498 [marl:UpdateRudder:B] Stopped
2025-10-27T17:46:53.498Z,1761587213.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:46:53.498Z,1761587213.498 [marl:UpdateRudder] Stopped
2025-10-27T17:46:53.498Z,1761587213.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:46:53.708Z,1761587213.708 [DAT](INFO): DAT read: 

2025-10-27T17:46:53.709Z,1761587213.709 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:46:53.843Z,1761587213.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715439,0.687025,0.127058],[-0.698672,-0.704080,-0.127001],[0.002206,-0.179633,0.983731]]
2025-10-27T17:46:54.650Z,1761587214.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710122,0.692663,0.126271],[-0.704074,-0.699259,-0.123766],[0.002568,-0.176793,0.984245]]
2025-10-27T17:46:55.220Z,1761587215.220 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:46:55.221Z,1761587215.221 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:46:55.222Z,1761587215.222 [DAT](INFO): DAT read: Oct 27 2025 17:46:49 

2025-10-27T17:46:55.460Z,1761587215.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710222,0.693247,0.122452],[-0.703975,-0.699887,-0.120732],[0.002005,-0.171950,0.985104]]
2025-10-27T17:46:55.861Z,1761587215.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712516,0.691413,0.119453],[-0.701654,-0.702569,-0.118656],[0.001884,-0.168359,0.985724]]
2025-10-27T17:46:56.228Z,1761587216.228 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:46:56.229Z,1761587216.229 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:46:56.230Z,1761587216.230 [DAT](INFO): commRate: 600
2025-10-27T17:46:56.271Z,1761587216.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716027,0.687877,0.118872],[-0.698068,-0.706197,-0.118267],[0.002594,-0.167663,0.985841]]
2025-10-27T17:46:56.671Z,1761587216.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719928,0.683513,0.120473],[-0.694037,-0.709994,-0.119253],[0.004024,-0.169466,0.985528]]
2025-10-27T17:46:57.074Z,1761587217.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723275,0.679574,0.122684],[-0.690537,-0.713187,-0.120512],[0.005600,-0.171882,0.985102]]
2025-10-27T17:46:57.481Z,1761587217.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725258,0.676928,0.125576],[-0.688448,-0.714754,-0.123148],[0.006394,-0.175767,0.984411]]
2025-10-27T17:46:57.882Z,1761587217.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725802,0.675715,0.128921],[-0.687871,-0.714757,-0.126319],[0.006792,-0.180364,0.983576]]
2025-10-27T17:46:58.286Z,1761587218.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726283,0.674855,0.130705],[-0.687365,-0.714801,-0.128796],[0.006510,-0.183384,0.983020]]
2025-10-27T17:46:58.295Z,1761587218.295 [DAT](INFO): entering command mode
2025-10-27T17:46:58.496Z,1761587218.496 [DAT](INFO): DAT read: 

2025-10-27T17:46:58.496Z,1761587218.496 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:58.496Z,1761587218.496 [DAT](INFO): setting verbose to 3
2025-10-27T17:46:58.748Z,1761587218.748 [DAT](INFO): DAT read: user:1>

2025-10-27T17:46:58.750Z,1761587218.750 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:46:58.750Z,1761587218.750 [DAT](INFO): set verbose to 3
2025-10-27T17:46:58.750Z,1761587218.750 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:46:58.000Z,1761587219.000 [DAT](INFO): DAT read: user:2>

2025-10-27T17:46:59.001Z,1761587219.001 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:46:59.001Z,1761587219.001 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:46:59.001Z,1761587219.001 [DAT](INFO): setting transmit power to 8
2025-10-27T17:46:59.104Z,1761587219.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727856,0.672825,0.132413],[-0.685712,-0.715573,-0.133246],[0.005100,-0.187781,0.982198]]
2025-10-27T17:46:59.252Z,1761587219.252 [DAT](INFO): DAT read: user:3>

2025-10-27T17:46:59.254Z,1761587219.254 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:46:59.254Z,1761587219.254 [DAT](INFO): set transmit power to 8
2025-10-27T17:46:59.255Z,1761587219.255 [DAT](INFO): setting local address to 11
2025-10-27T17:46:59.500Z,1761587219.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729548,0.671228,0.131196],[-0.683916,-0.717163,-0.133925],[0.004194,-0.187432,0.982269]]
2025-10-27T17:46:59.504Z,1761587219.504 [DAT](INFO): DAT read: user:4>

2025-10-27T17:46:59.505Z,1761587219.505 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:46:59.505Z,1761587219.505 [DAT](INFO): set local address to 11
2025-10-27T17:46:59.506Z,1761587219.506 [DAT](INFO): Setting time to: 17:46:59 And date to:10/27/2025
2025-10-27T17:46:59.757Z,1761587219.757 [DAT](INFO): DAT read: user:5>

2025-10-27T17:46:59.758Z,1761587219.758 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:46:59  

2025-10-27T17:46:59.758Z,1761587219.758 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:46:59  

2025-10-27T17:46:59.759Z,1761587219.759 [DAT](INFO): setting remote address to 6
2025-10-27T17:46:59.759Z,1761587219.759 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:46:59.759Z,1761587219.759 [DAT](INFO): setting remote address to 0
2025-10-27T17:46:59.901Z,1761587219.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731643,0.669088,0.130459],[-0.681682,-0.718939,-0.135783],[0.002942,-0.188277,0.982112]]
2025-10-27T17:47:00.012Z,1761587220.012 [DAT](INFO): DAT read: user:6>

2025-10-27T17:47:00.013Z,1761587220.013 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:47:00.013Z,1761587220.013 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:47:00.014Z,1761587220.014 [DAT] Communications Fault, FailCount= 7
2025-10-27T17:47:00.014Z,1761587220.014 [DAT](ERROR): Communications Fault
2025-10-27T17:47:00.014Z,1761587220.014 [DAT](INFO): DAT read: user:7>

2025-10-27T17:47:00.015Z,1761587220.015 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:47:00.016Z,1761587220.016 [DAT](INFO): set remote address to 0
2025-10-27T17:47:00.016Z,1761587220.016 [DAT](INFO): setting remote address to 6
2025-10-27T17:47:00.016Z,1761587220.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:47:00.017Z,1761587220.017 [DAT](INFO): setting remote address to 0
2025-10-27T17:47:00.032Z,1761587220.032 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:47:00.306Z,1761587220.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733999,0.666474,0.130608],[-0.679148,-0.720884,-0.138149],[0.002080,-0.190104,0.981762]]
2025-10-27T17:47:00.419Z,1761587220.419 [DAT](INFO): Powering down
2025-10-27T17:47:00.709Z,1761587220.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736152,0.663954,0.131321],[-0.676815,-0.722577,-0.140726],[0.001454,-0.192475,0.981301]]
2025-10-27T17:47:01.120Z,1761587221.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737472,0.662230,0.132611],[-0.675376,-0.723483,-0.142967],[0.001264,-0.194997,0.980803]]
2025-10-27T17:47:01.319Z,1761587221.319 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:47:01.319Z,1761587221.319 [DAT] No Fault, FailCount= 7
2025-10-27T17:47:01.521Z,1761587221.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737862,0.661266,0.135225],[-0.674950,-0.723286,-0.145944],[0.001299,-0.198957,0.980007]]
2025-10-27T17:47:01.923Z,1761587221.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737110,0.661561,0.137864],[-0.675771,-0.722087,-0.148068],[0.001594,-0.202307,0.979321]]
2025-10-27T17:47:02.326Z,1761587222.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735214,0.662979,0.141135],[-0.677831,-0.719852,-0.149529],[0.002462,-0.205601,0.978633]]
2025-10-27T17:47:02.736Z,1761587222.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732229,0.665687,0.143881],[-0.681049,-0.716845,-0.149353],[0.003718,-0.207351,0.978260]]
2025-10-27T17:47:03.133Z,1761587223.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728466,0.668923,0.147916],[-0.685062,-0.712909,-0.149838],[0.005221,-0.210483,0.977583]]
2025-10-27T17:47:03.540Z,1761587223.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723758,0.673677,0.149443],[-0.690023,-0.708578,-0.147599],[0.006458,-0.209945,0.977692]]
2025-10-27T17:47:03.655Z,1761587223.655 [DAT](INFO): Powering up
2025-10-27T17:47:03.656Z,1761587223.656 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:47:04.356Z,1761587224.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705811,0.693856,0.142810],[-0.708369,-0.693192,-0.133036],[0.006687,-0.195061,0.980768]]
2025-10-27T17:47:04.765Z,1761587224.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699092,0.701713,0.137367],[-0.715009,-0.687580,-0.126475],[0.005702,-0.186636,0.982413]]
2025-10-27T17:47:05.189Z,1761587225.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692512,0.709535,0.130335],[-0.721396,-0.682068,-0.119880],[0.003838,-0.177042,0.984196]]
2025-10-27T17:47:05.989Z,1761587225.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681282,0.722923,0.115052],[-0.732021,-0.672638,-0.108186],[-0.000822,-0.157926,0.987451]]
2025-10-27T17:47:06.032Z,1761587226.032 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateRudder:A] Stopped
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:47:06.033Z,1761587226.033 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateCommandMode] Stopped
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:47:06.034Z,1761587226.034 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:47:06.035Z,1761587226.035 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:47:06.035Z,1761587226.035 [marl:UpdateSpeed] Stopped
2025-10-27T17:47:06.035Z,1761587226.035 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:47:06.394Z,1761587226.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677582,0.727144,0.110202],[-0.735440,-0.669290,-0.105726],[-0.003121,-0.152685,0.988270]]
2025-10-27T17:47:06.419Z,1761587226.419 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:47:06.419Z,1761587226.419 [marl:UpdateRudder:B] Stopped
2025-10-27T17:47:06.419Z,1761587226.419 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:47:06.419Z,1761587226.419 [marl:UpdateRudder] Stopped
2025-10-27T17:47:06.419Z,1761587226.419 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:47:06.839Z,1761587226.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676668,0.728361,0.107755],[-0.736275,-0.668495,-0.104947],[-0.004405,-0.150352,0.988623]]
2025-10-27T17:47:07.202Z,1761587227.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679332,0.725962,0.107178],[-0.733812,-0.670983,-0.106306],[-0.005260,-0.150866,0.988540]]
2025-10-27T17:47:07.608Z,1761587227.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683627,0.721949,0.106975],[-0.729806,-0.674991,-0.108492],[-0.006119,-0.152239,0.988325]]
2025-10-27T17:47:08.009Z,1761587228.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688701,0.717024,0.107552],[-0.725009,-0.679559,-0.112074],[-0.007272,-0.155162,0.987862]]
2025-10-27T17:47:08.415Z,1761587228.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694034,0.711635,0.109051],[-0.719890,-0.684152,-0.117025],[-0.008671,-0.159724,0.987124]]
2025-10-27T17:47:08.860Z,1761587228.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699266,0.705808,0.113410],[-0.714794,-0.688172,-0.124456],[-0.009796,-0.168093,0.985722]]
2025-10-27T17:47:09.625Z,1761587229.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706830,0.697269,0.119196],[-0.707274,-0.693646,-0.136453],[-0.012465,-0.180753,0.983450]]
2025-10-27T17:47:10.029Z,1761587230.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708844,0.694973,0.120630],[-0.705226,-0.694865,-0.140784],[-0.014020,-0.184865,0.982664]]
2025-10-27T17:47:10.435Z,1761587230.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709793,0.693859,0.121463],[-0.704228,-0.695055,-0.144780],[-0.016034,-0.188301,0.981981]]
2025-10-27T17:47:10.872Z,1761587230.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710416,0.693299,0.121021],[-0.703549,-0.695173,-0.147493],[-0.018126,-0.189925,0.981631]]
2025-10-27T17:47:11.241Z,1761587231.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711167,0.692526,0.121034],[-0.702732,-0.695304,-0.150734],[-0.020232,-0.192252,0.981137]]
2025-10-27T17:47:11.648Z,1761587231.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711261,0.692665,0.119676],[-0.702568,-0.695069,-0.152570],[-0.022497,-0.192598,0.981020]]
2025-10-27T17:47:11.851Z,1761587231.851 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:47:12.051Z,1761587232.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710821,0.693226,0.119046],[-0.702933,-0.694140,-0.155095],[-0.024882,-0.193926,0.980701]]
2025-10-27T17:47:12.454Z,1761587232.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709877,0.694245,0.118735],[-0.703809,-0.692751,-0.157320],[-0.026965,-0.195244,0.980384]]
2025-10-27T17:47:12.857Z,1761587232.857 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:47:12.881Z,1761587232.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708012,0.696163,0.118646],[-0.705617,-0.690545,-0.158909],[-0.028696,-0.196229,0.980138]]
2025-10-27T17:47:13.262Z,1761587233.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705746,0.698420,0.118880],[-0.707806,-0.687855,-0.160831],[-0.030555,-0.197650,0.979796]]
2025-10-27T17:47:13.672Z,1761587233.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702807,0.701267,0.119529],[-0.710643,-0.684447,-0.162847],[-0.032388,-0.199393,0.979384]]
2025-10-27T17:47:14.474Z,1761587234.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694624,0.709700,0.117573],[-0.718473,-0.676253,-0.162720],[-0.035973,-0.197502,0.979642]]
2025-10-27T17:47:14.883Z,1761587234.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689838,0.714674,0.115607],[-0.722989,-0.671785,-0.161217],[-0.037555,-0.194796,0.980125]]
2025-10-27T17:47:15.248Z,1761587235.248 [DAT](INFO): DAT read: 

2025-10-27T17:47:15.248Z,1761587235.248 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:47:15.296Z,1761587235.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684886,0.719710,0.113797],[-0.727628,-0.667263,-0.159111],[-0.038581,-0.191775,0.980680]]
2025-10-27T17:47:15.686Z,1761587235.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679648,0.725034,0.111378],[-0.732463,-0.662561,-0.156559],[-0.039716,-0.187985,0.981369]]
2025-10-27T17:47:16.092Z,1761587236.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674352,0.730419,0.108339],[-0.737279,-0.657914,-0.153521],[-0.040857,-0.183403,0.982188]]
2025-10-27T17:47:16.493Z,1761587236.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669311,0.735603,0.104457],[-0.741786,-0.653619,-0.150120],[-0.042154,-0.177962,0.983134]]
2025-10-27T17:47:16.760Z,1761587236.760 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:47:16.765Z,1761587236.765 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:47:16.769Z,1761587236.769 [DAT](INFO): DAT read: Oct 27 2025 17:47:11 

2025-10-27T17:47:16.898Z,1761587236.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665573,0.739530,0.100538],[-0.745095,-0.650655,-0.146568],[-0.042976,-0.172463,0.984078]]
2025-10-27T17:47:17.302Z,1761587237.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664117,0.741448,0.095932],[-0.746353,-0.650010,-0.142982],[-0.043657,-0.166556,0.985065]]
2025-10-27T17:47:17.707Z,1761587237.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665189,0.741012,0.091787],[-0.745367,-0.651713,-0.140354],[-0.044185,-0.161776,0.985838]]
2025-10-27T17:47:17.768Z,1761587237.768 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:47:17.769Z,1761587237.769 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:47:17.770Z,1761587237.770 [DAT](INFO): commRate: 600
2025-10-27T17:47:18.111Z,1761587238.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667799,0.739005,0.088980],[-0.743011,-0.654680,-0.139026],[-0.044487,-0.158954,0.986283]]
2025-10-27T17:47:18.514Z,1761587238.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671210,0.735995,0.088254],[-0.739932,-0.658093,-0.139334],[-0.044470,-0.158824,0.986305]]
2025-10-27T17:47:18.917Z,1761587238.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674239,0.733000,0.090076],[-0.737172,-0.660642,-0.141878],[-0.044489,-0.162061,0.985777]]
2025-10-27T17:47:19.022Z,1761587239.022 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:47:19.022Z,1761587239.022 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:47:19.022Z,1761587239.022 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:47:19.022Z,1761587239.022 [marl:UpdateRudder:A] Stopped
2025-10-27T17:47:19.022Z,1761587239.022 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:47:19.023Z,1761587239.023 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:47:19.023Z,1761587239.023 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:47:19.023Z,1761587239.023 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:47:19.023Z,1761587239.023 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:47:19.023Z,1761587239.023 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateCommandMode] Stopped
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:47:19.024Z,1761587239.024 [marl:UpdateSpeed] Stopped
2025-10-27T17:47:19.025Z,1761587239.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:47:19.323Z,1761587239.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675715,0.731184,0.093700],[-0.735821,-0.661346,-0.145568],[-0.044469,-0.167308,0.984901]]
2025-10-27T17:47:19.347Z,1761587239.347 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:47:19.347Z,1761587239.347 [marl:UpdateRudder:B] Stopped
2025-10-27T17:47:19.347Z,1761587239.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:47:19.347Z,1761587239.347 [marl:UpdateRudder] Stopped
2025-10-27T17:47:19.347Z,1761587239.347 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:47:19.740Z,1761587239.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675547,0.730669,0.098792],[-0.736005,-0.660272,-0.149456],[-0.043973,-0.173676,0.983821]]
2025-10-27T17:47:19.835Z,1761587239.835 [DAT](INFO): entering command mode
2025-10-27T17:47:20.037Z,1761587240.037 [DAT](INFO): DAT read: 

2025-10-27T17:47:20.038Z,1761587240.038 [DAT](INFO): DAT read: user:1>

2025-10-27T17:47:20.039Z,1761587240.039 [DAT](INFO): setting verbose to 3
2025-10-27T17:47:20.129Z,1761587240.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673371,0.732051,0.103313],[-0.738047,-0.657479,-0.151685],[-0.043115,-0.178390,0.983015]]
2025-10-27T17:47:20.289Z,1761587240.289 [DAT](INFO): DAT read: user:1>

2025-10-27T17:47:20.290Z,1761587240.290 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:47:20.290Z,1761587240.290 [DAT](INFO): set verbose to 3
2025-10-27T17:47:20.291Z,1761587240.291 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:47:20.534Z,1761587240.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669657,0.734927,0.106967],[-0.741476,-0.653442,-0.152406],[-0.042111,-0.181373,0.982512]]
2025-10-27T17:47:20.541Z,1761587240.541 [DAT](INFO): DAT read: user:2>

2025-10-27T17:47:20.543Z,1761587240.543 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:47:20.544Z,1761587240.544 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:47:20.544Z,1761587240.544 [DAT](INFO): setting transmit power to 8
2025-10-27T17:47:20.792Z,1761587240.792 [DAT](INFO): DAT read: user:3>

2025-10-27T17:47:20.793Z,1761587240.793 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:47:20.793Z,1761587240.793 [DAT](INFO): set transmit power to 8
2025-10-27T17:47:20.793Z,1761587240.793 [DAT](INFO): setting local address to 11
2025-10-27T17:47:20.939Z,1761587240.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664854,0.738950,0.109191],[-0.745825,-0.648601,-0.151860],[-0.041395,-0.182402,0.982352]]
2025-10-27T17:47:21.045Z,1761587241.045 [DAT](INFO): DAT read: user:4>

2025-10-27T17:47:21.046Z,1761587241.046 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:47:21.047Z,1761587241.047 [DAT](INFO): set local address to 11
2025-10-27T17:47:21.049Z,1761587241.049 [DAT](INFO): Setting time to: 17:47:21 And date to:10/27/2025
2025-10-27T17:47:21.296Z,1761587241.296 [DAT](INFO): DAT read: user:5>

2025-10-27T17:47:21.297Z,1761587241.297 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:47:21  

2025-10-27T17:47:21.297Z,1761587241.297 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:47:21  

2025-10-27T17:47:21.297Z,1761587241.297 [DAT](INFO): setting remote address to 6
2025-10-27T17:47:21.298Z,1761587241.298 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:47:21.298Z,1761587241.298 [DAT](INFO): setting remote address to 0
2025-10-27T17:47:21.342Z,1761587241.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659736,0.743474,0.109518],[-0.750361,-0.643695,-0.150380],[-0.041307,-0.181389,0.982543]]
2025-10-27T17:47:21.550Z,1761587241.550 [DAT](INFO): DAT read: user:6>

2025-10-27T17:47:21.552Z,1761587241.552 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:47:21.552Z,1761587241.552 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:47:21.552Z,1761587241.552 [DAT] Communications Fault, FailCount= 8
2025-10-27T17:47:21.553Z,1761587241.553 [DAT](ERROR): Communications Fault
2025-10-27T17:47:21.554Z,1761587241.554 [DAT](INFO): DAT read: user:7>

2025-10-27T17:47:21.556Z,1761587241.556 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:47:21.556Z,1761587241.556 [DAT](INFO): set remote address to 0
2025-10-27T17:47:21.557Z,1761587241.557 [DAT](INFO): setting remote address to 6
2025-10-27T17:47:21.558Z,1761587241.558 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:47:21.574Z,1761587241.574 [DAT](INFO): setting remote address to 0
2025-10-27T17:47:21.577Z,1761587241.577 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:47:21.583Z,1761587241.583 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-27T17:47:21.752Z,1761587241.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655461,0.747489,0.107848],[-0.754076,-0.639867,-0.148122],[-0.041711,-0.178413,0.983071]]
2025-10-27T17:47:21.979Z,1761587241.979 [DAT](INFO): Powering down
2025-10-27T17:47:22.152Z,1761587242.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653645,0.749780,0.102851],[-0.755631,-0.639025,-0.143764],[-0.042067,-0.171689,0.984253]]
2025-10-27T17:47:22.568Z,1761587242.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654359,0.749849,0.097678],[-0.754993,-0.640608,-0.140026],[-0.042425,-0.165373,0.985318]]
2025-10-27T17:47:22.959Z,1761587242.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657120,0.747981,0.093369],[-0.752541,-0.643864,-0.138281],[-0.043315,-0.161131,0.985982]]
2025-10-27T17:47:23.361Z,1761587243.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661666,0.744385,0.089935],[-0.748483,-0.648634,-0.138013],[-0.044400,-0.158633,0.986339]]
2025-10-27T17:47:23.768Z,1761587243.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667446,0.739499,0.087508],[-0.743273,-0.654422,-0.138841],[-0.045405,-0.157711,0.986441]]
2025-10-27T17:47:24.170Z,1761587244.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674160,0.733493,0.086586],[-0.737172,-0.660980,-0.140295],[-0.045674,-0.158410,0.986316]]
2025-10-27T17:47:24.576Z,1761587244.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681135,0.726812,0.088312],[-0.730765,-0.667440,-0.143199],[-0.045136,-0.162073,0.985746]]
2025-10-27T17:47:24.977Z,1761587244.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687538,0.720361,0.091499],[-0.724805,-0.673135,-0.146789],[-0.044150,-0.167242,0.984927]]
2025-10-27T17:47:25.382Z,1761587245.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692202,0.715242,0.096362],[-0.720447,-0.676931,-0.150733],[-0.042580,-0.173761,0.983867]]
2025-10-27T17:47:25.788Z,1761587245.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694587,0.711969,0.103195],[-0.718263,-0.678217,-0.155309],[-0.040587,-0.181997,0.982461]]
2025-10-27T17:47:26.191Z,1761587246.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695053,0.710730,0.108461],[-0.717941,-0.678102,-0.157286],[-0.038240,-0.187191,0.981579]]
2025-10-27T17:47:26.594Z,1761587246.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693889,0.710847,0.114954],[-0.719223,-0.676378,-0.158841],[-0.035159,-0.192896,0.980589]]
2025-10-27T17:47:26.997Z,1761587246.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691566,0.712042,0.121379],[-0.721634,-0.673808,-0.158832],[-0.031308,-0.197434,0.979816]]
2025-10-27T17:47:27.402Z,1761587247.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688198,0.714301,0.127111],[-0.725021,-0.670574,-0.157084],[-0.026968,-0.200263,0.979371]]
2025-10-27T17:47:27.807Z,1761587247.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683858,0.717672,0.131472],[-0.729264,-0.666758,-0.153645],[-0.022607,-0.200949,0.979341]]
2025-10-27T17:47:28.209Z,1761587248.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678670,0.722050,0.134350],[-0.734214,-0.662446,-0.148643],[-0.018329,-0.199521,0.979722]]
2025-10-27T17:47:29.022Z,1761587249.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666232,0.733576,0.134170],[-0.745659,-0.652548,-0.134813],[-0.011343,-0.189862,0.981745]]
2025-10-27T17:47:29.423Z,1761587249.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658998,0.740620,0.131160],[-0.752085,-0.646661,-0.127267],[-0.009440,-0.182513,0.983158]]
2025-10-27T17:47:29.826Z,1761587249.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651416,0.747979,0.127220],[-0.758675,-0.640307,-0.120079],[-0.008356,-0.174740,0.984579]]
2025-10-27T17:47:30.634Z,1761587250.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636571,0.762430,0.116095],[-0.771167,-0.627544,-0.107189],[-0.008869,-0.157762,0.987437]]
2025-10-27T17:47:31.048Z,1761587251.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629401,0.768942,0.112173],[-0.777021,-0.620974,-0.103101],[-0.009622,-0.152052,0.988326]]
2025-10-27T17:47:31.442Z,1761587251.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622955,0.774511,0.109818],[-0.782190,-0.614879,-0.100513],[-0.010324,-0.148514,0.988856]]
2025-10-27T17:47:31.846Z,1761587251.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618161,0.778312,0.110032],[-0.785986,-0.610211,-0.099343],[-0.010177,-0.147894,0.988951]]
2025-10-27T17:47:31.901Z,1761587251.901 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateRudder:A] Stopped
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:47:31.902Z,1761587251.902 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateCommandMode] Stopped
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:47:31.903Z,1761587251.903 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:47:31.904Z,1761587251.904 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:47:31.904Z,1761587251.904 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:47:31.904Z,1761587251.904 [marl:UpdateSpeed] Stopped
2025-10-27T17:47:31.904Z,1761587251.904 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:47:32.250Z,1761587252.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617120,0.779122,0.110145],[-0.786817,-0.609388,-0.097805],[-0.009081,-0.147021,0.989092]]
2025-10-27T17:47:32.310Z,1761587252.310 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:47:32.310Z,1761587252.310 [marl:UpdateRudder:B] Stopped
2025-10-27T17:47:32.310Z,1761587252.310 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:47:32.310Z,1761587252.310 [marl:UpdateRudder] Stopped
2025-10-27T17:47:32.310Z,1761587252.310 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:47:32.655Z,1761587252.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619529,0.777438,0.108507],[-0.784937,-0.612206,-0.095276],[-0.007642,-0.144197,0.989519]]
2025-10-27T17:47:33.058Z,1761587253.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623986,0.773925,0.108079],[-0.781408,-0.616827,-0.094474],[-0.006449,-0.143405,0.989643]]
2025-10-27T17:47:33.461Z,1761587253.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629608,0.769286,0.108597],[-0.776891,-0.622359,-0.095441],[-0.005835,-0.144459,0.989494]]
2025-10-27T17:47:33.869Z,1761587253.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636036,0.763761,0.110121],[-0.771640,-0.628516,-0.097666],[-0.005381,-0.147093,0.989108]]
2025-10-27T17:47:34.675Z,1761587254.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650786,0.750024,0.118074],[-0.759250,-0.642025,-0.106502],[-0.004072,-0.158957,0.987277]]
2025-10-27T17:47:35.078Z,1761587255.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658157,0.742679,0.123520],[-0.752875,-0.648571,-0.111961],[-0.003040,-0.166683,0.986006]]
2025-10-27T17:47:35.482Z,1761587255.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664519,0.735651,0.131268],[-0.747270,-0.653863,-0.118537],[-0.001370,-0.176863,0.984235]]
2025-10-27T17:47:35.890Z,1761587255.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668757,0.730398,0.138866],[-0.743481,-0.657173,-0.123936],[0.000737,-0.186127,0.982525]]
2025-10-27T17:47:36.291Z,1761587256.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670924,0.727165,0.145231],[-0.741519,-0.658772,-0.127155],[0.003211,-0.193002,0.981193]]
2025-10-27T17:47:36.694Z,1761587256.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671176,0.725571,0.151886],[-0.741274,-0.658583,-0.129547],[0.006034,-0.199538,0.979871]]
2025-10-27T17:47:37.098Z,1761587257.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670064,0.725267,0.158122],[-0.742245,-0.657308,-0.130454],[0.009321,-0.204778,0.978764]]
2025-10-27T17:47:37.507Z,1761587257.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667370,0.726593,0.163341],[-0.744620,-0.654729,-0.129889],[0.012568,-0.208311,0.977982]]
2025-10-27T17:47:37.912Z,1761587257.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663232,0.729665,0.166472],[-0.748249,-0.651148,-0.127002],[0.015729,-0.208794,0.977833]]
2025-10-27T17:47:38.310Z,1761587258.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657987,0.734105,0.167762],[-0.752803,-0.646720,-0.122642],[0.018463,-0.206989,0.978169]]
2025-10-27T17:47:38.714Z,1761587258.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651847,0.739725,0.167042],[-0.758076,-0.641533,-0.117283],[0.020406,-0.203081,0.978949]]
2025-10-27T17:47:39.530Z,1761587259.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637674,0.753263,0.161139],[-0.769997,-0.629242,-0.105636],[0.021824,-0.191438,0.981262]]
2025-10-27T17:47:39.925Z,1761587259.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630268,0.760529,0.156069],[-0.776108,-0.622484,-0.100846],[0.020454,-0.184687,0.982585]]
2025-10-27T17:47:40.329Z,1761587260.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623276,0.767356,0.150635],[-0.781792,-0.615900,-0.097308],[0.018106,-0.178415,0.983789]]
2025-10-27T17:47:40.743Z,1761587260.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618458,0.772394,0.144628],[-0.785656,-0.611504,-0.093845],[0.015955,-0.171667,0.985026]]
2025-10-27T17:47:41.542Z,1761587261.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617262,0.774115,0.140479],[-0.786604,-0.610758,-0.090714],[0.015576,-0.166496,0.985919]]
2025-10-27T17:47:41.953Z,1761587261.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617149,0.773999,0.141606],[-0.786680,-0.610644,-0.090824],[0.016174,-0.167451,0.985748]]
2025-10-27T17:47:42.352Z,1761587262.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615679,0.774463,0.145421],[-0.787801,-0.609069,-0.091674],[0.017574,-0.171005,0.985113]]
2025-10-27T17:47:42.760Z,1761587262.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612560,0.775923,0.150709],[-0.790195,-0.605732,-0.093164],[0.019001,-0.176159,0.984178]]
2025-10-27T17:47:42.976Z,1761587262.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:47:43.563Z,1761587263.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602472,0.782486,0.157297],[-0.797839,-0.595846,-0.091763],[0.021922,-0.180782,0.983279]]
2025-10-27T17:47:43.979Z,1761587263.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:47:44.011Z,1761587264.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592712,0.790141,0.156106],[-0.805075,-0.586856,-0.086343],[0.023389,-0.176854,0.983959]]
2025-10-27T17:47:44.881Z,1761587264.881 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:47:44.881Z,1761587264.881 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:47:44.881Z,1761587264.881 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateRudder:A] Stopped
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode] Stopped
2025-10-27T17:47:44.882Z,1761587264.882 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:47:44.883Z,1761587264.883 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:47:44.887Z,1761587264.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:47:44.887Z,1761587264.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:47:44.887Z,1761587264.887 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:47:44.887Z,1761587264.887 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:47:44.888Z,1761587264.888 [marl:UpdateSpeed] Stopped
2025-10-27T17:47:44.888Z,1761587264.888 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:47:45.252Z,1761587265.252 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:47:45.252Z,1761587265.252 [marl:UpdateRudder:B] Stopped
2025-10-27T17:47:45.252Z,1761587265.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:47:45.252Z,1761587265.252 [marl:UpdateRudder] Stopped
2025-10-27T17:47:45.252Z,1761587265.252 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:47:45.582Z,1761587265.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594392,0.791572,0.141820],[-0.803825,-0.590027,-0.075716],[0.023743,-0.159004,0.986992]]
2025-10-27T17:47:45.612Z,1761587265.612 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:47:46.816Z,1761587266.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616947,0.773098,0.147297],[-0.786605,-0.611703,-0.084100],[0.025085,-0.167750,0.985510]]
2025-10-27T17:47:47.202Z,1761587267.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624247,0.766292,0.152028],[-0.780788,-0.618489,-0.088546],[0.026175,-0.173976,0.984402]]
2025-10-27T17:47:47.606Z,1761587267.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631393,0.759608,0.156010],[-0.774980,-0.625203,-0.092347],[0.027390,-0.179212,0.983429]]
2025-10-27T17:47:48.016Z,1761587268.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637781,0.753255,0.160754],[-0.769685,-0.631064,-0.096656],[0.028640,-0.185376,0.982250]]
2025-10-27T17:47:48.425Z,1761587268.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641696,0.749196,0.164106],[-0.766375,-0.634706,-0.099087],[0.029923,-0.189350,0.981453]]
2025-10-27T17:47:48.855Z,1761587268.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642626,0.747398,0.168604],[-0.765541,-0.635332,-0.101488],[0.031268,-0.194293,0.980445]]
2025-10-27T17:47:49.623Z,1761587269.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637810,0.749235,0.178453],[-0.769439,-0.630103,-0.104564],[0.034101,-0.204001,0.978377]]
2025-10-27T17:47:50.025Z,1761587270.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633093,0.752174,0.182832],[-0.773259,-0.625378,-0.104747],[0.035551,-0.207691,0.977548]]
2025-10-27T17:47:50.396Z,1761587270.396 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:47:50.396Z,1761587270.396 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:47:50.446Z,1761587270.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627323,0.756666,0.184179],[-0.777885,-0.620045,-0.102169],[0.036892,-0.207363,0.977568]]
2025-10-27T17:47:50.522Z,1761587270.522 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:47:50.872Z,1761587270.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620636,0.762296,0.183620],[-0.783202,-0.613884,-0.098693],[0.037488,-0.205064,0.978030]]
2025-10-27T17:47:51.241Z,1761587271.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613557,0.768632,0.180976],[-0.788787,-0.607288,-0.094957],[0.036918,-0.201013,0.978893]]
2025-10-27T17:47:51.641Z,1761587271.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606203,0.775582,0.176039],[-0.794520,-0.600443,-0.090588],[0.035443,-0.194782,0.980206]]
2025-10-27T17:47:52.046Z,1761587272.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598590,0.782569,0.171101],[-0.800350,-0.593226,-0.086740],[0.033622,-0.188863,0.981428]]
2025-10-27T17:47:52.461Z,1761587272.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591372,0.788999,0.166611],[-0.805779,-0.586264,-0.083747],[0.031602,-0.183777,0.982460]]
2025-10-27T17:47:52.877Z,1761587272.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585872,0.793798,0.163216],[-0.809842,-0.580967,-0.081445],[0.030172,-0.179896,0.983223]]
2025-10-27T17:47:53.257Z,1761587273.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582054,0.797017,0.161175],[-0.812613,-0.577332,-0.079672],[0.029552,-0.177346,0.983705]]
2025-10-27T17:47:53.662Z,1761587273.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578778,0.799720,0.159574],[-0.814969,-0.574188,-0.078310],[0.029000,-0.175372,0.984075]]
2025-10-27T17:47:54.067Z,1761587274.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576794,0.801499,0.157822],[-0.816390,-0.572335,-0.077069],[0.028556,-0.173298,0.984455]]
2025-10-27T17:47:54.494Z,1761587274.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575939,0.802459,0.156057],[-0.817012,-0.571562,-0.076215],[0.028037,-0.171395,0.984803]]
2025-10-27T17:47:54.881Z,1761587274.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575807,0.802662,0.155499],[-0.817134,-0.571306,-0.076820],[0.027177,-0.171297,0.984845]]
2025-10-27T17:47:55.278Z,1761587275.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577007,0.802223,0.153299],[-0.816313,-0.572518,-0.076528],[0.026374,-0.169297,0.985212]]
2025-10-27T17:47:55.684Z,1761587275.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579357,0.800888,0.151407],[-0.814661,-0.574896,-0.076299],[0.025936,-0.167550,0.985522]]
2025-10-27T17:47:56.497Z,1761587276.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586608,0.796310,0.147585],[-0.809472,-0.582223,-0.075976],[0.025427,-0.164034,0.986127]]
2025-10-27T17:47:56.894Z,1761587276.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591004,0.793187,0.146861],[-0.806280,-0.586499,-0.077016],[0.025046,-0.163928,0.986154]]
2025-10-27T17:47:57.298Z,1761587277.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595681,0.789633,0.147116],[-0.802851,-0.590892,-0.079227],[0.024369,-0.165307,0.985941]]
2025-10-27T17:47:57.702Z,1761587277.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600355,0.786141,0.146822],[-0.799391,-0.595269,-0.081416],[0.023394,-0.166247,0.985807]]
2025-10-27T17:47:58.106Z,1761587278.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604974,0.782429,0.147687],[-0.795930,-0.599461,-0.084514],[0.022406,-0.168678,0.985417]]
2025-10-27T17:47:58.137Z,1761587278.137 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateRudder:A] Stopped
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:47:58.138Z,1761587278.138 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateCommandMode] Stopped
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:47:58.139Z,1761587278.139 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed] Stopped
2025-10-27T17:47:58.140Z,1761587278.140 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:47:58.516Z,1761587278.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609199,0.778941,0.148756],[-0.792726,-0.603253,-0.087588],[0.021511,-0.171281,0.984987]]
2025-10-27T17:47:58.557Z,1761587278.557 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:47:58.558Z,1761587278.558 [marl:UpdateRudder:B] Stopped
2025-10-27T17:47:58.558Z,1761587278.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:47:58.558Z,1761587278.558 [marl:UpdateRudder] Stopped
2025-10-27T17:47:58.558Z,1761587278.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:47:59.318Z,1761587279.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615149,0.773271,0.153767],[-0.788163,-0.608041,-0.095317],[0.019791,-0.179828,0.983499]]
2025-10-27T17:47:59.725Z,1761587279.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616493,0.771888,0.155324],[-0.787134,-0.608935,-0.098075],[0.018879,-0.182724,0.982983]]
2025-10-27T17:48:00.125Z,1761587280.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616453,0.771327,0.158244],[-0.787190,-0.608275,-0.101657],[0.017845,-0.187235,0.982153]]
2025-10-27T17:48:00.530Z,1761587280.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615289,0.772036,0.159309],[-0.788124,-0.606747,-0.103535],[0.016728,-0.189259,0.981785]]
2025-10-27T17:48:00.934Z,1761587280.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613216,0.773267,0.161319],[-0.789761,-0.604209,-0.105876],[0.015600,-0.192328,0.981207]]
2025-10-27T17:48:01.339Z,1761587281.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610650,0.774959,0.162927],[-0.791767,-0.601264,-0.107640],[0.014545,-0.194730,0.980749]]
2025-10-27T17:48:01.751Z,1761587281.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607588,0.777018,0.164561],[-0.794140,-0.597811,-0.109381],[0.013385,-0.197143,0.980283]]
2025-10-27T17:48:02.146Z,1761587282.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604007,0.779748,0.164828],[-0.796884,-0.594074,-0.109784],[0.012316,-0.197658,0.980194]]
2025-10-27T17:48:02.964Z,1761587282.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594663,0.786561,0.166426],[-0.803904,-0.584480,-0.110096],[0.010676,-0.199261,0.979888]]
2025-10-27T17:48:02.996Z,1761587282.996 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.92, 573.81, 650.59
2025-10-27T17:48:03.359Z,1761587283.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588757,0.791078,0.166013],[-0.808244,-0.578778,-0.108431],[0.010307,-0.198019,0.980144]]
2025-10-27T17:48:03.765Z,1761587283.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582622,0.795992,0.164158],[-0.812681,-0.573057,-0.105613],[0.010005,-0.194940,0.980764]]
2025-10-27T17:48:04.166Z,1761587284.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576588,0.800959,0.161280],[-0.816981,-0.567462,-0.102608],[0.009336,-0.190925,0.981560]]
2025-10-27T17:48:04.573Z,1761587284.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571144,0.805488,0.158061],[-0.820807,-0.562402,-0.099899],[0.008426,-0.186794,0.982363]]
2025-10-27T17:48:05.378Z,1761587285.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564148,0.811692,0.151307],[-0.825641,-0.556198,-0.094658],[0.007323,-0.178326,0.983944]]
2025-10-27T17:48:06.187Z,1761587286.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562671,0.813538,0.146822],[-0.826648,-0.555281,-0.091188],[0.007342,-0.172679,0.984951]]
2025-10-27T17:48:06.593Z,1761587286.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562870,0.813675,0.145290],[-0.826510,-0.555696,-0.089903],[0.007585,-0.170688,0.985296]]
2025-10-27T17:48:06.994Z,1761587286.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562858,0.813819,0.144530],[-0.826516,-0.555829,-0.089028],[0.007882,-0.169567,0.985487]]
2025-10-27T17:48:07.398Z,1761587287.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562946,0.813908,0.143684],[-0.826450,-0.556131,-0.087744],[0.008492,-0.168143,0.985726]]
2025-10-27T17:48:07.804Z,1761587287.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563629,0.813537,0.143112],[-0.825982,-0.556907,-0.087223],[0.008741,-0.167369,0.985856]]
2025-10-27T17:48:08.207Z,1761587288.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564443,0.813003,0.142937],[-0.825422,-0.557790,-0.086880],[0.009096,-0.167022,0.985911]]
2025-10-27T17:48:08.613Z,1761587288.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565971,0.811999,0.142596],[-0.824369,-0.559409,-0.086470],[0.009556,-0.166491,0.985997]]
2025-10-27T17:48:09.014Z,1761587289.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567451,0.810985,0.142487],[-0.823353,-0.560833,-0.086922],[0.009419,-0.166641,0.985973]]
2025-10-27T17:48:09.418Z,1761587289.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569369,0.809405,0.143815],[-0.822033,-0.562458,-0.088898],[0.008935,-0.168837,0.985604]]
2025-10-27T17:48:09.823Z,1761587289.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571680,0.807749,0.143954],[-0.820435,-0.564542,-0.090436],[0.008218,-0.169805,0.985443]]
2025-10-27T17:48:10.226Z,1761587290.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574537,0.805652,0.144337],[-0.818446,-0.567085,-0.092520],[0.007312,-0.171288,0.985194]]
2025-10-27T17:48:10.632Z,1761587290.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577766,0.803034,0.146023],[-0.816178,-0.569804,-0.095795],[0.006278,-0.174528,0.984632]]
2025-10-27T17:48:11.037Z,1761587291.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581491,0.800367,0.145879],[-0.813536,-0.573224,-0.097846],[0.005309,-0.175574,0.984452]]
2025-10-27T17:48:11.147Z,1761587291.147 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:48:11.147Z,1761587291.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:48:11.147Z,1761587291.147 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateRudder:A] Stopped
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:48:11.148Z,1761587291.148 [marl:UpdateCommandMode] Stopped
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed] Stopped
2025-10-27T17:48:11.149Z,1761587291.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:48:11.454Z,1761587291.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585451,0.797362,0.146497],[-0.810696,-0.576786,-0.100449],[0.004403,-0.177572,0.984098]]
2025-10-27T17:48:11.514Z,1761587291.514 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:48:11.514Z,1761587291.514 [marl:UpdateRudder:B] Stopped
2025-10-27T17:48:11.514Z,1761587291.514 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:48:11.514Z,1761587291.514 [marl:UpdateRudder] Stopped
2025-10-27T17:48:11.514Z,1761587291.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:48:11.842Z,1761587291.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589416,0.794596,0.145622],[-0.807821,-0.580585,-0.101716],[0.003723,-0.177589,0.984098]]
2025-10-27T17:48:12.246Z,1761587292.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593075,0.791753,0.146251],[-0.805140,-0.583964,-0.103615],[0.003368,-0.179204,0.983806]]
2025-10-27T17:48:12.650Z,1761587292.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595977,0.789460,0.146848],[-0.802995,-0.586655,-0.105046],[0.003220,-0.180524,0.983565]]
2025-10-27T17:48:13.061Z,1761587293.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598015,0.787577,0.148660],[-0.801479,-0.588337,-0.107194],[0.003039,-0.183252,0.983061]]
2025-10-27T17:48:13.461Z,1761587293.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598563,0.786463,0.152311],[-0.801069,-0.588404,-0.109858],[0.003222,-0.187769,0.982208]]
2025-10-27T17:48:13.861Z,1761587293.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597974,0.786339,0.155235],[-0.801507,-0.587552,-0.111217],[0.003754,-0.190927,0.981597]]
2025-10-27T17:48:14.111Z,1761587294.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:48:14.266Z,1761587294.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596012,0.786759,0.160563],[-0.802962,-0.585140,-0.113418],[0.004720,-0.196524,0.980488]]
2025-10-27T17:48:14.676Z,1761587294.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592808,0.787946,0.166493],[-0.805321,-0.581542,-0.115181],[0.006067,-0.202360,0.979292]]
2025-10-27T17:48:15.073Z,1761587295.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588454,0.789955,0.172317],[-0.808492,-0.576980,-0.115905],[0.007864,-0.207522,0.978199]]
2025-10-27T17:48:15.115Z,1761587295.115 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:48:15.477Z,1761587295.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582920,0.793327,0.175602],[-0.812471,-0.571704,-0.114218],[0.009780,-0.209251,0.977813]]
2025-10-27T17:48:15.881Z,1761587295.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576271,0.797737,0.177559],[-0.817181,-0.565451,-0.111715],[0.011281,-0.209476,0.977749]]
2025-10-27T17:48:16.289Z,1761587296.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568701,0.802903,0.178680],[-0.822453,-0.558288,-0.109019],[0.012223,-0.208955,0.977849]]
2025-10-27T17:48:16.690Z,1761587296.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560460,0.809400,0.175375],[-0.828093,-0.550791,-0.104362],[0.012124,-0.203718,0.978955]]
2025-10-27T17:48:17.093Z,1761587297.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551867,0.816567,0.169297],[-0.833866,-0.542880,-0.099742],[0.010462,-0.196215,0.980505]]
2025-10-27T17:48:17.498Z,1761587297.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543511,0.823692,0.161640],[-0.839369,-0.535026,-0.095954],[0.007445,-0.187828,0.982174]]
2025-10-27T17:48:17.904Z,1761587297.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536307,0.830106,0.152642],[-0.844016,-0.528183,-0.093053],[0.003379,-0.178737,0.983891]]
2025-10-27T17:48:18.306Z,1761587298.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531320,0.835129,0.142332],[-0.847171,-0.523596,-0.090272],[-0.000864,-0.168543,0.985694]]
2025-10-27T17:48:18.709Z,1761587298.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529353,0.837596,0.134978],[-0.848389,-0.521733,-0.089614],[-0.004638,-0.161951,0.986788]]
2025-10-27T17:48:19.934Z,1761587299.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537943,0.833979,0.122868],[-0.842867,-0.529724,-0.094695],[-0.013887,-0.154502,0.987895]]
2025-10-27T17:48:20.326Z,1761587300.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544048,0.829958,0.123212],[-0.838909,-0.535324,-0.098284],[-0.015613,-0.156835,0.987501]]
2025-10-27T17:48:20.744Z,1761587300.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550962,0.825329,0.123579],[-0.834366,-0.541840,-0.101207],[-0.016569,-0.158871,0.987160]]
2025-10-27T17:48:21.537Z,1761587301.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565723,0.814291,0.129956],[-0.824416,-0.555238,-0.109771],[-0.017229,-0.169238,0.985425]]
2025-10-27T17:48:21.945Z,1761587301.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571393,0.809350,0.135876],[-0.820491,-0.559858,-0.115554],[-0.017452,-0.177511,0.983964]]
2025-10-27T17:48:22.764Z,1761587302.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576676,0.803449,0.148039],[-0.816792,-0.563185,-0.125197],[-0.017216,-0.193115,0.981025]]
2025-10-27T17:48:23.558Z,1761587303.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574478,0.802668,0.160310],[-0.818364,-0.559424,-0.131626],[-0.015971,-0.206809,0.978251]]
2025-10-27T17:48:23.961Z,1761587303.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570659,0.804289,0.165733],[-0.821040,-0.554990,-0.133718],[-0.015568,-0.212381,0.977063]]
2025-10-27T17:48:24.013Z,1761587304.013 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:48:24.014Z,1761587304.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:48:24.031Z,1761587304.031 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:48:24.031Z,1761587304.031 [marl:UpdateRudder:A] Stopped
2025-10-27T17:48:24.031Z,1761587304.031 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:48:24.031Z,1761587304.031 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:48:24.031Z,1761587304.031 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateCommandMode] Stopped
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:48:24.032Z,1761587304.032 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:48:24.034Z,1761587304.034 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:48:24.034Z,1761587304.034 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:48:24.039Z,1761587304.039 [marl:UpdateSpeed] Stopped
2025-10-27T17:48:24.039Z,1761587304.039 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:48:24.366Z,1761587304.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564904,0.807468,0.169938],[-0.825006,-0.548753,-0.135039],[-0.015786,-0.216484,0.976159]]
2025-10-27T17:48:24.420Z,1761587304.420 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:48:24.420Z,1761587304.420 [marl:UpdateRudder:B] Stopped
2025-10-27T17:48:24.420Z,1761587304.420 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:48:24.421Z,1761587304.421 [marl:UpdateRudder] Stopped
2025-10-27T17:48:24.421Z,1761587304.421 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:48:24.770Z,1761587304.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557691,0.812286,0.170798],[-0.829875,-0.541439,-0.134725],[-0.016958,-0.216876,0.976052]]
2025-10-27T17:48:25.577Z,1761587305.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539544,0.825981,0.163241],[-0.841643,-0.523811,-0.131373],[-0.023004,-0.208272,0.977800]]
2025-10-27T17:48:25.981Z,1761587305.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529893,0.833720,0.155317],[-0.847620,-0.514734,-0.128795],[-0.027432,-0.199898,0.979433]]
2025-10-27T17:48:26.385Z,1761587306.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521297,0.840860,0.145618],[-0.852767,-0.506843,-0.126087],[-0.032216,-0.189907,0.981273]]
2025-10-27T17:48:26.805Z,1761587306.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515600,0.845988,0.135871],[-0.856051,-0.501855,-0.123769],[-0.036520,-0.180127,0.982965]]
2025-10-27T17:48:27.597Z,1761587307.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516314,0.848646,0.114978],[-0.855362,-0.504413,-0.117996],[-0.042141,-0.159271,0.986335]]
2025-10-27T17:48:28.001Z,1761587308.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519891,0.847057,0.110490],[-0.853086,-0.508134,-0.118505],[-0.044237,-0.155867,0.986787]]
2025-10-27T17:48:28.421Z,1761587308.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524301,0.844457,0.109551],[-0.850307,-0.512295,-0.120547],[-0.045674,-0.156356,0.986644]]
2025-10-27T17:48:29.634Z,1761587309.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534016,0.837040,0.119126],[-0.844240,-0.520306,-0.128607],[-0.045667,-0.169249,0.984515]]
2025-10-27T17:48:30.450Z,1761587310.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530655,0.836790,0.134861],[-0.846379,-0.514654,-0.137015],[-0.045246,-0.186851,0.981346]]
2025-10-27T17:48:30.874Z,1761587310.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528301,0.837775,0.137956],[-0.847826,-0.511779,-0.138825],[-0.045701,-0.190304,0.980661]]
2025-10-27T17:48:31.254Z,1761587311.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525853,0.838933,0.140248],[-0.849296,-0.508835,-0.140653],[-0.046635,-0.193075,0.980075]]
2025-10-27T17:48:31.658Z,1761587311.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523076,0.840544,0.140991],[-0.850914,-0.505656,-0.142325],[-0.048337,-0.194418,0.979727]]
2025-10-27T17:48:32.062Z,1761587312.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520198,0.842242,0.141498],[-0.852578,-0.502417,-0.143834],[-0.050052,-0.195461,0.979433]]
2025-10-27T17:48:32.462Z,1761587312.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517754,0.843889,0.140649],[-0.853996,-0.499954,-0.144003],[-0.051205,-0.194671,0.979531]]
2025-10-27T17:48:33.270Z,1761587313.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515208,0.846221,0.135909],[-0.855399,-0.497816,-0.143079],[-0.053419,-0.189972,0.980335]]
2025-10-27T17:48:33.676Z,1761587313.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514933,0.846702,0.133941],[-0.855525,-0.497746,-0.142568],[-0.054043,-0.188003,0.980681]]
2025-10-27T17:48:34.077Z,1761587314.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514948,0.846951,0.132299],[-0.855481,-0.497916,-0.142241],[-0.054597,-0.186426,0.980951]]
2025-10-27T17:48:34.481Z,1761587314.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515358,0.846995,0.130402],[-0.855220,-0.498580,-0.141483],[-0.054820,-0.184437,0.981314]]
2025-10-27T17:48:34.896Z,1761587314.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515394,0.846972,0.130414],[-0.855220,-0.498687,-0.141102],[-0.054474,-0.184256,0.981368]]
2025-10-27T17:48:35.291Z,1761587315.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514300,0.847422,0.131801],[-0.855894,-0.497455,-0.141362],[-0.054228,-0.185510,0.981145]]
2025-10-27T17:48:35.693Z,1761587315.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512185,0.848439,0.133482],[-0.857149,-0.495096,-0.142042],[-0.054427,-0.187166,0.980819]]
2025-10-27T17:48:36.097Z,1761587316.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509019,0.850053,0.135316],[-0.859050,-0.491803,-0.141996],[-0.054155,-0.188521,0.980575]]
2025-10-27T17:48:36.502Z,1761587316.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504860,0.852013,0.138530],[-0.861548,-0.487435,-0.141924],[-0.053396,-0.191002,0.980136]]
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateRudder:A] Stopped
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:48:36.982Z,1761587316.982 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:48:36.983Z,1761587316.983 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:48:36.983Z,1761587316.983 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:48:36.983Z,1761587316.983 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:48:36.983Z,1761587316.983 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:48:36.983Z,1761587316.983 [marl:UpdateCommandMode] Stopped
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed] Stopped
2025-10-27T17:48:36.984Z,1761587316.984 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:48:37.310Z,1761587317.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494036,0.857570,0.143188],[-0.867893,-0.476595,-0.140071],[-0.051878,-0.193472,0.979733]]
2025-10-27T17:48:37.344Z,1761587317.344 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:48:37.344Z,1761587317.344 [marl:UpdateRudder:B] Stopped
2025-10-27T17:48:37.344Z,1761587317.344 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:48:37.344Z,1761587317.344 [marl:UpdateRudder] Stopped
2025-10-27T17:48:37.344Z,1761587317.344 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:48:37.713Z,1761587317.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489027,0.860595,0.142226],[-0.870770,-0.472101,-0.137404],[-0.051104,-0.191041,0.980251]]
2025-10-27T17:48:38.118Z,1761587318.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485470,0.863137,0.138971],[-0.872794,-0.469319,-0.134051],[-0.050483,-0.186370,0.981182]]
2025-10-27T17:48:38.523Z,1761587318.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484086,0.864638,0.134396],[-0.873610,-0.468854,-0.130312],[-0.049661,-0.180492,0.982322]]
2025-10-27T17:48:38.925Z,1761587318.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484832,0.864865,0.130178],[-0.873248,-0.470393,-0.127154],[-0.048736,-0.175326,0.983303]]
2025-10-27T17:48:39.329Z,1761587319.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486928,0.864093,0.127451],[-0.872136,-0.473020,-0.125022],[-0.047744,-0.172031,0.983934]]
2025-10-27T17:48:39.742Z,1761587319.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490485,0.862285,0.126054],[-0.870236,-0.477019,-0.123050],[-0.045974,-0.170051,0.984362]]
2025-10-27T17:48:40.140Z,1761587320.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494269,0.860210,0.125448],[-0.868184,-0.481123,-0.121561],[-0.044212,-0.168996,0.984625]]
2025-10-27T17:48:40.542Z,1761587320.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498227,0.857616,0.127534],[-0.866012,-0.485037,-0.121499],[-0.042341,-0.170980,0.984364]]
2025-10-27T17:48:41.350Z,1761587321.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504695,0.852752,0.134523],[-0.862445,-0.491111,-0.122470],[-0.038371,-0.177829,0.983313]]
2025-10-27T17:48:41.761Z,1761587321.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506063,0.850966,0.140557],[-0.861720,-0.491937,-0.124244],[-0.036582,-0.183996,0.982246]]
2025-10-27T17:48:42.162Z,1761587322.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505861,0.850209,0.145771],[-0.861885,-0.491213,-0.125952],[-0.035481,-0.189352,0.981268]]
2025-10-27T17:48:42.562Z,1761587322.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504502,0.850218,0.150358],[-0.862726,-0.489462,-0.127009],[-0.034391,-0.193794,0.980439]]
2025-10-27T17:48:43.388Z,1761587323.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500141,0.851790,0.155926],[-0.865294,-0.484625,-0.128078],[-0.033530,-0.198979,0.979430]]
2025-10-27T17:48:43.774Z,1761587323.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497805,0.852915,0.157246],[-0.866654,-0.482263,-0.127797],[-0.033165,-0.199896,0.979256]]
2025-10-27T17:48:44.181Z,1761587324.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495277,0.854020,0.159218],[-0.868111,-0.479595,-0.127950],[-0.032912,-0.201590,0.978917]]
2025-10-27T17:48:44.582Z,1761587324.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491995,0.855703,0.160354],[-0.869995,-0.476384,-0.127150],[-0.032413,-0.202065,0.978836]]
2025-10-27T17:48:44.988Z,1761587324.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488227,0.857478,0.162377],[-0.872137,-0.472606,-0.126569],[-0.031789,-0.203410,0.978577]]
2025-10-27T17:48:45.243Z,1761587325.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:48:45.399Z,1761587325.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483236,0.860057,0.163662],[-0.874951,-0.467867,-0.124743],[-0.030713,-0.203477,0.978598]]
2025-10-27T17:48:45.794Z,1761587325.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477585,0.862931,0.165114],[-0.878096,-0.462540,-0.122491],[-0.029330,-0.203486,0.978639]]
2025-10-27T17:48:46.202Z,1761587326.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471054,0.866455,0.165419],[-0.881652,-0.456452,-0.119755],[-0.028257,-0.202253,0.978926]]
2025-10-27T17:48:46.248Z,1761587326.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:48:46.603Z,1761587326.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464411,0.870201,0.164537],[-0.885206,-0.450432,-0.116283],[-0.027077,-0.199653,0.979493]]
2025-10-27T17:48:47.414Z,1761587327.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454856,0.876433,0.158025],[-0.890209,-0.442439,-0.108517],[-0.025191,-0.190034,0.981454]]
2025-10-27T17:48:47.814Z,1761587327.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453573,0.878166,0.151971],[-0.890879,-0.442046,-0.104549],[-0.024633,-0.182808,0.982840]]
2025-10-27T17:48:48.218Z,1761587328.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454612,0.878834,0.144837],[-0.890357,-0.443950,-0.100865],[-0.024343,-0.174811,0.984301]]
2025-10-27T17:48:48.622Z,1761587328.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457744,0.878018,0.139841],[-0.888755,-0.447603,-0.098822],[-0.024174,-0.169519,0.985230]]
2025-10-27T17:48:49.050Z,1761587329.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462235,0.875924,0.138189],[-0.886450,-0.452327,-0.098015],[-0.023347,-0.167803,0.985544]]
2025-10-27T17:48:49.434Z,1761587329.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467230,0.872745,0.141465],[-0.883866,-0.457118,-0.099114],[-0.021835,-0.171345,0.984969]]
2025-10-27T17:48:49.835Z,1761587329.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471484,0.869523,0.147077],[-0.881659,-0.461079,-0.100419],[-0.019502,-0.177018,0.984014]]
2025-10-27T17:48:49.902Z,1761587329.902 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:48:49.902Z,1761587329.902 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:48:49.902Z,1761587329.902 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:48:49.904Z,1761587329.904 [marl:UpdateRudder:A] Stopped
2025-10-27T17:48:49.904Z,1761587329.904 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:48:49.904Z,1761587329.904 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode] Stopped
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:48:49.905Z,1761587329.905 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:48:49.906Z,1761587329.906 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:48:49.906Z,1761587329.906 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:48:49.906Z,1761587329.906 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:48:49.906Z,1761587329.906 [marl:UpdateSpeed] Stopped
2025-10-27T17:48:49.906Z,1761587329.906 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:48:50.238Z,1761587330.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472553,0.867826,0.153533],[-0.881128,-0.461771,-0.101884],[-0.017520,-0.183428,0.982877]]
2025-10-27T17:48:50.283Z,1761587330.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:48:50.283Z,1761587330.283 [marl:UpdateRudder:B] Stopped
2025-10-27T17:48:50.283Z,1761587330.283 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:48:50.283Z,1761587330.283 [marl:UpdateRudder] Stopped
2025-10-27T17:48:50.283Z,1761587330.283 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:48:50.423Z,1761587330.423 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:48:50.423Z,1761587330.423 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:48:50.642Z,1761587330.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469787,0.867790,0.161991],[-0.882642,-0.458498,-0.103550],[-0.015587,-0.191627,0.981344]]
2025-10-27T17:48:50.694Z,1761587330.694 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:48:51.461Z,1761587331.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456565,0.871720,0.177913],[-0.889595,-0.444373,-0.105608],[-0.013001,-0.206487,0.978363]]
2025-10-27T17:48:51.870Z,1761587331.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448653,0.874658,0.183532],[-0.893616,-0.436131,-0.106020],[-0.012687,-0.211573,0.977280]]
2025-10-27T17:48:52.258Z,1761587332.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441305,0.878491,0.183036],[-0.897261,-0.429003,-0.104298],[-0.013102,-0.210259,0.977558]]
2025-10-27T17:48:52.662Z,1761587332.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435290,0.882354,0.178813],[-0.900178,-0.423423,-0.101946],[-0.014239,-0.205340,0.978587]]
2025-10-27T17:48:53.473Z,1761587333.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428835,0.888993,0.160599],[-0.903189,-0.418231,-0.096608],[-0.018716,-0.186480,0.982280]]
2025-10-27T17:48:53.877Z,1761587333.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428511,0.891045,0.149722],[-0.903283,-0.418546,-0.094333],[-0.021389,-0.175664,0.984218]]
2025-10-27T17:48:54.278Z,1761587334.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430375,0.891649,0.140495],[-0.902347,-0.420953,-0.092570],[-0.023398,-0.166615,0.985744]]
2025-10-27T17:48:54.683Z,1761587334.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434297,0.890456,0.135922],[-0.900436,-0.425061,-0.092399],[-0.024502,-0.162518,0.986401]]
2025-10-27T17:48:55.085Z,1761587335.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440143,0.887520,0.136317],[-0.897609,-0.430842,-0.093131],[-0.023924,-0.163350,0.986278]]
2025-10-27T17:48:55.490Z,1761587335.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447533,0.883002,0.141499],[-0.894014,-0.438005,-0.094286],[-0.021277,-0.168698,0.985438]]
2025-10-27T17:48:55.896Z,1761587335.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455637,0.877257,0.151046],[-0.890008,-0.445762,-0.095818],[-0.016727,-0.178091,0.983872]]
2025-10-27T17:48:56.301Z,1761587336.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462984,0.871333,0.162555],[-0.886300,-0.452845,-0.096977],[-0.010888,-0.188971,0.981922]]
2025-10-27T17:48:56.701Z,1761587336.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467365,0.866765,0.174033],[-0.884051,-0.457140,-0.097347],[-0.004820,-0.199351,0.979916]]
2025-10-27T17:48:57.105Z,1761587337.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467496,0.863965,0.187116],[-0.883995,-0.457124,-0.097930],[0.000927,-0.211191,0.977444]]
2025-10-27T17:48:57.514Z,1761587337.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463787,0.863050,0.200113],[-0.885925,-0.453368,-0.097951],[0.006188,-0.222713,0.974864]]
2025-10-27T17:48:57.915Z,1761587337.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457351,0.864161,0.209893],[-0.889214,-0.447410,-0.095519],[0.011364,-0.230325,0.973047]]
2025-10-27T17:48:58.317Z,1761587338.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448693,0.866494,0.218777],[-0.893538,-0.439430,-0.092152],[0.016288,-0.236834,0.971414]]
2025-10-27T17:48:58.723Z,1761587338.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438463,0.870696,0.222796],[-0.898510,-0.430386,-0.086304],[0.020744,-0.238026,0.971037]]
2025-10-27T17:48:59.126Z,1761587339.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426808,0.876519,0.222599],[-0.904023,-0.420066,-0.079283],[0.024013,-0.235073,0.971681]]
2025-10-27T17:48:59.536Z,1761587339.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414442,0.883733,0.217378],[-0.909712,-0.409037,-0.071504],[0.025725,-0.227385,0.973465]]
2025-10-27T17:48:59.934Z,1761587339.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402951,0.891686,0.206219],[-0.914855,-0.398812,-0.063167],[0.025918,-0.214114,0.976465]]
2025-10-27T17:49:00.349Z,1761587340.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393262,0.899280,0.191415],[-0.919094,-0.390106,-0.055534],[0.024731,-0.197768,0.979937]]
2025-10-27T17:49:00.750Z,1761587340.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386457,0.905453,0.175517],[-0.922025,-0.383986,-0.049239],[0.022812,-0.180860,0.983244]]
2025-10-27T17:49:01.147Z,1761587341.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382708,0.909808,0.160573],[-0.923647,-0.380607,-0.044888],[0.020276,-0.165491,0.986003]]
2025-10-27T17:49:01.550Z,1761587341.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381841,0.912437,0.147159],[-0.924055,-0.379977,-0.041703],[0.017866,-0.151907,0.988233]]
2025-10-27T17:49:01.954Z,1761587341.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383356,0.912949,0.139867],[-0.923455,-0.381561,-0.040517],[0.016378,-0.144694,0.989341]]
2025-10-27T17:49:02.360Z,1761587342.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387386,0.911604,0.137512],[-0.921765,-0.385706,-0.039758],[0.016796,-0.142155,0.989702]]
2025-10-27T17:49:02.767Z,1761587342.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393719,0.908303,0.141320],[-0.919025,-0.392206,-0.039594],[0.019463,-0.145466,0.989172]]
2025-10-27T17:49:03.166Z,1761587343.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401904,0.903164,0.150888],[-0.915348,-0.400714,-0.039576],[0.024719,-0.154021,0.987758]]
2025-10-27T17:49:03.223Z,1761587343.223 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:49:03.223Z,1761587343.223 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:49:03.223Z,1761587343.223 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:49:03.223Z,1761587343.223 [marl:UpdateRudder:A] Stopped
2025-10-27T17:49:03.223Z,1761587343.223 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode] Stopped
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:49:03.224Z,1761587343.224 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed] Stopped
2025-10-27T17:49:03.225Z,1761587343.225 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:49:03.570Z,1761587343.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411516,0.896548,0.163878],[-0.910812,-0.411020,-0.038533],[0.032810,-0.165119,0.985728]]
2025-10-27T17:49:03.630Z,1761587343.630 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:49:03.630Z,1761587343.630 [marl:UpdateRudder:B] Stopped
2025-10-27T17:49:03.630Z,1761587343.630 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:49:03.630Z,1761587343.630 [marl:UpdateRudder] Stopped
2025-10-27T17:49:03.630Z,1761587343.630 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:49:03.975Z,1761587343.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421300,0.889030,0.179252],[-0.905918,-0.421827,-0.037079],[0.042649,-0.178009,0.983104]]
2025-10-27T17:49:04.377Z,1761587344.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427852,0.882718,0.194296],[-0.902358,-0.429501,-0.035757],[0.051887,-0.190623,0.980291]]
2025-10-27T17:49:04.782Z,1761587344.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427272,0.879896,0.207900],[-0.902252,-0.429750,-0.035458],[0.058145,-0.202728,0.977507]]
2025-10-27T17:49:05.200Z,1761587345.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422078,0.879190,0.221078],[-0.904355,-0.425336,-0.035089],[0.063183,-0.214743,0.974625]]
2025-10-27T17:49:05.608Z,1761587345.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414927,0.879730,0.232189],[-0.907379,-0.418910,-0.034317],[0.067077,-0.224922,0.972065]]
2025-10-27T17:49:06.073Z,1761587346.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406291,0.881823,0.239406],[-0.911088,-0.410919,-0.032616],[0.069615,-0.231372,0.970372]]
2025-10-27T17:49:06.410Z,1761587346.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396750,0.884953,0.243819],[-0.915225,-0.401737,-0.031159],[0.070377,-0.235511,0.969320]]
2025-10-27T17:49:06.858Z,1761587346.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387298,0.889037,0.244161],[-0.919280,-0.392543,-0.028874],[0.070174,-0.235635,0.969305]]
2025-10-27T17:49:07.218Z,1761587347.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379621,0.893479,0.239963],[-0.922540,-0.385036,-0.025813],[0.069331,-0.231175,0.970439]]
2025-10-27T17:49:07.622Z,1761587347.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374115,0.898337,0.230278],[-0.924866,-0.379693,-0.021343],[0.068262,-0.220961,0.972891]]
2025-10-27T17:49:08.025Z,1761587348.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370909,0.902332,0.219601],[-0.926216,-0.376615,-0.016893],[0.067461,-0.209663,0.975444]]
2025-10-27T17:49:08.430Z,1761587348.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369880,0.905307,0.208826],[-0.926652,-0.375713,-0.012520],[0.067124,-0.198140,0.977873]]
2025-10-27T17:49:08.872Z,1761587348.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370527,0.907530,0.197736],[-0.926407,-0.376433,-0.008269],[0.066930,-0.186248,0.980220]]
2025-10-27T17:49:09.238Z,1761587349.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373011,0.908124,0.190193],[-0.925380,-0.379005,-0.005227],[0.067338,-0.177950,0.981733]]
2025-10-27T17:49:09.642Z,1761587349.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377457,0.907217,0.185699],[-0.923448,-0.383715,-0.002417],[0.069063,-0.172396,0.982604]]
2025-10-27T17:49:10.876Z,1761587350.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385306,0.902369,0.193055],[-0.919743,-0.392521,-0.000952],[0.074919,-0.177928,0.981188]]
2025-10-27T17:49:11.258Z,1761587351.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382688,0.902620,0.197044],[-0.920837,-0.389942,-0.002149],[0.074896,-0.182268,0.980392]]
2025-10-27T17:49:11.665Z,1761587351.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379236,0.902968,0.202060],[-0.922306,-0.386439,-0.004105],[0.074377,-0.187918,0.979364]]
2025-10-27T17:49:12.067Z,1761587352.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375215,0.903547,0.206920],[-0.924051,-0.382211,-0.006631],[0.073096,-0.193692,0.978336]]
2025-10-27T17:49:12.603Z,1761587352.603 [DockingStepper](ERROR): only read 1 of 4 ADC values. Response is: ÿ/0`1636303
2025-10-27T17:49:12.603Z,1761587352.603 [DockingStepper](FAULT): Docking arm not reporting position
2025-10-27T17:49:12.603Z,1761587352.603 [DockingStepper] Communications Fault, FailCount= 1
2025-10-27T17:49:12.604Z,1761587352.604 [DockingStepper](ERROR): Communications Fault
2025-10-27T17:49:12.687Z,1761587352.687 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-27T17:49:12.880Z,1761587352.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365761,0.905513,0.215094],[-0.928179,-0.371919,-0.012619],[0.068571,-0.204261,0.976512]]
2025-10-27T17:49:12.964Z,1761587352.964 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-27T17:49:12.964Z,1761587352.964 [DockingStepper](INFO): Powering down
2025-10-27T17:49:13.278Z,1761587353.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361268,0.906618,0.218014],[-0.930107,-0.366975,-0.015190],[0.066234,-0.208264,0.975827]]
2025-10-27T17:49:13.683Z,1761587353.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357588,0.907911,0.218696],[-0.931659,-0.362958,-0.016538],[0.064362,-0.209664,0.975653]]
2025-10-27T17:49:14.086Z,1761587354.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354894,0.909438,0.216732],[-0.932801,-0.360000,-0.016829],[0.062719,-0.208140,0.976086]]
2025-10-27T17:49:14.496Z,1761587354.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351067,0.912591,0.209591],[-0.934464,-0.355671,-0.016590],[0.059406,-0.201680,0.977648]]
2025-10-27T17:49:14.898Z,1761587354.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350507,0.914164,0.203588],[-0.934797,-0.354813,-0.016191],[0.057434,-0.195989,0.978923]]
2025-10-27T17:49:15.324Z,1761587355.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351880,0.915307,0.195944],[-0.934412,-0.355842,-0.015802],[0.055262,-0.188653,0.980488]]
2025-10-27T17:49:15.706Z,1761587355.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354681,0.915788,0.188503],[-0.933479,-0.358283,-0.015785],[0.053081,-0.181562,0.981946]]
2025-10-27T17:49:16.109Z,1761587356.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359005,0.915091,0.183639],[-0.931935,-0.362234,-0.016843],[0.051108,-0.177186,0.982849]]
2025-10-27T17:49:16.367Z,1761587356.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:49:16.570Z,1761587356.570 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:49:16.570Z,1761587356.570 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:49:16.570Z,1761587356.570 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:49:16.570Z,1761587356.570 [marl:UpdateRudder:A] Stopped
2025-10-27T17:49:16.571Z,1761587356.571 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:49:16.571Z,1761587356.571 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:49:16.571Z,1761587356.571 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:49:16.571Z,1761587356.571 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:49:16.571Z,1761587356.571 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateCommandMode] Stopped
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:49:16.572Z,1761587356.572 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:49:16.573Z,1761587356.573 [marl:UpdateSpeed] Stopped
2025-10-27T17:49:16.573Z,1761587356.573 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:49:16.914Z,1761587356.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371745,0.911049,0.178313],[-0.927067,-0.374359,-0.020036],[0.048499,-0.172757,0.983770]]
2025-10-27T17:49:16.998Z,1761587356.998 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:49:16.998Z,1761587356.998 [marl:UpdateRudder:B] Stopped
2025-10-27T17:49:16.998Z,1761587356.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:49:16.998Z,1761587356.998 [marl:UpdateRudder] Stopped
2025-10-27T17:49:16.998Z,1761587356.998 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:49:17.328Z,1761587357.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378898,0.907680,0.180423],[-0.924163,-0.381349,-0.022285],[0.048577,-0.175184,0.983337]]
2025-10-27T17:49:17.371Z,1761587357.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:49:17.728Z,1761587357.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384752,0.904111,0.185873],[-0.921694,-0.387118,-0.024888],[0.049453,-0.180894,0.982258]]
2025-10-27T17:49:18.126Z,1761587358.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387738,0.901277,0.193286],[-0.920358,-0.390137,-0.027091],[0.050991,-0.188397,0.980768]]
2025-10-27T17:49:18.532Z,1761587358.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387872,0.899328,0.201905],[-0.920212,-0.390332,-0.029160],[0.052586,-0.197106,0.978971]]
2025-10-27T17:49:18.933Z,1761587358.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385091,0.898601,0.210287],[-0.921329,-0.387531,-0.031194],[0.053462,-0.205756,0.977142]]
2025-10-27T17:49:19.338Z,1761587359.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380063,0.898747,0.218645],[-0.923414,-0.382339,-0.033520],[0.053470,-0.214639,0.975229]]
2025-10-27T17:49:19.750Z,1761587359.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372995,0.900166,0.224890],[-0.926372,-0.374902,-0.035830],[0.052058,-0.221696,0.973725]]
2025-10-27T17:49:20.147Z,1761587360.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364402,0.903161,0.226961],[-0.929965,-0.365685,-0.037933],[0.048736,-0.224889,0.973165]]
2025-10-27T17:49:20.550Z,1761587360.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354753,0.907679,0.224209],[-0.933949,-0.355178,-0.039845],[0.043468,-0.223535,0.973726]]
2025-10-27T17:49:20.954Z,1761587360.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345739,0.912851,0.217181],[-0.937609,-0.345169,-0.041807],[0.036801,-0.218085,0.975236]]
2025-10-27T17:49:21.357Z,1761587361.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338584,0.917629,0.208129],[-0.940465,-0.337032,-0.043992],[0.029778,-0.210633,0.977112]]
2025-10-27T17:49:21.766Z,1761587361.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335599,0.921697,0.194545],[-0.941705,-0.333471,-0.044599],[0.023769,-0.198172,0.979879]]
2025-10-27T17:49:22.166Z,1761587362.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336455,0.924321,0.180080],[-0.941511,-0.334009,-0.044672],[0.018857,-0.184577,0.982637]]
2025-10-27T17:49:22.975Z,1761587362.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345921,0.924828,0.158213],[-0.938181,-0.343173,-0.045259],[0.012438,-0.164089,0.986367]]
2025-10-27T17:49:23.384Z,1761587363.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352028,0.922891,0.156041],[-0.935932,-0.348934,-0.047719],[0.010409,-0.162842,0.986597]]
2025-10-27T17:49:23.796Z,1761587363.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357027,0.920773,0.157189],[-0.934054,-0.353472,-0.050990],[0.008612,-0.165028,0.986251]]
2025-10-27T17:49:24.186Z,1761587364.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360083,0.918697,0.162286],[-0.932894,-0.355877,-0.055313],[0.006938,-0.171313,0.985192]]
2025-10-27T17:49:24.590Z,1761587364.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360569,0.917213,0.169443],[-0.932717,-0.355603,-0.059878],[0.005334,-0.179632,0.983719]]
2025-10-27T17:49:24.994Z,1761587364.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358356,0.916843,0.176013],[-0.933578,-0.352645,-0.063821],[0.003556,-0.187192,0.982317]]
2025-10-27T17:49:25.405Z,1761587365.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354496,0.917118,0.182284],[-0.935056,-0.348061,-0.067261],[0.001760,-0.194290,0.980943]]
2025-10-27T17:49:26.206Z,1761587366.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342589,0.919971,0.190489],[-0.939479,-0.334748,-0.072955],[-0.003350,-0.203954,0.978975]]
2025-10-27T17:49:26.610Z,1761587366.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335548,0.922223,0.192127],[-0.942002,-0.327131,-0.074947],[-0.006268,-0.206133,0.978504]]
2025-10-27T17:49:27.419Z,1761587367.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323763,0.927107,0.188813],[-0.946056,-0.314594,-0.077513],[-0.012463,-0.203723,0.978949]]
2025-10-27T17:49:27.821Z,1761587367.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320619,0.929234,0.183650],[-0.947081,-0.311311,-0.078254],[-0.015544,-0.199021,0.979872]]
2025-10-27T17:49:28.225Z,1761587368.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319727,0.930793,0.177197],[-0.947327,-0.310353,-0.079072],[-0.018606,-0.193145,0.980994]]
2025-10-27T17:49:28.631Z,1761587368.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320347,0.931941,0.169895],[-0.947046,-0.310913,-0.080233],[-0.021950,-0.186601,0.982191]]
2025-10-27T17:49:29.033Z,1761587369.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322520,0.932353,0.163397],[-0.946212,-0.312862,-0.082466],[-0.025767,-0.181205,0.983108]]
2025-10-27T17:49:29.438Z,1761587369.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325636,0.932154,0.158273],[-0.945024,-0.315596,-0.085610],[-0.029852,-0.177449,0.983677]]
2025-10-27T17:49:29.841Z,1761587369.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329840,0.931310,0.154492],[-0.943418,-0.319256,-0.089651],[-0.034170,-0.175321,0.983918]]
2025-10-27T17:49:29.866Z,1761587369.866 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:49:29.866Z,1761587369.866 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:49:29.866Z,1761587369.866 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:49:29.867Z,1761587369.867 [marl:UpdateRudder:A] Stopped
2025-10-27T17:49:29.867Z,1761587369.867 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:49:29.867Z,1761587369.867 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:49:29.867Z,1761587369.867 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateCommandMode] Stopped
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:49:29.868Z,1761587369.868 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:49:29.869Z,1761587369.869 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:49:29.869Z,1761587369.869 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:49:29.869Z,1761587369.869 [marl:UpdateSpeed] Stopped
2025-10-27T17:49:29.869Z,1761587369.869 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:49:30.247Z,1761587370.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335031,0.930031,0.150984],[-0.941426,-0.323905,-0.093817],[-0.038348,-0.173572,0.984074]]
2025-10-27T17:49:30.319Z,1761587370.319 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:49:30.319Z,1761587370.319 [marl:UpdateRudder:B] Stopped
2025-10-27T17:49:30.319Z,1761587370.319 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:49:30.319Z,1761587370.319 [marl:UpdateRudder] Stopped
2025-10-27T17:49:30.320Z,1761587370.320 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:49:30.650Z,1761587370.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341159,0.928092,0.149182],[-0.939076,-0.329446,-0.097985],[-0.041792,-0.173521,0.983943]]
2025-10-27T17:49:31.053Z,1761587371.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347919,0.925613,0.148972],[-0.936489,-0.335652,-0.101618],[-0.044056,-0.174865,0.983606]]
2025-10-27T17:49:31.458Z,1761587371.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355045,0.922618,0.150728],[-0.933765,-0.342231,-0.104694],[-0.045009,-0.177915,0.983016]]
2025-10-27T17:49:31.957Z,1761587371.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361447,0.919418,0.155004],[-0.931321,-0.348042,-0.107273],[-0.044681,-0.183132,0.982072]]
2025-10-27T17:49:32.284Z,1761587372.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365919,0.916520,0.161537],[-0.929647,-0.351932,-0.109091],[-0.043134,-0.190090,0.980819]]
2025-10-27T17:49:33.070Z,1761587373.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366137,0.913215,0.178836],[-0.929802,-0.351260,-0.109927],[-0.037569,-0.206531,0.977719]]
2025-10-27T17:49:33.475Z,1761587373.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362105,0.912852,0.188630],[-0.931520,-0.347010,-0.108883],[-0.033937,-0.215140,0.975993]]
2025-10-27T17:49:33.587Z,1761587373.587 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-27T17:49:33.587Z,1761587373.587 [DockingStepper] No Fault, FailCount= 1
2025-10-27T17:49:33.877Z,1761587373.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356037,0.913491,0.196904],[-0.933976,-0.340998,-0.106813],[-0.030429,-0.221933,0.974587]]
2025-10-27T17:49:33.926Z,1761587373.926 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T17:49:33.927Z,1761587373.927 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T17:49:34.289Z,1761587374.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347926,0.915394,0.202488],[-0.937122,-0.333265,-0.103615],[-0.027366,-0.225807,0.973788]]
2025-10-27T17:49:34.686Z,1761587374.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338369,0.918222,0.205851],[-0.940677,-0.324209,-0.100076],[-0.025154,-0.227502,0.973453]]
2025-10-27T17:49:35.089Z,1761587375.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327464,0.922785,0.203065],[-0.944541,-0.314090,-0.095859],[-0.024677,-0.223194,0.974462]]
2025-10-27T17:49:35.494Z,1761587375.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316043,0.928088,0.196899],[-0.948391,-0.303382,-0.092267],[-0.025897,-0.215897,0.976073]]
2025-10-27T17:49:35.898Z,1761587375.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304768,0.933983,0.186525],[-0.951989,-0.292791,-0.089395],[-0.028880,-0.204815,0.978375]]
2025-10-27T17:49:36.306Z,1761587376.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293963,0.940145,0.172374],[-0.955248,-0.282749,-0.086921],[-0.032980,-0.190211,0.981189]]
2025-10-27T17:49:36.707Z,1761587376.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285081,0.945185,0.159230],[-0.957779,-0.274450,-0.085649],[-0.037253,-0.176924,0.983519]]
2025-10-27T17:49:37.513Z,1761587377.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278221,0.950683,0.137098],[-0.959573,-0.268776,-0.083536],[-0.042567,-0.154797,0.987029]]
2025-10-27T17:49:37.578Z,1761587377.578 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T17:49:37.918Z,1761587377.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280971,0.950658,0.131551],[-0.958738,-0.271848,-0.083185],[-0.043319,-0.149495,0.987813]]
2025-10-27T17:49:38.324Z,1761587378.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286035,0.949441,0.129408],[-0.957223,-0.276963,-0.083760],[-0.043684,-0.147831,0.988047]]
2025-10-27T17:49:38.729Z,1761587378.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291953,0.947730,0.128726],[-0.955412,-0.282772,-0.085022],[-0.044178,-0.147809,0.988029]]
2025-10-27T17:49:39.134Z,1761587379.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298417,0.945200,0.132457],[-0.953400,-0.288746,-0.087487],[-0.044446,-0.152392,0.987320]]
2025-10-27T17:49:39.534Z,1761587379.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305503,0.942131,0.138046],[-0.951140,-0.295131,-0.090719],[-0.044727,-0.159016,0.986262]]
2025-10-27T17:49:39.938Z,1761587379.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313125,0.938497,0.145523],[-0.948647,-0.301825,-0.094714],[-0.044967,-0.167707,0.984811]]
2025-10-27T17:49:40.344Z,1761587380.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320981,0.934410,0.154432],[-0.946012,-0.308562,-0.099254],[-0.045092,-0.177953,0.983005]]
2025-10-27T17:49:41.149Z,1761587381.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334671,0.926357,0.172794],[-0.941331,-0.320184,-0.106669],[-0.043488,-0.198356,0.979165]]
2025-10-27T17:49:41.957Z,1761587381.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337164,0.922540,0.187726],[-0.940599,-0.321642,-0.108718],[-0.039916,-0.213231,0.976186]]
2025-10-27T17:49:42.368Z,1761587382.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332652,0.922288,0.196793],[-0.942288,-0.316681,-0.108658],[-0.037894,-0.221581,0.974405]]
2025-10-27T17:49:42.770Z,1761587382.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325857,0.923122,0.204115],[-0.944735,-0.309731,-0.107434],[-0.035953,-0.227843,0.973034]]
2025-10-27T17:49:43.210Z,1761587383.210 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:49:43.211Z,1761587383.211 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:49:43.211Z,1761587383.211 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:49:43.211Z,1761587383.211 [marl:UpdateRudder:A] Stopped
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode] Stopped
2025-10-27T17:49:43.212Z,1761587383.212 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed] Stopped
2025-10-27T17:49:43.213Z,1761587383.213 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:49:43.574Z,1761587383.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307292,0.929335,0.204715],[-0.950987,-0.292083,-0.101546],[-0.034576,-0.225885,0.973540]]
2025-10-27T17:49:43.634Z,1761587383.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:49:43.634Z,1761587383.634 [marl:UpdateRudder:B] Stopped
2025-10-27T17:49:43.634Z,1761587383.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:49:43.634Z,1761587383.634 [marl:UpdateRudder] Stopped
2025-10-27T17:49:43.634Z,1761587383.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:49:43.979Z,1761587383.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296496,0.933993,0.199365],[-0.954363,-0.281937,-0.098498],[-0.035788,-0.219471,0.974962]]
2025-10-27T17:49:44.382Z,1761587384.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285161,0.939031,0.192105],[-0.957731,-0.271234,-0.095835],[-0.037886,-0.211313,0.976684]]
2025-10-27T17:49:44.790Z,1761587384.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273896,0.944120,0.183356],[-0.960890,-0.260526,-0.093894],[-0.040878,-0.201902,0.978552]]
2025-10-27T17:49:45.201Z,1761587385.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265502,0.948167,0.174610],[-0.963127,-0.252669,-0.092436],[-0.043527,-0.192713,0.980289]]
2025-10-27T17:49:45.603Z,1761587385.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261474,0.950878,0.165717],[-0.964165,-0.249325,-0.090679],[-0.044907,-0.183489,0.981996]]
2025-10-27T17:49:46.874Z,1761587386.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250362,0.957646,0.142243],[-0.967094,-0.240508,-0.082975],[-0.045250,-0.158336,0.986348]]
2025-10-27T17:49:47.234Z,1761587387.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239043,0.963244,0.122552],[-0.969962,-0.231017,-0.076189],[-0.045077,-0.137083,0.989533]]
2025-10-27T17:49:47.491Z,1761587387.491 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:49:47.627Z,1761587387.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224704,0.969853,0.094301],[-0.973402,-0.218977,-0.067355],[-0.044675,-0.106928,0.993263]]
2025-10-27T17:49:48.029Z,1761587388.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209155,0.975644,0.066131],[-0.976908,-0.205451,-0.058650],[-0.043635,-0.076871,0.996086]]
2025-10-27T17:49:48.434Z,1761587388.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192984,0.980359,0.040671],[-0.980288,-0.190850,-0.051095],[-0.042330,-0.049730,0.997865]]
2025-10-27T17:49:48.497Z,1761587388.497 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:49:48.872Z,1761587388.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177334,0.983975,0.018606],[-0.983312,-0.176371,-0.044617],[-0.040621,-0.026208,0.998831]]
2025-10-27T17:49:49.251Z,1761587389.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162514,0.986705,0.001737],[-0.985935,-0.162317,-0.039816],[-0.039004,-0.008183,0.999205]]
2025-10-27T17:49:49.645Z,1761587389.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149268,0.988748,-0.009796],[-0.988093,-0.149528,-0.036251],[-0.037308,0.004268,0.999295]]
2025-10-27T17:49:50.050Z,1761587390.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137514,0.990344,-0.017585],[-0.989865,-0.138040,-0.033348],[-0.035454,0.012821,0.999289]]
2025-10-27T17:49:50.458Z,1761587390.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126066,0.991799,-0.021018],[-0.991464,-0.126677,-0.030845],[-0.033254,0.016950,0.999303]]
2025-10-27T17:49:50.591Z,1761587390.591 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:49:50.591Z,1761587390.591 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:49:50.876Z,1761587390.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115872,0.993059,-0.020213],[-0.992794,-0.116419,-0.028402],[-0.030559,0.016777,0.999392]]
2025-10-27T17:49:50.957Z,1761587390.957 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:49:51.262Z,1761587391.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104681,0.994350,-0.017625],[-0.994118,-0.105119,-0.026078],[-0.027783,0.014792,0.999505]]
2025-10-27T17:49:51.665Z,1761587391.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091542,0.995714,-0.013185],[-0.995485,-0.091839,-0.023970],[-0.025078,0.010931,0.999626]]
2025-10-27T17:49:52.490Z,1761587392.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059112,0.998236,-0.005544],[-0.998052,-0.059210,-0.019672],[-0.019966,0.004370,0.999791]]
2025-10-27T17:49:52.883Z,1761587392.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040757,0.999158,-0.004712],[-0.999008,-0.040834,-0.017764],[-0.017941,0.003983,0.999831]]
2025-10-27T17:49:53.686Z,1761587393.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003497,0.999980,-0.005270],[-0.999881,-0.003575,-0.015001],[-0.015019,0.005217,0.999874]]
2025-10-27T17:49:54.107Z,1761587394.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014158,0.999870,-0.007657],[-0.999803,0.014049,-0.014044],[-0.013935,0.007854,0.999872]]
2025-10-27T17:49:54.493Z,1761587394.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030017,0.999503,-0.009621],[-0.999474,0.029895,-0.012597],[-0.012303,0.009994,0.999874]]
2025-10-27T17:49:54.898Z,1761587394.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045591,0.998898,-0.011124],[-0.998902,0.045465,-0.011252],[-0.010734,0.011625,0.999875]]
2025-10-27T17:49:55.301Z,1761587395.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060966,0.998075,-0.011372],[-0.998100,0.060858,-0.009628],[-0.008917,0.011937,0.999889]]
2025-10-27T17:49:55.719Z,1761587395.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076576,0.997004,-0.010949],[-0.997038,0.076491,-0.007953],[-0.007091,0.011526,0.999908]]
2025-10-27T17:49:56.110Z,1761587396.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092522,0.995663,-0.009752],[-0.995696,0.092462,-0.006364],[-0.005435,0.010299,0.999932]]
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateRudder:A] Stopped
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:49:56.166Z,1761587396.166 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:49:56.167Z,1761587396.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:49:56.167Z,1761587396.167 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:49:56.167Z,1761587396.167 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:49:56.167Z,1761587396.167 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:49:56.167Z,1761587396.167 [marl:UpdateCommandMode] Stopped
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed] Stopped
2025-10-27T17:49:56.168Z,1761587396.168 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:49:56.514Z,1761587396.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108815,0.994022,-0.008968],[-0.994054,0.108774,-0.004976],[-0.003970,0.009456,0.999947]]
2025-10-27T17:49:56.569Z,1761587396.569 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:49:56.569Z,1761587396.569 [marl:UpdateRudder:B] Stopped
2025-10-27T17:49:56.569Z,1761587396.569 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:49:56.569Z,1761587396.569 [marl:UpdateRudder] Stopped
2025-10-27T17:49:56.569Z,1761587396.569 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:49:56.920Z,1761587396.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125249,0.992106,-0.006271],[-0.992122,0.125229,-0.003438],[-0.002625,0.006653,0.999974]]
2025-10-27T17:49:57.322Z,1761587397.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141274,0.989954,-0.005698],[-0.989969,0.141264,-0.002259],[-0.001431,0.005960,0.999981]]
2025-10-27T17:49:57.744Z,1761587397.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157220,0.987548,-0.005467],[-0.987563,0.157216,-0.001313],[-0.000437,0.005605,0.999984]]
2025-10-27T17:49:58.130Z,1761587398.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172828,0.984933,-0.006061],[-0.984951,0.172831,-0.000016],[0.001032,0.005972,0.999982]]
2025-10-27T17:49:59.348Z,1761587399.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243634,0.969853,-0.005202],[-0.969833,0.243668,0.007142],[0.008194,0.003305,0.999961]]
2025-10-27T17:49:59.758Z,1761587399.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262158,0.965003,-0.006523],[-0.964973,0.262208,0.008584],[0.009994,0.004045,0.999942]]
2025-10-27T17:50:00.156Z,1761587400.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279677,0.960078,-0.005557],[-0.960029,0.279720,0.010008],[0.011162,0.002536,0.999934]]
2025-10-27T17:50:00.557Z,1761587400.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295393,0.955361,-0.005312],[-0.955303,0.295434,0.010687],[0.011779,0.001918,0.999929]]
2025-10-27T17:50:00.958Z,1761587400.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309350,0.950929,-0.006060],[-0.950877,0.309398,0.010253],[0.011625,0.002590,0.999929]]
2025-10-27T17:50:01.361Z,1761587401.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321549,0.946870,-0.006636],[-0.946831,0.321600,0.009204],[0.010849,0.003324,0.999936]]
2025-10-27T17:50:01.769Z,1761587401.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332022,0.943259,-0.004795],[-0.943220,0.332053,0.008814],[0.009906,0.001596,0.999950]]
2025-10-27T17:50:02.170Z,1761587402.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342413,0.939542,-0.003772],[-0.939501,0.342433,0.008763],[0.009524,0.000543,0.999955]]
2025-10-27T17:50:02.573Z,1761587402.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352303,0.935879,-0.003534],[-0.935824,0.352320,0.010235],[0.010824,-0.000298,0.999941]]
2025-10-27T17:50:02.978Z,1761587402.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361512,0.932354,-0.004919],[-0.932259,0.361545,0.013363],[0.014238,-0.000245,0.999899]]
2025-10-27T17:50:03.384Z,1761587403.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371263,0.928483,-0.009073],[-0.928332,0.371368,0.016913],[0.019073,0.002143,0.999816]]
2025-10-27T17:50:03.786Z,1761587403.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384637,0.922972,-0.013312],[-0.922771,0.384839,0.019829],[0.023424,0.004657,0.999715]]
2025-10-27T17:50:04.202Z,1761587404.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400914,0.915956,-0.017101],[-0.915722,0.401219,0.021835],[0.026861,0.006906,0.999615]]
2025-10-27T17:50:04.594Z,1761587404.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418988,0.907761,-0.020460],[-0.907516,0.419392,0.022931],[0.029396,0.008960,0.999528]]
2025-10-27T17:50:05.404Z,1761587405.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456529,0.889437,-0.021971],[-0.889105,0.456989,0.025539],[0.032755,0.007875,0.999432]]
2025-10-27T17:50:06.216Z,1761587406.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494540,0.868902,-0.020950],[-0.868539,0.494953,0.025713],[0.032711,0.005480,0.999450]]
2025-10-27T17:50:07.019Z,1761587407.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527100,0.849647,-0.016291],[-0.849200,0.527351,0.027564],[0.032011,-0.000695,0.999487]]
2025-10-27T17:50:07.422Z,1761587407.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540320,0.841318,-0.015446],[-0.840843,0.540536,0.028348],[0.032198,-0.002329,0.999479]]
2025-10-27T17:50:07.826Z,1761587407.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552141,0.833625,-0.014465],[-0.833133,0.552316,0.028903],[0.032083,-0.003908,0.999478]]
2025-10-27T17:50:08.230Z,1761587408.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563419,0.826045,-0.014458],[-0.825584,0.563592,0.027850],[0.031154,-0.003755,0.999508]]
2025-10-27T17:50:08.642Z,1761587408.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574057,0.818698,-0.013844],[-0.818283,0.574212,0.026328],[0.029504,-0.003786,0.999557]]
2025-10-27T17:50:09.037Z,1761587409.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583889,0.811746,-0.011893],[-0.811375,0.583989,0.025053],[0.027282,-0.004978,0.999615]]
2025-10-27T17:50:09.144Z,1761587409.144 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:50:09.145Z,1761587409.145 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:50:09.145Z,1761587409.145 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:50:09.145Z,1761587409.145 [marl:UpdateRudder:A] Stopped
2025-10-27T17:50:09.145Z,1761587409.145 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:50:09.145Z,1761587409.145 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode] Stopped
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:50:09.146Z,1761587409.146 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:50:09.147Z,1761587409.147 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:50:09.151Z,1761587409.151 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:50:09.151Z,1761587409.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:50:09.151Z,1761587409.151 [marl:UpdateSpeed] Stopped
2025-10-27T17:50:09.151Z,1761587409.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:50:09.441Z,1761587409.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593005,0.805123,-0.011071],[-0.804799,0.593087,0.023377],[0.025388,-0.004953,0.999665]]
2025-10-27T17:50:09.484Z,1761587409.484 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:50:09.484Z,1761587409.484 [marl:UpdateRudder:B] Stopped
2025-10-27T17:50:09.484Z,1761587409.484 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:50:09.484Z,1761587409.484 [marl:UpdateRudder] Stopped
2025-10-27T17:50:09.484Z,1761587409.484 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:50:09.846Z,1761587409.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601716,0.798624,-0.011742],[-0.798326,0.601817,0.022160],[0.024764,-0.003960,0.999685]]
2025-10-27T17:50:10.252Z,1761587410.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610369,0.791956,-0.015957],[-0.791683,0.610578,0.020818],[0.026230,-0.000074,0.999656]]
2025-10-27T17:50:10.653Z,1761587410.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619489,0.784695,-0.022067],[-0.784456,0.619862,0.019987],[0.029362,0.004929,0.999557]]
2025-10-27T17:50:11.057Z,1761587411.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630010,0.776082,-0.028008],[-0.775859,0.630571,0.020560],[0.033617,0.008777,0.999396]]
2025-10-27T17:50:11.461Z,1761587411.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642769,0.765329,-0.033470],[-0.765115,0.643532,0.021574],[0.038051,0.011741,0.999207]]
2025-10-27T17:50:11.917Z,1761587411.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656231,0.753683,-0.036381],[-0.753386,0.657136,0.024110],[0.042078,0.011587,0.999047]]
2025-10-27T17:50:12.269Z,1761587412.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668683,0.742690,-0.035696],[-0.742138,0.669601,0.029437],[0.045765,0.006807,0.998929]]
2025-10-27T17:50:12.700Z,1761587412.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677940,0.734589,-0.027878],[-0.733464,0.678470,0.041336],[0.049280,-0.007575,0.998756]]
2025-10-27T17:50:13.103Z,1761587413.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684420,0.728980,-0.012547],[-0.727225,0.683799,0.059685],[0.052089,-0.031725,0.998138]]
2025-10-27T17:50:13.910Z,1761587413.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692717,0.720401,0.034132],[-0.719243,0.686563,0.106395],[0.053213,-0.098251,0.993738]]
2025-10-27T17:50:14.315Z,1761587414.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695824,0.715774,0.059138],[-0.716387,0.685831,0.128166],[0.051179,-0.131546,0.989988]]
2025-10-27T17:50:14.717Z,1761587414.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698447,0.710815,0.083145],[-0.714085,0.684484,0.146848],[0.047470,-0.161938,0.985658]]
2025-10-27T17:50:15.122Z,1761587415.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699564,0.707067,0.103275],[-0.713255,0.682180,0.160928],[0.043335,-0.186241,0.981548]]
2025-10-27T17:50:15.527Z,1761587415.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698795,0.705371,0.118900],[-0.714257,0.678983,0.169760],[0.039013,-0.203552,0.978287]]
2025-10-27T17:50:15.931Z,1761587415.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696822,0.705023,0.131843],[-0.716417,0.675332,0.175136],[0.034437,-0.216493,0.975677]]
2025-10-27T17:50:16.744Z,1761587416.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692631,0.706374,0.145940],[-0.720884,0.671118,0.172992],[0.024254,-0.225025,0.974051]]
2025-10-27T17:50:17.146Z,1761587417.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691172,0.707694,0.146461],[-0.722417,0.671002,0.166943],[0.019869,-0.221192,0.975028]]
2025-10-27T17:50:17.545Z,1761587417.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690321,0.709203,0.143138],[-0.723304,0.671844,0.159552],[0.016988,-0.213674,0.976757]]
2025-10-27T17:50:17.950Z,1761587417.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689469,0.711409,0.136123],[-0.724139,0.672872,0.151217],[0.015984,-0.202832,0.979083]]
2025-10-27T17:50:18.354Z,1761587418.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688309,0.714039,0.127978],[-0.725217,0.673173,0.144565],[0.017073,-0.192317,0.981184]]
2025-10-27T17:50:18.623Z,1761587418.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:50:18.764Z,1761587418.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686490,0.717224,0.119667],[-0.726858,0.672292,0.140361],[0.020219,-0.183337,0.982842]]
2025-10-27T17:50:19.181Z,1761587419.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685024,0.719813,0.112300],[-0.728112,0.671293,0.138628],[0.024400,-0.176731,0.983957]]
2025-10-27T17:50:19.565Z,1761587419.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685388,0.720277,0.106980],[-0.727643,0.671820,0.138545],[0.027919,-0.172800,0.984561]]
2025-10-27T17:50:19.628Z,1761587419.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:50:19.969Z,1761587419.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688735,0.717441,0.104511],[-0.724406,0.675070,0.139702],[0.029676,-0.171926,0.984663]]
2025-10-27T17:50:20.376Z,1761587420.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693585,0.712624,0.105388],[-0.719742,0.679394,0.142811],[0.030171,-0.174904,0.984123]]
2025-10-27T17:50:21.186Z,1761587421.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704186,0.701419,0.110151],[-0.709405,0.688628,0.150119],[0.029443,-0.183854,0.982513]]
2025-10-27T17:50:21.589Z,1761587421.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709404,0.695579,0.113652],[-0.704235,0.693088,0.153887],[0.028270,-0.189205,0.981530]]
2025-10-27T17:50:21.991Z,1761587421.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714161,0.690201,0.116606],[-0.699461,0.697233,0.156909],[0.026997,-0.193619,0.980705]]
2025-10-27T17:50:22.015Z,1761587422.015 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:50:22.015Z,1761587422.015 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:50:22.015Z,1761587422.015 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateRudder:A] Stopped
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:50:22.016Z,1761587422.016 [marl:UpdateCommandMode] Stopped
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed] Stopped
2025-10-27T17:50:22.017Z,1761587422.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:50:22.394Z,1761587422.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718452,0.685454,0.118235],[-0.695100,0.701220,0.158517],[0.025747,-0.196071,0.980252]]
2025-10-27T17:50:22.438Z,1761587422.438 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:50:22.438Z,1761587422.438 [marl:UpdateRudder:B] Stopped
2025-10-27T17:50:22.438Z,1761587422.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:50:22.438Z,1761587422.438 [marl:UpdateRudder] Stopped
2025-10-27T17:50:22.438Z,1761587422.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:50:22.808Z,1761587422.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721872,0.681620,0.119563],[-0.691579,0.704343,0.160062],[0.024888,-0.198231,0.979839]]
2025-10-27T17:50:23.206Z,1761587423.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724760,0.678369,0.120575],[-0.688583,0.707042,0.161074],[0.024016,-0.199766,0.979549]]
2025-10-27T17:50:23.606Z,1761587423.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726291,0.676592,0.121345],[-0.686981,0.708391,0.161987],[0.023640,-0.201011,0.979304]]
2025-10-27T17:50:24.009Z,1761587424.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727242,0.675297,0.122854],[-0.685986,0.709016,0.163459],[0.023278,-0.203150,0.978871]]
2025-10-27T17:50:24.414Z,1761587424.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726946,0.674885,0.126807],[-0.686316,0.707920,0.166792],[0.022796,-0.208279,0.977804]]
2025-10-27T17:50:24.856Z,1761587424.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725747,0.675519,0.130249],[-0.687609,0.706195,0.168767],[0.022024,-0.212043,0.977012]]
2025-10-27T17:50:25.224Z,1761587425.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724429,0.676153,0.134239],[-0.689047,0.704483,0.170050],[0.020411,-0.215686,0.976249]]
2025-10-27T17:50:25.626Z,1761587425.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722893,0.677535,0.135541],[-0.690702,0.703223,0.168549],[0.018883,-0.215461,0.976330]]
2025-10-27T17:50:26.032Z,1761587426.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721410,0.679129,0.135470],[-0.692286,0.702289,0.165921],[0.017542,-0.213481,0.976790]]
2025-10-27T17:50:26.434Z,1761587426.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720032,0.680986,0.133462],[-0.693752,0.701905,0.161359],[0.016206,-0.208773,0.977830]]
2025-10-27T17:50:26.937Z,1761587426.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718519,0.683134,0.130607],[-0.695334,0.701367,0.156829],[0.015532,-0.203500,0.978952]]
2025-10-27T17:50:27.244Z,1761587427.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717342,0.685189,0.126238],[-0.696546,0.701240,0.151941],[0.015585,-0.196924,0.980295]]
2025-10-27T17:50:27.667Z,1761587427.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716725,0.686850,0.120592],[-0.697168,0.701721,0.146779],[0.016193,-0.189273,0.981791]]
2025-10-27T17:50:28.050Z,1761587428.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717359,0.687028,0.115711],[-0.696504,0.703207,0.142766],[0.016716,-0.183007,0.982969]]
2025-10-27T17:50:28.454Z,1761587428.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719028,0.685807,0.112549],[-0.694772,0.705350,0.140618],[0.017050,-0.179304,0.983646]]
2025-10-27T17:50:28.874Z,1761587428.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722159,0.682729,0.111210],[-0.691526,0.708686,0.139844],[0.016662,-0.177894,0.983909]]
2025-10-27T17:50:29.266Z,1761587429.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726002,0.678661,0.111082],[-0.687509,0.712548,0.140026],[0.015879,-0.178029,0.983897]]
2025-10-27T17:50:29.671Z,1761587429.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729453,0.674742,0.112348],[-0.683867,0.715770,0.141420],[0.015006,-0.179990,0.983554]]
2025-10-27T17:50:30.069Z,1761587430.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732522,0.671083,0.114271],[-0.680595,0.718475,0.143473],[0.014182,-0.182870,0.983035]]
2025-10-27T17:50:30.473Z,1761587430.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735320,0.667607,0.116646],[-0.677586,0.720778,0.146136],[0.013486,-0.186494,0.982363]]
2025-10-27T17:50:30.882Z,1761587430.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737889,0.664246,0.119570],[-0.674803,0.722768,0.149154],[0.012653,-0.190746,0.981558]]
2025-10-27T17:50:31.290Z,1761587431.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739803,0.661543,0.122684],[-0.672712,0.723967,0.152742],[0.012227,-0.195530,0.980621]]
2025-10-27T17:50:31.685Z,1761587431.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741292,0.659532,0.124517],[-0.671067,0.724861,0.155710],[0.012438,-0.198986,0.979923]]
2025-10-27T17:50:32.089Z,1761587432.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742794,0.657285,0.127406],[-0.669405,0.725574,0.159499],[0.012394,-0.203761,0.978942]]
2025-10-27T17:50:32.493Z,1761587432.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744555,0.654955,0.129116],[-0.667455,0.726938,0.161446],[0.011880,-0.206385,0.978399]]
2025-10-27T17:50:32.898Z,1761587432.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745538,0.653418,0.131216],[-0.666363,0.727433,0.163710],[0.011520,-0.209490,0.977743]]
2025-10-27T17:50:33.312Z,1761587433.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746179,0.652450,0.132385],[-0.665654,0.727894,0.164546],[0.010996,-0.210904,0.977445]]
2025-10-27T17:50:33.706Z,1761587433.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745954,0.652578,0.133021],[-0.665915,0.727694,0.164374],[0.010468,-0.211196,0.977388]]
2025-10-27T17:50:34.149Z,1761587434.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745533,0.653219,0.132232],[-0.666397,0.727720,0.162291],[0.009784,-0.209112,0.977843]]
2025-10-27T17:50:34.513Z,1761587434.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744949,0.653996,0.131680],[-0.667063,0.727629,0.159946],[0.008789,-0.206990,0.978303]]
2025-10-27T17:50:34.917Z,1761587434.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744401,0.655031,0.129618],[-0.667688,0.727961,0.155775],[0.007680,-0.202504,0.979251]]
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateRudder:A] Stopped
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:50:35.006Z,1761587435.006 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:50:35.007Z,1761587435.007 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:50:35.011Z,1761587435.011 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:50:35.011Z,1761587435.011 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:50:35.011Z,1761587435.011 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:50:35.011Z,1761587435.011 [marl:UpdateCommandMode] Stopped
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed] Stopped
2025-10-27T17:50:35.012Z,1761587435.012 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:50:35.324Z,1761587435.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744051,0.655892,0.127256],[-0.668086,0.728392,0.152008],[0.007009,-0.198120,0.980153]]
2025-10-27T17:50:35.381Z,1761587435.381 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:50:35.381Z,1761587435.381 [marl:UpdateRudder:B] Stopped
2025-10-27T17:50:35.382Z,1761587435.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:50:35.382Z,1761587435.382 [marl:UpdateRudder] Stopped
2025-10-27T17:50:35.382Z,1761587435.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:50:35.730Z,1761587435.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744293,0.656362,0.123360],[-0.667821,0.729624,0.147185],[0.006600,-0.191931,0.981386]]
2025-10-27T17:50:36.145Z,1761587436.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745256,0.655891,0.120001],[-0.666747,0.731316,0.143613],[0.006436,-0.187039,0.982331]]
2025-10-27T17:50:36.534Z,1761587436.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746981,0.654508,0.116781],[-0.664813,0.733605,0.140881],[0.006537,-0.182873,0.983115]]
2025-10-27T17:50:36.938Z,1761587436.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749766,0.651830,0.113875],[-0.661667,0.736750,0.139271],[0.006884,-0.179768,0.983685]]
2025-10-27T17:50:37.342Z,1761587437.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753270,0.648126,0.111881],[-0.657670,0.740330,0.139217],[0.007401,-0.178449,0.983921]]
2025-10-27T17:50:37.755Z,1761587437.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757188,0.643542,0.111895],[-0.653148,0.743839,0.141780],[0.008010,-0.180438,0.983554]]
2025-10-27T17:50:38.152Z,1761587438.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761265,0.638626,0.112395],[-0.648383,0.747358,0.145103],[0.008667,-0.183336,0.983012]]
2025-10-27T17:50:38.554Z,1761587438.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765276,0.633375,0.114843],[-0.643644,0.750534,0.149738],[0.008647,-0.188509,0.982033]]
2025-10-27T17:50:38.957Z,1761587438.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768719,0.628595,0.118063],[-0.639535,0.753109,0.154343],[0.008105,-0.194152,0.980938]]
2025-10-27T17:50:39.367Z,1761587439.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770954,0.625042,0.122281],[-0.636850,0.754402,0.159056],[0.007168,-0.200499,0.979668]]
2025-10-27T17:50:39.768Z,1761587439.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771785,0.623028,0.127215],[-0.635852,0.754168,0.164083],[0.006287,-0.207526,0.978209]]
2025-10-27T17:50:40.169Z,1761587440.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771304,0.622424,0.132962],[-0.636445,0.752538,0.169184],[0.005245,-0.215116,0.976574]]
2025-10-27T17:50:40.979Z,1761587440.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768999,0.623692,0.140171],[-0.639241,0.749156,0.173598],[0.003262,-0.223100,0.974790]]
2025-10-27T17:50:41.792Z,1761587441.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765512,0.629158,0.134724],[-0.643412,0.747398,0.165584],[0.003486,-0.213440,0.976950]]
2025-10-27T17:50:42.195Z,1761587442.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765547,0.629990,0.130579],[-0.643367,0.748281,0.161725],[0.004176,-0.207818,0.978159]]
2025-10-27T17:50:42.604Z,1761587442.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766732,0.629460,0.126106],[-0.641952,0.750387,0.157537],[0.004535,-0.201743,0.979428]]
2025-10-27T17:50:43.001Z,1761587443.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769009,0.627452,0.122179],[-0.639220,0.753423,0.154115],[0.004647,-0.196616,0.980470]]
2025-10-27T17:50:43.806Z,1761587443.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775169,0.620986,0.116142],[-0.631743,0.760903,0.148080],[0.003582,-0.188159,0.982132]]
2025-10-27T17:50:44.211Z,1761587444.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777454,0.618249,0.115473],[-0.628934,0.763449,0.146924],[0.002678,-0.186852,0.982385]]
2025-10-27T17:50:44.627Z,1761587444.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779065,0.616107,0.116061],[-0.626942,0.765162,0.146529],[0.001473,-0.186919,0.982374]]
2025-10-27T17:50:45.422Z,1761587445.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780148,0.614031,0.119729],[-0.625595,0.765919,0.148323],[-0.000628,-0.190616,0.981665]]
2025-10-27T17:50:45.826Z,1761587445.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779971,0.614139,0.120329],[-0.625815,0.765696,0.148541],[-0.000911,-0.191162,0.981558]]
2025-10-27T17:50:46.231Z,1761587446.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779737,0.614346,0.120785],[-0.626107,0.765350,0.149095],[-0.000847,-0.191880,0.981418]]
2025-10-27T17:50:46.635Z,1761587446.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779824,0.614231,0.120805],[-0.625998,0.765403,0.149284],[-0.000770,-0.192039,0.981387]]
2025-10-27T17:50:47.038Z,1761587447.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780871,0.612920,0.120703],[-0.624691,0.766450,0.149384],[-0.000953,-0.192052,0.981384]]
2025-10-27T17:50:47.447Z,1761587447.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782494,0.610970,0.120079],[-0.622657,0.768169,0.149047],[-0.001178,-0.191396,0.981512]]
2025-10-27T17:50:47.846Z,1761587447.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785027,0.607934,0.118949],[-0.619461,0.770781,0.148880],[-0.001174,-0.190559,0.981675]]
2025-10-27T17:50:47.876Z,1761587447.876 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateRudder:A] Stopped
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:50:47.877Z,1761587447.877 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateCommandMode] Stopped
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:50:47.878Z,1761587447.878 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:50:47.879Z,1761587447.879 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:50:47.879Z,1761587447.879 [marl:UpdateSpeed] Stopped
2025-10-27T17:50:47.879Z,1761587447.879 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:50:48.250Z,1761587448.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788122,0.604207,0.117464],[-0.615518,0.773961,0.148735],[-0.001046,-0.189523,0.981876]]
2025-10-27T17:50:48.301Z,1761587448.301 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:50:48.301Z,1761587448.301 [marl:UpdateRudder:B] Stopped
2025-10-27T17:50:48.301Z,1761587448.301 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:50:48.301Z,1761587448.301 [marl:UpdateRudder] Stopped
2025-10-27T17:50:48.301Z,1761587448.301 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:50:48.654Z,1761587448.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791562,0.599781,0.117013],[-0.611088,0.777211,0.150049],[-0.000947,-0.190278,0.981730]]
2025-10-27T17:50:49.059Z,1761587449.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795161,0.594884,0.117609],[-0.606398,0.780318,0.152925],[-0.000800,-0.192918,0.981215]]
2025-10-27T17:50:49.462Z,1761587449.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798780,0.589843,0.118477],[-0.601623,0.783383,0.156081],[-0.000749,-0.195952,0.980613]]
2025-10-27T17:50:49.759Z,1761587449.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:50:49.865Z,1761587449.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802136,0.584855,0.120513],[-0.597140,0.786012,0.160027],[-0.001132,-0.200326,0.979729]]
2025-10-27T17:50:50.270Z,1761587450.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804850,0.580690,0.122542],[-0.593477,0.788049,0.163596],[-0.001571,-0.204396,0.978887]]
2025-10-27T17:50:50.673Z,1761587450.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806774,0.577167,0.126467],[-0.590857,0.788842,0.169167],[-0.002125,-0.211203,0.977440]]
2025-10-27T17:50:50.764Z,1761587450.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:50:50.808Z,1761587450.808 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:50:50.809Z,1761587450.809 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:50:51.144Z,1761587451.144 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:50:51.482Z,1761587451.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808446,0.573674,0.131579],[-0.588561,0.789225,0.175267],[-0.003299,-0.219136,0.975689]]
2025-10-27T17:50:51.885Z,1761587451.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808444,0.573142,0.133889],[-0.588558,0.788825,0.177073],[-0.004126,-0.221955,0.975048]]
2025-10-27T17:50:52.290Z,1761587452.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808045,0.573412,0.135136],[-0.589099,0.788402,0.177156],[-0.004958,-0.222759,0.974861]]
2025-10-27T17:50:52.693Z,1761587452.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807343,0.574318,0.135484],[-0.590053,0.788029,0.175637],[-0.005894,-0.221742,0.975088]]
2025-10-27T17:50:53.109Z,1761587453.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806357,0.575881,0.134719],[-0.591390,0.787717,0.172510],[-0.006775,-0.218776,0.975752]]
2025-10-27T17:50:53.505Z,1761587453.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805404,0.577576,0.133157],[-0.592679,0.787594,0.168602],[-0.007493,-0.214712,0.976649]]
2025-10-27T17:50:53.905Z,1761587453.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804531,0.579628,0.129463],[-0.593861,0.787919,0.162829],[-0.007626,-0.207885,0.978124]]
2025-10-27T17:50:54.310Z,1761587454.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803916,0.581350,0.125507],[-0.594700,0.788289,0.157897],[-0.007143,-0.201575,0.979447]]
2025-10-27T17:50:54.714Z,1761587454.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803804,0.582155,0.122454],[-0.594860,0.788762,0.154907],[-0.006407,-0.197358,0.980311]]
2025-10-27T17:50:55.118Z,1761587455.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804857,0.581627,0.117961],[-0.593442,0.790643,0.150696],[-0.005616,-0.191291,0.981517]]
2025-10-27T17:50:55.521Z,1761587455.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806812,0.579643,0.114322],[-0.590786,0.793226,0.147526],[-0.005171,-0.186566,0.982429]]
2025-10-27T17:50:55.925Z,1761587455.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809422,0.576414,0.112173],[-0.587207,0.796062,0.146537],[-0.004831,-0.184479,0.982825]]
2025-10-27T17:50:56.330Z,1761587456.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812140,0.572874,0.110652],[-0.583442,0.798965,0.145773],[-0.004898,-0.182947,0.983111]]
2025-10-27T17:50:56.746Z,1761587456.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814748,0.569088,0.111017],[-0.579790,0.801427,0.146826],[-0.005415,-0.183993,0.982913]]
2025-10-27T17:50:57.137Z,1761587457.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816545,0.566233,0.112403],[-0.577250,0.802938,0.148571],[-0.006126,-0.186199,0.982493]]
2025-10-27T17:50:57.542Z,1761587457.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817614,0.564151,0.115068],[-0.575720,0.803600,0.150907],[-0.007334,-0.189630,0.981828]]
2025-10-27T17:50:57.946Z,1761587457.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817986,0.563027,0.117898],[-0.575173,0.803631,0.152821],[-0.008704,-0.192817,0.981196]]
2025-10-27T17:50:58.352Z,1761587458.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817784,0.562575,0.121401],[-0.575434,0.803006,0.155102],[-0.010229,-0.196698,0.980411]]
2025-10-27T17:50:58.762Z,1761587458.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817069,0.562889,0.124714],[-0.576418,0.801990,0.156696],[-0.011817,-0.199918,0.979741]]
2025-10-27T17:50:59.171Z,1761587459.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816194,0.563514,0.127591],[-0.577629,0.800860,0.158015],[-0.013139,-0.202671,0.979159]]
2025-10-27T17:50:59.568Z,1761587459.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815337,0.564287,0.129639],[-0.578808,0.799966,0.158230],[-0.014420,-0.204047,0.978855]]
2025-10-27T17:50:59.967Z,1761587459.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815031,0.564315,0.131427],[-0.579200,0.799712,0.158078],[-0.015898,-0.204961,0.978641]]
2025-10-27T17:51:00.370Z,1761587460.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815429,0.563527,0.132338],[-0.578592,0.800397,0.156834],[-0.017543,-0.204457,0.978718]]
2025-10-27T17:51:00.778Z,1761587460.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816868,0.561467,0.132215],[-0.576505,0.802302,0.154768],[-0.019179,-0.202648,0.979064]]
2025-10-27T17:51:01.178Z,1761587461.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819285,0.558313,0.130606],[-0.573020,0.805372,0.151735],[-0.020470,-0.199154,0.979754]]
2025-10-27T17:51:01.243Z,1761587461.243 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateRudder:A] Stopped
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:51:01.244Z,1761587461.244 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateCommandMode] Stopped
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:51:01.245Z,1761587461.245 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:51:01.246Z,1761587461.246 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:51:01.246Z,1761587461.246 [marl:UpdateSpeed] Stopped
2025-10-27T17:51:01.246Z,1761587461.246 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:51:01.597Z,1761587461.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822524,0.553940,0.128863],[-0.568318,0.809180,0.149139],[-0.021660,-0.195906,0.980383]]
2025-10-27T17:51:01.657Z,1761587461.657 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:51:01.657Z,1761587461.657 [marl:UpdateRudder:B] Stopped
2025-10-27T17:51:01.658Z,1761587461.658 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:51:01.658Z,1761587461.658 [marl:UpdateRudder] Stopped
2025-10-27T17:51:01.658Z,1761587461.658 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:51:01.985Z,1761587461.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826195,0.548799,0.127366],[-0.562938,0.813163,0.147870],[-0.022419,-0.193869,0.980771]]
2025-10-27T17:51:02.390Z,1761587462.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830055,0.543334,0.125688],[-0.557204,0.817338,0.146567],[-0.023095,-0.191693,0.981183]]
2025-10-27T17:51:03.199Z,1761587463.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837717,0.531114,0.127076],[-0.545511,0.824683,0.149388],[-0.025455,-0.194466,0.980579]]
2025-10-27T17:51:03.604Z,1761587463.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841197,0.524834,0.130143],[-0.540011,0.827787,0.152173],[-0.027865,-0.198286,0.979748]]
2025-10-27T17:51:04.006Z,1761587464.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843674,0.519767,0.134372],[-0.535973,0.829821,0.155335],[-0.030767,-0.203073,0.978680]]
2025-10-27T17:51:04.410Z,1761587464.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844640,0.516711,0.139971],[-0.534282,0.830039,0.159932],[-0.033543,-0.209869,0.977154]]
2025-10-27T17:51:04.869Z,1761587464.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844136,0.515981,0.145591],[-0.534917,0.828821,0.164068],[-0.036013,-0.216375,0.975646]]
2025-10-27T17:51:05.218Z,1761587465.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842968,0.516707,0.149728],[-0.536604,0.827388,0.165789],[-0.038219,-0.220099,0.974728]]
2025-10-27T17:51:05.621Z,1761587465.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841340,0.518745,0.151826],[-0.539046,0.825921,0.165178],[-0.039711,-0.220812,0.974508]]
2025-10-27T17:51:06.026Z,1761587466.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839641,0.521306,0.152460],[-0.541647,0.824478,0.163874],[-0.040271,-0.220175,0.974629]]
2025-10-27T17:51:06.432Z,1761587466.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838169,0.524202,0.150614],[-0.543953,0.823599,0.160624],[-0.039846,-0.216557,0.975457]]
2025-10-27T17:51:06.906Z,1761587466.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837090,0.526290,0.149326],[-0.545636,0.822913,0.158418],[-0.039508,-0.214088,0.976015]]
2025-10-27T17:51:07.238Z,1761587467.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836488,0.527450,0.148607],[-0.546552,0.822634,0.156699],[-0.039598,-0.212298,0.976402]]
2025-10-27T17:51:07.644Z,1761587467.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835795,0.528561,0.148564],[-0.547589,0.822162,0.155550],[-0.039926,-0.211360,0.976593]]
2025-10-27T17:51:08.056Z,1761587468.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834921,0.529514,0.150070],[-0.548841,0.821361,0.155370],[-0.040992,-0.212086,0.976391]]
2025-10-27T17:51:08.450Z,1761587468.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833830,0.530592,0.152313],[-0.550362,0.820428,0.154918],[-0.042763,-0.213002,0.976115]]
2025-10-27T17:51:08.875Z,1761587468.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832669,0.532169,0.153164],[-0.551964,0.819903,0.151971],[-0.044705,-0.211082,0.976446]]
2025-10-27T17:51:09.257Z,1761587469.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831725,0.533207,0.154672],[-0.553195,0.819508,0.149606],[-0.046984,-0.209995,0.976573]]
2025-10-27T17:51:09.668Z,1761587469.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831036,0.534429,0.154156],[-0.554052,0.819809,0.144708],[-0.049042,-0.205668,0.977392]]
2025-10-27T17:51:10.076Z,1761587470.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830843,0.535299,0.152166],[-0.554187,0.820791,0.138488],[-0.050764,-0.199390,0.978604]]
2025-10-27T17:51:10.469Z,1761587470.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831275,0.535798,0.147997],[-0.553468,0.822502,0.131007],[-0.051534,-0.190815,0.980272]]
2025-10-27T17:51:10.883Z,1761587470.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832777,0.534751,0.143263],[-0.551222,0.824947,0.124966],[-0.051359,-0.183039,0.981763]]
2025-10-27T17:51:11.279Z,1761587471.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835531,0.531892,0.137769],[-0.547140,0.828387,0.120057],[-0.050268,-0.175690,0.983161]]
2025-10-27T17:51:11.688Z,1761587471.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839173,0.527353,0.132994],[-0.541699,0.832256,0.117952],[-0.048482,-0.171025,0.984073]]
2025-10-27T17:51:12.086Z,1761587472.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842756,0.522573,0.129149],[-0.536349,0.835568,0.118981],[-0.045736,-0.169541,0.984461]]
2025-10-27T17:51:12.490Z,1761587472.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845878,0.517877,0.127647],[-0.531699,0.837679,0.124859],[-0.042266,-0.173485,0.983929]]
2025-10-27T17:51:12.894Z,1761587472.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848264,0.513404,0.129866],[-0.528146,0.838143,0.136306],[-0.038866,-0.184211,0.982118]]
2025-10-27T17:51:13.299Z,1761587473.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850222,0.508903,0.134688],[-0.525147,0.837743,0.149694],[-0.036654,-0.198004,0.979516]]
2025-10-27T17:51:13.701Z,1761587473.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852164,0.503860,0.141214],[-0.522011,0.837304,0.162561],[-0.036331,-0.212244,0.976541]]
2025-10-27T17:51:14.105Z,1761587474.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854480,0.498014,0.147805],[-0.518098,0.837752,0.172471],[-0.037931,-0.223950,0.973862]]
2025-10-27T17:51:14.511Z,1761587474.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857151,0.491525,0.153935],[-0.513423,0.839217,0.179198],[-0.041105,-0.232633,0.971696]]
2025-10-27T17:51:14.581Z,1761587474.581 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:51:14.581Z,1761587474.581 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:51:14.581Z,1761587474.581 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateRudder:A] Stopped
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:51:14.582Z,1761587474.582 [marl:UpdateCommandMode] Stopped
2025-10-27T17:51:14.583Z,1761587474.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:51:14.583Z,1761587474.583 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:51:14.583Z,1761587474.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:51:14.583Z,1761587474.583 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:51:14.583Z,1761587474.583 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:51:14.584Z,1761587474.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:51:14.584Z,1761587474.584 [marl:UpdateSpeed] Stopped
2025-10-27T17:51:14.584Z,1761587474.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:51:14.915Z,1761587474.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859526,0.485486,0.159747],[-0.509108,0.840810,0.183977],[-0.044999,-0.239461,0.969863]]
2025-10-27T17:51:14.980Z,1761587474.980 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:51:14.980Z,1761587474.980 [marl:UpdateRudder:B] Stopped
2025-10-27T17:51:14.980Z,1761587474.980 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:51:14.980Z,1761587474.980 [marl:UpdateRudder] Stopped
2025-10-27T17:51:14.981Z,1761587474.981 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:51:15.318Z,1761587475.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859360,0.484222,0.164406],[-0.509124,0.840264,0.186412],[-0.047879,-0.243898,0.968618]]
2025-10-27T17:51:15.722Z,1761587475.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857594,0.486571,0.166673],[-0.511929,0.838787,0.185379],[-0.049603,-0.244305,0.968429]]
2025-10-27T17:51:16.127Z,1761587476.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855970,0.489875,0.165341],[-0.514542,0.838428,0.179680],[-0.050606,-0.238876,0.969731]]
2025-10-27T17:51:16.543Z,1761587476.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854875,0.492795,0.162300],[-0.516321,0.838789,0.172758],[-0.051001,-0.231486,0.971500]]
2025-10-27T17:51:16.934Z,1761587476.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854677,0.494823,0.157091],[-0.516647,0.840404,0.163697],[-0.051019,-0.221068,0.973923]]
2025-10-27T17:51:17.337Z,1761587477.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855547,0.495033,0.151599],[-0.515268,0.842659,0.156282],[-0.050382,-0.211821,0.976009]]
2025-10-27T17:51:17.754Z,1761587477.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857699,0.493201,0.145278],[-0.511792,0.846016,0.149416],[-0.049215,-0.202506,0.978044]]
2025-10-27T17:51:18.146Z,1761587478.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860937,0.489387,0.138885],[-0.506473,0.850172,0.143847],[-0.047679,-0.194185,0.979806]]
2025-10-27T17:51:18.557Z,1761587478.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864454,0.484225,0.135073],[-0.500571,0.853887,0.142497],[-0.046337,-0.190796,0.980536]]
2025-10-27T17:51:18.953Z,1761587478.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867636,0.479149,0.132758],[-0.495155,0.856891,0.143384],[-0.045057,-0.190140,0.980722]]
2025-10-27T17:51:19.359Z,1761587479.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869691,0.475369,0.132896],[-0.491621,0.858287,0.147149],[-0.044112,-0.193309,0.980146]]
2025-10-27T17:51:19.766Z,1761587479.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870790,0.473142,0.133645],[-0.489743,0.858691,0.151001],[-0.043315,-0.196942,0.979458]]
2025-10-27T17:51:20.165Z,1761587480.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870769,0.472514,0.135985],[-0.489839,0.857640,0.156559],[-0.042649,-0.202937,0.978262]]
2025-10-27T17:51:20.570Z,1761587480.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870177,0.473093,0.137746],[-0.490936,0.856316,0.160325],[-0.042106,-0.207136,0.977406]]
2025-10-27T17:51:20.891Z,1761587480.891 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:51:20.976Z,1761587480.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869522,0.474177,0.138157],[-0.492165,0.855272,0.162121],[-0.041288,-0.208964,0.977051]]
2025-10-27T17:51:21.378Z,1761587481.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869330,0.474934,0.136759],[-0.492629,0.854944,0.162442],[-0.039772,-0.208587,0.977195]]
2025-10-27T17:51:21.902Z,1761587481.902 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:51:22.185Z,1761587482.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871939,0.472766,0.127337],[-0.488327,0.858569,0.156193],[-0.035484,-0.198373,0.979484]]
2025-10-27T17:51:22.591Z,1761587482.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874842,0.468908,0.121565],[-0.483293,0.861920,0.153368],[-0.032864,-0.192924,0.980663]]
2025-10-27T17:51:22.993Z,1761587482.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878029,0.464209,0.116515],[-0.477656,0.865261,0.152207],[-0.030160,-0.189297,0.981457]]
2025-10-27T17:51:23.398Z,1761587483.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881075,0.459142,0.113558],[-0.472148,0.868007,0.153754],[-0.027974,-0.189085,0.981562]]
2025-10-27T17:51:23.801Z,1761587483.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883399,0.454893,0.112601],[-0.467876,0.869700,0.157206],[-0.026417,-0.191559,0.981126]]
2025-10-27T17:51:24.209Z,1761587484.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884434,0.452610,0.113669],[-0.465987,0.869676,0.162847],[-0.025149,-0.196996,0.980082]]
2025-10-27T17:51:24.610Z,1761587484.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884291,0.452218,0.116311],[-0.466303,0.868218,0.169583],[-0.024295,-0.204197,0.978628]]
2025-10-27T17:51:25.021Z,1761587485.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883426,0.453101,0.119406],[-0.467960,0.866153,0.175476],[-0.023916,-0.210897,0.977216]]
2025-10-27T17:51:25.417Z,1761587485.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882350,0.454579,0.121723],[-0.469982,0.864402,0.178680],[-0.023993,-0.214866,0.976349]]
2025-10-27T17:51:26.227Z,1761587486.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880443,0.458290,0.121617],[-0.473551,0.862827,0.176861],[-0.023880,-0.213308,0.976693]]
2025-10-27T17:51:26.635Z,1761587486.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880262,0.459391,0.118737],[-0.473928,0.863397,0.173026],[-0.023031,-0.208581,0.977734]]
2025-10-27T17:51:27.044Z,1761587487.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883371,0.456034,0.108116],[-0.468257,0.868518,0.162518],[-0.019787,-0.194190,0.980764]]
2025-10-27T17:51:27.446Z,1761587487.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886380,0.451761,0.101204],[-0.462627,0.872585,0.156751],[-0.017495,-0.185760,0.982439]]
2025-10-27T17:51:27.850Z,1761587487.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889683,0.446440,0.095682],[-0.456331,0.876359,0.154134],[-0.015040,-0.180793,0.983406]]
2025-10-27T17:51:27.885Z,1761587487.885 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:51:27.885Z,1761587487.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:51:27.885Z,1761587487.885 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateRudder:A] Stopped
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:51:27.886Z,1761587487.886 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateCommandMode] Stopped
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:51:27.887Z,1761587487.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:51:27.888Z,1761587487.888 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:51:27.888Z,1761587487.888 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:51:27.888Z,1761587487.888 [marl:UpdateSpeed] Stopped
2025-10-27T17:51:27.888Z,1761587487.888 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:51:28.250Z,1761587488.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892717,0.441145,0.091908],[-0.450449,0.879206,0.155219],[-0.012332,-0.179967,0.983595]]
2025-10-27T17:51:28.289Z,1761587488.289 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:51:28.289Z,1761587488.289 [marl:UpdateRudder:B] Stopped
2025-10-27T17:51:28.290Z,1761587488.290 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:51:28.290Z,1761587488.290 [marl:UpdateRudder] Stopped
2025-10-27T17:51:28.290Z,1761587488.290 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:51:28.651Z,1761587488.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895507,0.435683,0.090811],[-0.444944,0.880852,0.161634],[-0.009570,-0.185150,0.982664]]
2025-10-27T17:51:29.055Z,1761587489.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898111,0.430133,0.091550],[-0.439707,0.881785,0.170623],[-0.007337,-0.193493,0.981074]]
2025-10-27T17:51:29.458Z,1761587489.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900665,0.424465,0.092906],[-0.434474,0.882621,0.179477],[-0.005819,-0.202014,0.979365]]
2025-10-27T17:51:29.861Z,1761587489.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903186,0.418683,0.094656],[-0.429220,0.883467,0.187767],[-0.005010,-0.210216,0.977642]]
2025-10-27T17:51:30.266Z,1761587490.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905492,0.413202,0.096683],[-0.424335,0.884229,0.195139],[-0.004858,-0.217722,0.975999]]
2025-10-27T17:51:30.670Z,1761587490.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907014,0.409388,0.098625],[-0.421075,0.884303,0.201751],[-0.004620,-0.224519,0.974459]]
2025-10-27T17:51:31.074Z,1761587491.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907320,0.408131,0.100989],[-0.420421,0.882973,0.208818],[-0.003945,-0.231923,0.972726]]
2025-10-27T17:51:31.478Z,1761587491.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906938,0.408681,0.102193],[-0.421252,0.881661,0.212650],[-0.003193,-0.235909,0.971770]]
2025-10-27T17:51:31.882Z,1761587491.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906425,0.409987,0.101517],[-0.422359,0.881412,0.211486],[-0.002771,-0.234573,0.972095]]
2025-10-27T17:51:32.286Z,1761587492.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905761,0.411741,0.100334],[-0.423780,0.881555,0.208017],[-0.002801,-0.230934,0.972965]]
2025-10-27T17:51:32.689Z,1761587492.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905091,0.413768,0.098015],[-0.425209,0.882279,0.201943],[-0.002919,-0.224454,0.974480]]
2025-10-27T17:51:33.094Z,1761587493.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904549,0.415563,0.095386],[-0.426359,0.883169,0.195526],[-0.002988,-0.217531,0.976049]]
2025-10-27T17:51:33.510Z,1761587493.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903855,0.418010,0.091181],[-0.427831,0.884443,0.186338],[-0.002754,-0.207433,0.978245]]
2025-10-27T17:51:33.906Z,1761587493.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903094,0.420632,0.086544],[-0.429439,0.885485,0.177479],[-0.001980,-0.197446,0.980312]]
2025-10-27T17:51:34.306Z,1761587494.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902116,0.423703,0.081625],[-0.431493,0.886046,0.169517],[-0.000499,-0.188144,0.982141]]
2025-10-27T17:51:34.711Z,1761587494.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901385,0.426147,0.076836],[-0.433016,0.886495,0.163167],[0.001419,-0.180348,0.983602]]
2025-10-27T17:51:35.113Z,1761587495.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901233,0.427153,0.072934],[-0.433321,0.886997,0.159592],[0.003478,-0.175433,0.984485]]
2025-10-27T17:51:35.523Z,1761587495.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902511,0.424949,0.069938],[-0.430638,0.888631,0.157754],[0.004889,-0.172493,0.984999]]
2025-10-27T17:51:35.928Z,1761587495.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904481,0.421146,0.067449],[-0.426461,0.890528,0.158401],[0.006645,-0.172035,0.985068]]
2025-10-27T17:51:36.327Z,1761587496.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907008,0.416032,0.065223],[-0.421023,0.892649,0.160991],[0.008756,-0.173480,0.984798]]
2025-10-27T17:51:36.737Z,1761587496.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909780,0.410205,0.063496],[-0.414948,0.894759,0.164998],[0.010869,-0.176460,0.984248]]
2025-10-27T17:51:37.133Z,1761587497.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912775,0.403680,0.062320],[-0.408254,0.896769,0.170686],[0.013016,-0.181240,0.983353]]
2025-10-27T17:51:37.538Z,1761587497.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915678,0.397183,0.061478],[-0.401632,0.898559,0.176872],[0.015009,-0.186649,0.982312]]
2025-10-27T17:51:37.949Z,1761587497.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918488,0.390840,0.060190],[-0.395084,0.900419,0.182083],[0.016970,-0.191021,0.981439]]
2025-10-27T17:51:38.347Z,1761587498.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921060,0.384865,0.059397],[-0.388970,0.901886,0.187891],[0.018744,-0.196163,0.980392]]
2025-10-27T17:51:38.757Z,1761587498.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923149,0.380065,0.057850],[-0.383879,0.903148,0.192252],[0.020821,-0.199685,0.979639]]
2025-10-27T17:51:39.178Z,1761587499.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924926,0.376012,0.055921],[-0.379428,0.904082,0.196648],[0.023385,-0.203103,0.978878]]
2025-10-27T17:51:39.558Z,1761587499.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926661,0.372187,0.052694],[-0.374996,0.905603,0.198144],[0.026027,-0.203373,0.978755]]
2025-10-27T17:51:39.967Z,1761587499.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928503,0.368069,0.049069],[-0.370168,0.907068,0.200507],[0.029291,-0.204335,0.978463]]
2025-10-27T17:51:40.365Z,1761587500.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930380,0.363745,0.045629],[-0.365160,0.908526,0.203074],[0.032413,-0.205598,0.978100]]
2025-10-27T17:51:40.771Z,1761587500.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932102,0.359780,0.041761],[-0.360431,0.910012,0.204861],[0.035702,-0.206004,0.977900]]
2025-10-27T17:51:40.774Z,1761587500.774 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T17:51:40.774Z,1761587500.774 [NAL9602] Data Fault, FailCount= 1
2025-10-27T17:51:40.774Z,1761587500.774 [NAL9602](ERROR): Data Fault
2025-10-27T17:51:40.879Z,1761587500.879 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:51:40.879Z,1761587500.879 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:51:40.879Z,1761587500.879 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:51:40.879Z,1761587500.879 [marl:UpdateRudder:A] Stopped
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode] Stopped
2025-10-27T17:51:40.880Z,1761587500.880 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed] Stopped
2025-10-27T17:51:40.881Z,1761587500.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:51:40.882Z,1761587500.882 [marl:NeedComms] Running Loop=1
2025-10-27T17:51:40.882Z,1761587500.882 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T17:51:40.882Z,1761587500.882 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T17:51:40.883Z,1761587500.883 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T17:51:40.883Z,1761587500.883 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T17:51:40.884Z,1761587500.884 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T17:51:40.884Z,1761587500.884 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T17:51:40.884Z,1761587500.884 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T17:51:40.885Z,1761587500.885 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T17:51:40.885Z,1761587500.885 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T17:51:40.885Z,1761587500.885 [marl:NeedComms:A] Running Loop=1
2025-10-27T17:51:40.886Z,1761587500.886 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T17:51:40.891Z,1761587500.891 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T17:51:40.891Z,1761587500.891 [marl:NeedComms:A] Stopped
2025-10-27T17:51:41.023Z,1761587501.023 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T17:51:41.174Z,1761587501.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933677,0.356067,0.038241],[-0.355966,0.911086,0.207873],[0.039176,-0.207699,0.977408]]
2025-10-27T17:51:41.186Z,1761587501.186 [NAL9602](INFO): Powering down
2025-10-27T17:51:41.226Z,1761587501.226 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:51:41.226Z,1761587501.226 [marl:UpdateRudder:B] Stopped
2025-10-27T17:51:41.226Z,1761587501.226 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:51:41.226Z,1761587501.226 [marl:UpdateRudder] Stopped
2025-10-27T17:51:41.226Z,1761587501.226 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:51:41.578Z,1761587501.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934852,0.353242,0.035674],[-0.352498,0.911465,0.212076],[0.042399,-0.210834,0.976602]]
2025-10-27T17:51:41.000Z,1761587502.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935506,0.351666,0.034040],[-0.350399,0.911143,0.216884],[0.045255,-0.214824,0.975604]]
2025-10-27T17:51:42.374Z,1761587502.374 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T17:51:42.374Z,1761587502.374 [NAL9602] No Fault, FailCount= 1
2025-10-27T17:51:42.412Z,1761587502.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935603,0.351519,0.032877],[-0.349795,0.910316,0.221287],[0.047858,-0.218537,0.974654]]
2025-10-27T17:51:42.826Z,1761587502.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935412,0.352086,0.032259],[-0.350011,0.909261,0.225249],[0.049975,-0.221992,0.973767]]
2025-10-27T17:51:43.205Z,1761587503.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935089,0.352898,0.032720],[-0.350840,0.908639,0.226463],[0.050188,-0.223243,0.973470]]
2025-10-27T17:51:43.609Z,1761587503.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934680,0.353558,0.037007],[-0.352618,0.908889,0.222667],[0.045090,-0.221172,0.974192]]
2025-10-27T17:51:44.016Z,1761587504.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933975,0.354360,0.046041],[-0.355741,0.909882,0.213454],[0.033748,-0.215740,0.975868]]
2025-10-27T17:51:44.418Z,1761587504.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932641,0.356020,0.058572],[-0.360369,0.911161,0.199800],[0.017764,-0.207449,0.978085]]
2025-10-27T17:51:44.866Z,1761587504.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930683,0.358061,0.074979],[-0.365821,0.912088,0.185123],[-0.002102,-0.199720,0.979851]]
2025-10-27T17:51:45.273Z,1761587505.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927875,0.360824,0.094100],[-0.372086,0.912488,0.170049],[-0.024507,-0.192798,0.980932]]
2025-10-27T17:51:45.670Z,1761587505.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924221,0.364324,0.114382],[-0.378816,0.912492,0.154457],[-0.048101,-0.186082,0.981356]]
2025-10-27T17:51:46.074Z,1761587506.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919843,0.367999,0.135887],[-0.385516,0.912080,0.139596],[-0.072569,-0.180793,0.980840]]
2025-10-27T17:51:46.500Z,1761587506.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914883,0.371753,0.157444],[-0.391875,0.911499,0.124916],[-0.097072,-0.175982,0.979595]]
2025-10-27T17:51:46.919Z,1761587506.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909722,0.374669,0.178967],[-0.397092,0.911005,0.111297],[-0.121340,-0.172316,0.977540]]
2025-10-27T17:51:47.286Z,1761587507.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904876,0.375416,0.200656],[-0.399897,0.911256,0.098465],[-0.145884,-0.169340,0.974701]]
2025-10-27T17:51:47.690Z,1761587507.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900765,0.373816,0.221097],[-0.399638,0.912725,0.084982],[-0.170034,-0.164908,0.971542]]
2025-10-27T17:51:48.097Z,1761587508.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897550,0.369708,0.240251],[-0.396435,0.915178,0.072720],[-0.192988,-0.160513,0.967983]]
2025-10-27T17:51:48.510Z,1761587508.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894869,0.364098,0.258152],[-0.391566,0.918021,0.062561],[-0.214210,-0.157068,0.964077]]
2025-10-27T17:51:48.902Z,1761587508.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892281,0.357857,0.275270],[-0.386642,0.920489,0.056636],[-0.233115,-0.156966,0.959697]]
2025-10-27T17:51:49.306Z,1761587509.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889961,0.351393,0.290675],[-0.381586,0.922829,0.052707],[-0.249722,-0.157825,0.955369]]
2025-10-27T17:51:49.711Z,1761587509.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887964,0.343917,0.305354],[-0.376481,0.924902,0.053092],[-0.264163,-0.162104,0.950758]]
2025-10-27T17:51:50.113Z,1761587510.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886025,0.336283,0.319175],[-0.372009,0.926507,0.056522],[-0.276711,-0.168816,0.946009]]
2025-10-27T17:51:50.517Z,1761587510.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884403,0.327788,0.332245],[-0.367601,0.927839,0.063125],[-0.287578,-0.177961,0.941078]]
2025-10-27T17:51:51.219Z,1761587511.219 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:51:51.219Z,1761587511.219 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:51:51.326Z,1761587511.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881436,0.310455,0.355934],[-0.358873,0.930172,0.077393],[-0.307052,-0.195952,0.931301]]
2025-10-27T17:51:51.351Z,1761587511.351 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:51:51.738Z,1761587511.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879638,0.302332,0.367196],[-0.354790,0.931239,0.083180],[-0.316799,-0.203445,0.926417]]
2025-10-27T17:51:52.031Z,1761587512.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:51:52.134Z,1761587512.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876898,0.296764,0.378130],[-0.352629,0.931757,0.086500],[-0.326655,-0.209191,0.921703]]
2025-10-27T17:51:52.538Z,1761587512.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872683,0.294996,0.389104],[-0.353799,0.931219,0.087506],[-0.336527,-0.214029,0.917028]]
2025-10-27T17:51:52.941Z,1761587512.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867134,0.296748,0.400024],[-0.357858,0.929809,0.085977],[-0.346432,-0.217705,0.912463]]
2025-10-27T17:51:53.035Z,1761587513.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:51:53.436Z,1761587513.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861059,0.301364,0.409581],[-0.363440,0.928073,0.081192],[-0.355653,-0.218769,0.908653]]
2025-10-27T17:51:53.838Z,1761587513.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854967,0.306869,0.418167],[-0.368763,0.926573,0.073997],[-0.364755,-0.217470,0.905351]]
2025-10-27T17:51:53.881Z,1761587513.881 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:51:53.881Z,1761587513.881 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateRudder:A] Stopped
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:51:53.882Z,1761587513.882 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:51:53.883Z,1761587513.883 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:51:53.883Z,1761587513.883 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:51:53.883Z,1761587513.883 [marl:UpdateCommandMode] Stopped
2025-10-27T17:51:53.883Z,1761587513.883 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:51:53.883Z,1761587513.883 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed] Stopped
2025-10-27T17:51:53.884Z,1761587513.884 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:51:54.244Z,1761587514.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849497,0.312761,0.424894],[-0.372747,0.925737,0.063811],[-0.373383,-0.212585,0.902991]]
2025-10-27T17:51:54.272Z,1761587514.272 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:51:54.272Z,1761587514.272 [marl:UpdateRudder:B] Stopped
2025-10-27T17:51:54.272Z,1761587514.272 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:51:54.272Z,1761587514.272 [marl:UpdateRudder] Stopped
2025-10-27T17:51:54.272Z,1761587514.272 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:51:54.648Z,1761587514.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844459,0.319207,0.430112],[-0.376161,0.925095,0.051977],[-0.381303,-0.205684,0.901278]]
2025-10-27T17:51:55.050Z,1761587515.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840346,0.325233,0.433638],[-0.378554,0.924712,0.040054],[-0.387964,-0.197815,0.900196]]
2025-10-27T17:51:55.474Z,1761587515.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837095,0.328366,0.437547],[-0.374121,0.927166,0.019942],[-0.399130,-0.180388,0.898974]]
2025-10-27T17:51:56.008Z,1761587516.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838352,0.326284,0.436698],[-0.367128,0.930118,0.009846],[-0.402968,-0.168578,0.899554]]
2025-10-27T17:51:56.421Z,1761587516.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840714,0.322275,0.435132],[-0.358611,0.933486,0.001495],[-0.405708,-0.157300,0.900365]]
2025-10-27T17:51:56.873Z,1761587516.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843245,0.318218,0.433214],[-0.350735,0.936460,-0.005178],[-0.407336,-0.147577,0.901276]]
2025-10-27T17:51:57.230Z,1761587517.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845766,0.315911,0.429977],[-0.343700,0.938978,-0.013823],[-0.408106,-0.136092,0.902734]]
2025-10-27T17:51:57.635Z,1761587517.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849933,0.313655,0.423361],[-0.332586,0.942576,-0.030632],[-0.408657,-0.114768,0.905443]]
2025-10-27T17:51:58.038Z,1761587518.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855791,0.310880,0.413492],[-0.316896,0.946807,-0.055979],[-0.408899,-0.083127,0.908785]]
2025-10-27T17:51:58.451Z,1761587518.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862676,0.305951,0.402722],[-0.298020,0.950858,-0.083982],[-0.408626,-0.047570,0.911462]]
2025-10-27T17:51:58.871Z,1761587518.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869996,0.297685,0.393053],[-0.277442,0.954556,-0.108851],[-0.407594,-0.014350,0.913050]]
2025-10-27T17:51:59.254Z,1761587519.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877087,0.287876,0.384507],[-0.257657,0.957562,-0.129182],[-0.405378,0.014233,0.914038]]
2025-10-27T17:51:59.653Z,1761587519.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883531,0.276302,0.378193],[-0.239957,0.960471,-0.141122],[-0.402236,0.033935,0.914907]]
2025-10-27T17:52:00.061Z,1761587520.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889170,0.264916,0.373090],[-0.225390,0.963155,-0.146735],[-0.398216,0.046382,0.916118]]
2025-10-27T17:52:00.877Z,1761587520.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898721,0.238999,0.367669],[-0.201516,0.969745,-0.137791],[-0.389477,0.049744,0.919692]]
2025-10-27T17:52:01.269Z,1761587521.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903259,0.223783,0.366120],[-0.189112,0.973514,-0.128480],[-0.385175,0.046813,0.921656]]
2025-10-27T17:52:01.673Z,1761587521.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908166,0.206414,0.364182],[-0.174342,0.977439,-0.119240],[-0.380578,0.044797,0.923663]]
2025-10-27T17:52:02.082Z,1761587522.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913624,0.186360,0.361333],[-0.156289,0.981452,-0.111018],[-0.375320,0.044956,0.925804]]
2025-10-27T17:52:02.481Z,1761587522.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919291,0.164658,0.357478],[-0.136007,0.985229,-0.104052],[-0.369331,0.047035,0.928107]]
2025-10-27T17:52:03.293Z,1761587523.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930261,0.118581,0.347208],[-0.094134,0.991793,-0.086515],[-0.354618,0.047797,0.933789]]
2025-10-27T17:52:03.694Z,1761587523.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935043,0.095537,0.341419],[-0.074050,0.994396,-0.075454],[-0.346714,0.045271,0.936878]]
2025-10-27T17:52:04.103Z,1761587524.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939095,0.072648,0.335891],[-0.055032,0.996577,-0.061685],[-0.339222,0.039444,0.939879]]
2025-10-27T17:52:04.502Z,1761587524.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942467,0.051591,0.330295],[-0.037513,0.998101,-0.048859],[-0.332188,0.033658,0.942612]]
2025-10-27T17:52:04.906Z,1761587524.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945293,0.033866,0.324459],[-0.023538,0.999085,-0.035703],[-0.325371,0.026112,0.945226]]
2025-10-27T17:52:05.714Z,1761587525.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949915,0.007262,0.312424],[-0.003867,0.999927,-0.011483],[-0.312485,0.009700,0.949873]]
2025-10-27T17:52:06.221Z,1761587526.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951772,-0.003495,0.306785],[0.004877,0.999981,-0.003736],[-0.306766,0.005051,0.951771]]
2025-10-27T17:52:07.025Z,1761587527.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954656,-0.023218,0.296804],[0.022983,0.999727,0.004281],[-0.296822,0.002734,0.954929]]
2025-10-27T17:52:07.102Z,1761587527.102 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:52:07.102Z,1761587527.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:52:07.102Z,1761587527.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateRudder:A] Stopped
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:52:07.108Z,1761587527.108 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateCommandMode] Stopped
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed] Stopped
2025-10-27T17:52:07.109Z,1761587527.109 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:52:07.446Z,1761587527.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955624,-0.032000,0.292846],[0.032331,0.999470,0.003711],[-0.292810,0.005922,0.956152]]
2025-10-27T17:52:07.472Z,1761587527.472 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:52:07.472Z,1761587527.472 [marl:UpdateRudder:B] Stopped
2025-10-27T17:52:07.472Z,1761587527.472 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:52:07.472Z,1761587527.472 [marl:UpdateRudder] Stopped
2025-10-27T17:52:07.472Z,1761587527.472 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:52:07.833Z,1761587527.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956238,-0.041126,0.289686],[0.042097,0.999109,0.002883],[-0.289546,0.009438,0.957117]]
2025-10-27T17:52:08.237Z,1761587528.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956187,-0.052968,0.287925],[0.054939,0.998489,0.001234],[-0.287556,0.014638,0.957652]]
2025-10-27T17:52:08.650Z,1761587528.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955666,-0.067689,0.286566],[0.070583,0.997506,0.000230],[-0.285867,0.020007,0.958060]]
2025-10-27T17:52:09.045Z,1761587529.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954559,-0.085134,0.285603],[0.088565,0.996070,0.000905],[-0.284557,0.024430,0.958348]]
2025-10-27T17:52:09.456Z,1761587529.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953074,-0.103736,0.284409],[0.106837,0.994266,0.004632],[-0.283258,0.025971,0.958692]]
2025-10-27T17:52:09.853Z,1761587529.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951230,-0.122603,0.283074],[0.124701,0.992137,0.010667],[-0.282156,0.025152,0.959039]]
2025-10-27T17:52:10.672Z,1761587530.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947676,-0.157683,0.277573],[0.153052,0.987471,0.038421],[-0.280153,0.006073,0.959936]]
2025-10-27T17:52:11.094Z,1761587531.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947184,-0.179292,0.265889],[0.160849,0.982887,0.089777],[-0.277435,-0.042267,0.959814]]
2025-10-27T17:52:11.509Z,1761587531.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947617,-0.186479,0.259323],[0.160398,0.979910,0.118528],[-0.276216,-0.070724,0.958490]]
2025-10-27T17:52:11.512Z,1761587531.512 [NAL9602](INFO): Powering up NAL9602
2025-10-27T17:52:11.907Z,1761587531.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948010,-0.192791,0.253198],[0.159800,0.976419,0.145155],[-0.275212,-0.097148,0.956463]]
2025-10-27T17:52:12.472Z,1761587532.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948356,-0.197449,0.248264],[0.158468,0.972894,0.168420],[-0.274789,-0.120380,0.953939]]
2025-10-27T17:52:12.886Z,1761587532.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948485,-0.201145,0.244782],[0.157101,0.969532,0.187956],[-0.275130,-0.139817,0.951186]]
2025-10-27T17:52:13.450Z,1761587533.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948368,-0.203090,0.243625],[0.154218,0.966465,0.205333],[-0.277156,-0.157160,0.947885]]
2025-10-27T17:52:13.853Z,1761587533.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947904,-0.203430,0.245141],[0.150680,0.964335,0.217608],[-0.280666,-0.169333,0.944750]]
2025-10-27T17:52:14.253Z,1761587534.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947024,-0.203267,0.248653],[0.147550,0.963050,0.225307],[-0.285263,-0.176682,0.942024]]
2025-10-27T17:52:14.657Z,1761587534.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945506,-0.204838,0.253099],[0.147158,0.962236,0.229014],[-0.290451,-0.179288,0.939943]]
2025-10-27T17:52:15.059Z,1761587535.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943520,-0.208805,0.257236],[0.150091,0.961549,0.229991],[-0.295368,-0.178392,0.938581]]
2025-10-27T17:52:15.472Z,1761587535.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941358,-0.214783,0.260219],[0.155520,0.960616,0.230282],[-0.299432,-0.176309,0.937687]]
2025-10-27T17:52:15.869Z,1761587535.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939280,-0.221703,0.261916],[0.161815,0.959243,0.231667],[-0.302602,-0.175218,0.936873]]
2025-10-27T17:52:16.281Z,1761587536.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937359,-0.229341,0.262223],[0.168155,0.957098,0.235981],[-0.305093,-0.177104,0.935709]]
2025-10-27T17:52:16.681Z,1761587536.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935650,-0.236365,0.262090],[0.173187,0.954547,0.242582],[-0.307515,-0.181582,0.934057]]
2025-10-27T17:52:17.100Z,1761587537.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932760,-0.242619,0.266635],[0.174660,0.951172,0.254491],[-0.315360,-0.190809,0.929591]]
2025-10-27T17:52:17.926Z,1761587537.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929744,-0.239773,0.279435],[0.168957,0.952115,0.254816],[-0.327153,-0.189702,0.925735]]
2025-10-27T17:52:18.310Z,1761587538.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928046,-0.236505,0.287742],[0.165642,0.954002,0.249887],[-0.333606,-0.184244,0.924533]]
2025-10-27T17:52:18.717Z,1761587538.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926693,-0.231836,0.295792],[0.161531,0.956353,0.243508],[-0.339336,-0.177877,0.923694]]
2025-10-27T17:52:19.126Z,1761587539.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924781,-0.229123,0.303782],[0.159725,0.958386,0.236609],[-0.345353,-0.170290,0.922894]]
2025-10-27T17:52:20.459Z,1761587540.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914689,-0.233985,0.329538],[0.162296,0.959389,0.230723],[-0.370140,-0.157557,0.915517]]
2025-10-27T17:52:21.048Z,1761587541.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911033,-0.237197,0.337277],[0.164433,0.959112,0.230359],[-0.378127,-0.154406,0.912786]]
2025-10-27T17:52:21.118Z,1761587541.118 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:52:21.118Z,1761587541.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:52:21.118Z,1761587541.118 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:52:21.118Z,1761587541.118 [marl:UpdateRudder:A] Stopped
2025-10-27T17:52:21.119Z,1761587541.119 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:52:21.119Z,1761587541.119 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:52:21.119Z,1761587541.119 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:52:21.119Z,1761587541.119 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:52:21.119Z,1761587541.119 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateCommandMode] Stopped
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:52:21.120Z,1761587541.120 [marl:UpdateSpeed] Stopped
2025-10-27T17:52:21.121Z,1761587541.121 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:52:21.446Z,1761587541.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907391,-0.242808,0.343054],[0.169510,0.958331,0.229930],[-0.384588,-0.150486,0.910739]]
2025-10-27T17:52:21.478Z,1761587541.478 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:52:21.478Z,1761587541.478 [marl:UpdateRudder:B] Stopped
2025-10-27T17:52:21.478Z,1761587541.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:52:21.478Z,1761587541.478 [marl:UpdateRudder] Stopped
2025-10-27T17:52:21.479Z,1761587541.479 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:52:21.659Z,1761587541.659 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:52:21.659Z,1761587541.659 [DAT] No Fault, FailCount= 8
2025-10-27T17:52:21.787Z,1761587541.787 [DAT](INFO): Powering up
2025-10-27T17:52:21.787Z,1761587541.787 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:52:21.850Z,1761587541.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904075,-0.250611,0.346182],[0.177474,0.957030,0.229337],[-0.388781,-0.145900,0.909705]]
2025-10-27T17:52:22.258Z,1761587542.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901592,-0.259254,0.346293],[0.185962,0.955054,0.230844],[-0.390577,-0.143730,0.909281]]
2025-10-27T17:52:22.664Z,1761587542.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900039,-0.267667,0.343924],[0.192181,0.952055,0.238028],[-0.391147,-0.148139,0.908328]]
2025-10-27T17:52:22.667Z,1761587542.667 [NAL9602](INFO): NAL9602 initialized
2025-10-27T17:52:23.063Z,1761587543.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898894,-0.275628,0.340616],[0.195882,0.948144,0.250304],[-0.391944,-0.158276,0.906272]]
2025-10-27T17:52:23.159Z,1761587543.159 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:52:23.473Z,1761587543.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897776,-0.283444,0.337132],[0.197868,0.943382,0.266229],[-0.393505,-0.172306,0.903030]]
2025-10-27T17:52:23.875Z,1761587543.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896545,-0.290696,0.334221],[0.199046,0.938450,0.282300],[-0.395713,-0.186569,0.899224]]
2025-10-27T17:52:24.163Z,1761587544.163 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:52:24.290Z,1761587544.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895797,-0.294055,0.333287],[0.197710,0.935217,0.293735],[-0.398070,-0.197233,0.895902]]
2025-10-27T17:52:25.102Z,1761587545.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898081,-0.287411,0.332936],[0.186894,0.934594,0.302661],[-0.398148,-0.209590,0.893057]]
2025-10-27T17:52:25.909Z,1761587545.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900874,-0.282726,0.329382],[0.187057,0.937583,0.293168],[-0.391709,-0.202494,0.897530]]
2025-10-27T17:52:26.312Z,1761587546.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901874,-0.280653,0.328417],[0.187273,0.939073,0.288221],[-0.389298,-0.198435,0.899484]]
2025-10-27T17:52:26.714Z,1761587546.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902672,-0.276869,0.329435],[0.185258,0.940991,0.283224],[-0.388411,-0.194628,0.900698]]
2025-10-27T17:52:27.114Z,1761587547.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903504,-0.271534,0.331588],[0.181322,0.943216,0.278327],[-0.388334,-0.191345,0.901434]]
2025-10-27T17:52:27.515Z,1761587547.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904303,-0.264836,0.334811],[0.176643,0.946146,0.271301],[-0.388631,-0.186196,0.902384]]
2025-10-27T17:52:28.322Z,1761587548.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903666,-0.252055,0.346203],[0.168614,0.952555,0.253394],[-0.393647,-0.170609,0.903291]]
2025-10-27T17:52:29.135Z,1761587549.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898669,-0.251819,0.359139],[0.169779,0.954658,0.244545],[-0.404437,-0.158791,0.900676]]
2025-10-27T17:52:29.536Z,1761587549.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896024,-0.260889,0.359274],[0.176198,0.951654,0.251614],[-0.407548,-0.162149,0.898673]]
2025-10-27T17:52:29.938Z,1761587549.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895008,-0.273828,0.352107],[0.185212,0.946263,0.265109],[-0.405780,-0.172060,0.897629]]
2025-10-27T17:52:30.342Z,1761587550.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896453,-0.287086,0.337570],[0.194189,0.939232,0.283081],[-0.398325,-0.188216,0.897726]]
2025-10-27T17:52:30.767Z,1761587550.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900015,-0.298145,0.317935],[0.200562,0.930921,0.305223],[-0.386973,-0.210939,0.897639]]
2025-10-27T17:52:31.154Z,1761587551.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904363,-0.307289,0.296144],[0.205553,0.921776,0.328750],[-0.373999,-0.236436,0.896784]]
2025-10-27T17:52:31.554Z,1761587551.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907968,-0.316599,0.274516],[0.211208,0.911572,0.352742],[-0.361920,-0.262298,0.894547]]
2025-10-27T17:52:31.958Z,1761587551.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911172,-0.322722,0.256157],[0.215705,0.903323,0.370781],[-0.351051,-0.282591,0.892695]]
2025-10-27T17:52:32.362Z,1761587552.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914627,-0.324199,0.241561],[0.217710,0.898399,0.381420],[-0.340674,-0.296267,0.892282]]
2025-10-27T17:52:32.768Z,1761587552.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917162,-0.319776,0.237817],[0.212862,0.897598,0.386016],[-0.336902,-0.303417,0.891311]]
2025-10-27T17:52:33.177Z,1761587553.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917777,-0.311273,0.246566],[0.201718,0.900295,0.385718],[-0.342046,-0.304267,0.889059]]
2025-10-27T17:52:33.394Z,1761587553.394 [DAT](INFO): DAT read: 

2025-10-27T17:52:33.396Z,1761587553.396 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:52:33.576Z,1761587553.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918274,-0.299457,0.259034],[0.187031,0.904684,0.382839],[-0.348988,-0.303104,0.886756]]
2025-10-27T17:52:33.978Z,1761587553.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916738,-0.302400,0.261048],[0.192078,0.906617,0.375701],[-0.350283,-0.294277,0.889215]]
2025-10-27T17:52:34.022Z,1761587554.022 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:52:34.022Z,1761587554.022 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:52:34.022Z,1761587554.022 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:52:34.023Z,1761587554.023 [marl:UpdateRudder:A] Stopped
2025-10-27T17:52:34.023Z,1761587554.023 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:52:34.023Z,1761587554.023 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode] Stopped
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:52:34.024Z,1761587554.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:52:34.025Z,1761587554.025 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:52:34.025Z,1761587554.025 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:52:34.025Z,1761587554.025 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:52:34.025Z,1761587554.025 [marl:UpdateSpeed] Stopped
2025-10-27T17:52:34.025Z,1761587554.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:52:34.388Z,1761587554.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916671,-0.309177,0.253227],[0.204700,0.907444,0.366939],[-0.343238,-0.284527,0.895116]]
2025-10-27T17:52:34.436Z,1761587554.436 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:52:34.436Z,1761587554.436 [marl:UpdateRudder:B] Stopped
2025-10-27T17:52:34.436Z,1761587554.436 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:52:34.436Z,1761587554.436 [marl:UpdateRudder] Stopped
2025-10-27T17:52:34.436Z,1761587554.436 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:52:34.790Z,1761587554.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920697,-0.307995,0.239700],[0.210103,0.908735,0.360636],[-0.328898,-0.281675,0.901380]]
2025-10-27T17:52:34.905Z,1761587554.905 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:52:34.907Z,1761587554.907 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:52:34.908Z,1761587554.908 [DAT](INFO): DAT read: Oct 27 2025 17:51:20 

2025-10-27T17:52:35.194Z,1761587555.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926268,-0.302140,0.225255],[0.210750,0.910786,0.355039],[-0.312431,-0.281389,0.907308]]
2025-10-27T17:52:35.594Z,1761587555.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931242,-0.290709,0.219718],[0.205639,0.917021,0.341739],[-0.300833,-0.273059,0.913750]]
2025-10-27T17:52:35.912Z,1761587555.912 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:52:35.913Z,1761587555.913 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:52:35.914Z,1761587555.914 [DAT](INFO): commRate: 600
2025-10-27T17:52:36.098Z,1761587556.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933227,-0.278191,0.227370],[0.200618,0.928468,0.312571],[-0.298060,-0.246085,0.922281]]
2025-10-27T17:52:36.451Z,1761587556.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927331,-0.277863,0.250697],[0.205370,0.937836,0.279797],[-0.312858,-0.207979,0.926749]]
2025-10-27T17:52:36.943Z,1761587556.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916955,-0.280078,0.284163],[0.211716,0.945222,0.248457],[-0.338185,-0.167662,0.926024]]
2025-10-27T17:52:37.345Z,1761587557.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913388,-0.272280,0.302633],[0.213574,0.953386,0.213171],[-0.346568,-0.130073,0.928963]]
2025-10-27T17:52:37.979Z,1761587557.979 [DAT](INFO): entering command mode
2025-10-27T17:52:38.017Z,1761587558.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918427,-0.285935,0.273374],[0.250636,0.955248,0.157105],[-0.306062,-0.075772,0.948991]]
2025-10-27T17:52:38.073Z,1761587558.073 [marl:NeedComms:C] Running Loop=1
2025-10-27T17:52:38.180Z,1761587558.180 [DAT](INFO): DAT read: 

2025-10-27T17:52:38.180Z,1761587558.180 [DAT](INFO): DAT read: user:1>

2025-10-27T17:52:38.181Z,1761587558.181 [DAT](INFO): setting verbose to 3
2025-10-27T17:52:38.422Z,1761587558.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915560,-0.307144,0.259637],[0.277097,0.949643,0.146275],[-0.291490,-0.061979,0.954564]]
2025-10-27T17:52:38.432Z,1761587558.432 [DAT](INFO): DAT read: user:1>

2025-10-27T17:52:38.433Z,1761587558.433 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:52:38.433Z,1761587558.433 [DAT](INFO): set verbose to 3
2025-10-27T17:52:38.433Z,1761587558.433 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:52:38.684Z,1761587558.684 [DAT](INFO): DAT read: user:2>

2025-10-27T17:52:38.685Z,1761587558.685 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:52:38.685Z,1761587558.685 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:52:38.685Z,1761587558.685 [DAT](INFO): setting transmit power to 8
2025-10-27T17:52:38.820Z,1761587558.820 [Radio_Surface](INFO): Powering up
2025-10-27T17:52:38.861Z,1761587558.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921037,-0.311724,0.233495],[0.279512,0.946531,0.161095],[-0.271228,-0.083110,0.958920]]
2025-10-27T17:52:38.936Z,1761587558.936 [DAT](INFO): DAT read: user:3>

2025-10-27T17:52:38.937Z,1761587558.937 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:52:38.937Z,1761587558.937 [DAT](INFO): set transmit power to 8
2025-10-27T17:52:38.937Z,1761587558.937 [DAT](INFO): setting local address to 11
2025-10-27T17:52:39.188Z,1761587559.188 [DAT](INFO): DAT read: user:4>

2025-10-27T17:52:39.189Z,1761587559.189 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:52:39.189Z,1761587559.189 [DAT](INFO): set local address to 11
2025-10-27T17:52:39.190Z,1761587559.190 [DAT](INFO): Setting time to: 17:52:39 And date to:10/27/2025
2025-10-27T17:52:39.281Z,1761587559.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921887,-0.324631,0.211517],[0.280168,0.935602,0.214838],[-0.267639,-0.138796,0.953470]]
2025-10-27T17:52:39.440Z,1761587559.440 [DAT](INFO): DAT read: user:5>

2025-10-27T17:52:39.441Z,1761587559.441 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:52:39  

2025-10-27T17:52:39.441Z,1761587559.441 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:52:39  

2025-10-27T17:52:39.442Z,1761587559.442 [DAT](INFO): setting remote address to 6
2025-10-27T17:52:39.442Z,1761587559.442 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:52:39.442Z,1761587559.442 [DAT](INFO): setting remote address to 0
2025-10-27T17:52:39.634Z,1761587559.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919991,-0.343379,0.188964],[0.300787,0.927660,0.221299],[-0.251284,-0.146755,0.956723]]
2025-10-27T17:52:39.693Z,1761587559.693 [DAT](INFO): DAT read: user:6>

2025-10-27T17:52:39.694Z,1761587559.694 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:52:39.703Z,1761587559.703 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-27T17:52:39.703Z,1761587559.703 [DAT] Communications Fault, FailCount= 1
2025-10-27T17:52:39.703Z,1761587559.703 [DAT](ERROR): Communications Fault
2025-10-27T17:52:39.704Z,1761587559.704 [DAT](INFO): DAT read: user:7>

2025-10-27T17:52:39.705Z,1761587559.705 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-27T17:52:39.705Z,1761587559.705 [DAT](INFO): set remote address to 0
2025-10-27T17:52:39.706Z,1761587559.706 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:52:39.706Z,1761587559.706 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-27T17:52:39.935Z,1761587559.935 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-27T17:52:40.038Z,1761587560.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929042,-0.344689,0.134429],[0.324481,0.933674,0.151541],[-0.177747,-0.097168,0.979267]]
2025-10-27T17:52:40.115Z,1761587560.115 [DAT](INFO): Powering down
2025-10-27T17:52:40.450Z,1761587560.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922176,-0.378990,0.077181],[0.368479,0.921537,0.122446],[-0.117531,-0.084477,0.989470]]
2025-10-27T17:52:40.917Z,1761587560.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920088,-0.391424,0.015007],[0.387563,0.915235,0.110179],[-0.056862,-0.095558,0.993799]]
2025-10-27T17:52:41.196Z,1761587561.196 [CBIT](INFO): Clearing failed state for component DAT
2025-10-27T17:52:41.196Z,1761587561.196 [DAT] No Fault, FailCount= 1
2025-10-27T17:52:41.309Z,1761587561.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921381,-0.385855,-0.046624],[0.388638,0.915993,0.099586],[0.004282,-0.109877,0.993936]]
2025-10-27T17:52:42.118Z,1761587562.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903374,-0.409091,-0.128686],[0.417831,0.907191,0.049221],[0.096607,-0.098234,0.990463]]
2025-10-27T17:52:42.522Z,1761587562.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895086,-0.431293,-0.113167],[0.433453,0.901156,-0.006047],[0.104589,-0.043640,0.993558]]
2025-10-27T17:52:42.926Z,1761587562.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890795,-0.453637,-0.026417],[0.454103,0.890817,0.015353],[0.016568,-0.025672,0.999533]]
2025-10-27T17:52:43.330Z,1761587563.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885370,-0.463481,-0.036137],[0.464847,0.883639,0.055669],[0.006130,-0.066086,0.997795]]
2025-10-27T17:52:43.343Z,1761587563.343 [DAT](INFO): Powering up
2025-10-27T17:52:43.343Z,1761587563.343 [DAT](DEBUG): Initializing DAT.
2025-10-27T17:52:43.739Z,1761587563.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875521,-0.477470,-0.074062],[0.482453,0.872275,0.079847],[0.026478,-0.105639,0.994052]]
2025-10-27T17:52:44.071Z,1761587564.071 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T17:52:44.072Z,1761587564.072 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T17:52:44.139Z,1761587564.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852609,-0.512312,-0.102927],[0.521095,0.848264,0.094383],[0.038955,-0.134106,0.990201]]
2025-10-27T17:52:44.541Z,1761587564.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848272,-0.503476,-0.164155],[0.519966,0.850617,0.078019],[0.100352,-0.151536,0.983344]]
2025-10-27T17:52:45.350Z,1761587565.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825113,-0.524319,-0.210423],[0.546459,0.835214,0.061650],[0.143423,-0.165856,0.975665]]
2025-10-27T17:52:45.761Z,1761587565.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813634,-0.550645,-0.186520],[0.566696,0.822808,0.042936],[0.129827,-0.140634,0.981513]]
2025-10-27T17:52:46.562Z,1761587566.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795060,-0.562918,-0.225837],[0.579830,0.814668,0.010661],[0.177981,-0.139424,0.974107]]
2025-10-27T17:52:46.966Z,1761587566.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785785,-0.588482,-0.190343],[0.602487,0.797866,0.020465],[0.139825,-0.130760,0.981504]]
2025-10-27T17:52:47.384Z,1761587567.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797993,-0.579643,-0.164989],[0.593849,0.802937,0.051345],[0.102714,-0.138951,0.984958]]
2025-10-27T17:52:47.449Z,1761587567.449 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:52:47.449Z,1761587567.449 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:52:47.449Z,1761587567.449 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:52:47.449Z,1761587567.449 [marl:UpdateRudder:A] Stopped
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode] Stopped
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:52:47.450Z,1761587567.450 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:52:47.451Z,1761587567.451 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:52:47.451Z,1761587567.451 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:52:47.451Z,1761587567.451 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:52:47.451Z,1761587567.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:52:47.451Z,1761587567.451 [marl:UpdateSpeed] Stopped
2025-10-27T17:52:47.452Z,1761587567.452 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:52:47.774Z,1761587567.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786792,-0.576223,-0.221194],[0.600106,0.797969,0.055836],[0.144332,-0.176671,0.973630]]
2025-10-27T17:52:47.811Z,1761587567.811 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:52:47.811Z,1761587567.811 [marl:UpdateRudder:B] Stopped
2025-10-27T17:52:47.811Z,1761587567.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:52:47.812Z,1761587567.812 [marl:UpdateRudder] Stopped
2025-10-27T17:52:47.812Z,1761587567.812 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:52:48.178Z,1761587568.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767079,-0.599584,-0.228227],[0.620775,0.783484,0.028124],[0.161950,-0.163251,0.973202]]
2025-10-27T17:52:48.584Z,1761587568.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762151,-0.618654,-0.190770],[0.632032,0.774845,0.012281],[0.140219,-0.129933,0.981558]]
2025-10-27T17:52:48.986Z,1761587568.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743342,-0.640772,-0.191972],[0.652366,0.757895,-0.003687],[0.147857,-0.122496,0.981393]]
2025-10-27T17:52:49.396Z,1761587569.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720024,-0.669044,-0.184243],[0.680085,0.733120,-0.004405],[0.138019,-0.122130,0.982871]]
2025-10-27T17:52:49.793Z,1761587569.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714988,-0.678813,-0.167346],[0.689247,0.724502,0.005987],[0.117178,-0.119623,0.985880]]
2025-10-27T17:52:50.199Z,1761587570.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703063,-0.692228,-0.162856],[0.699952,0.714064,-0.013418],[0.125578,-0.104558,0.986559]]
2025-10-27T17:52:50.602Z,1761587570.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667088,-0.726148,-0.166443],[0.730228,0.681590,-0.046920],[0.147516,-0.090242,0.984934]]
2025-10-27T17:52:51.006Z,1761587571.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648716,-0.739403,-0.180139],[0.742005,0.667120,-0.066170],[0.169101,-0.090739,0.981413]]
2025-10-27T17:52:51.330Z,1761587571.330 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:52:51.330Z,1761587571.330 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:52:51.410Z,1761587571.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647126,-0.736746,-0.196047],[0.731529,0.672471,-0.112465],[0.214694,-0.070635,0.974124]]
2025-10-27T17:52:51.436Z,1761587571.436 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:52:51.816Z,1761587571.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649371,-0.735460,-0.193433],[0.714701,0.677127,-0.175218],[0.259844,-0.024466,0.965340]]
2025-10-27T17:52:52.217Z,1761587572.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647138,-0.743457,-0.168775],[0.716974,0.668754,-0.196764],[0.259155,0.006326,0.965815]]
2025-10-27T17:52:52.621Z,1761587572.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661714,-0.730067,-0.170693],[0.700948,0.683192,-0.204744],[0.266093,0.015835,0.963817]]
2025-10-27T17:52:53.025Z,1761587573.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678432,-0.707568,-0.197681],[0.686373,0.706406,-0.172867],[0.261958,-0.018405,0.964904]]
2025-10-27T17:52:53.431Z,1761587573.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661412,-0.717853,-0.217303],[0.717042,0.690178,-0.097496],[0.219965,-0.091330,0.971223]]
2025-10-27T17:52:53.833Z,1761587573.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639135,-0.735588,-0.224535],[0.743012,0.665946,-0.066702],[0.198593,-0.124201,0.972181]]
2025-10-27T17:52:54.254Z,1761587574.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644092,-0.727002,-0.237936],[0.729488,0.677371,-0.094954],[0.230202,-0.112412,0.966628]]
2025-10-27T17:52:54.283Z,1761587574.283 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:52:54.642Z,1761587574.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638187,-0.718190,-0.277345],[0.716222,0.685980,-0.128291],[0.282391,-0.116767,0.952166]]
2025-10-27T17:52:54.940Z,1761587574.940 [DAT](INFO): DAT read: 

2025-10-27T17:52:54.940Z,1761587574.940 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-27T17:52:55.050Z,1761587575.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632654,-0.712345,-0.303832],[0.725301,0.682529,-0.089956],[0.271454,-0.163459,0.948469]]
2025-10-27T17:52:55.287Z,1761587575.287 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T17:52:55.287Z,1761587575.287 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:52:55.450Z,1761587575.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644414,-0.708214,-0.288381],[0.719290,0.689400,-0.085728],[0.259524,-0.152185,0.953670]]
2025-10-27T17:52:55.862Z,1761587575.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635384,-0.714328,-0.293297],[0.713147,0.688493,-0.131906],[0.296157,-0.125353,0.946878]]
2025-10-27T17:52:56.275Z,1761587576.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618238,-0.740621,-0.263179],[0.733154,0.664083,-0.146556],[0.283315,-0.102344,0.953550]]
2025-10-27T17:52:56.452Z,1761587576.452 [DAT](INFO): DAT read: MF Frequency Band

2025-10-27T17:52:56.453Z,1761587576.453 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-27T17:52:56.454Z,1761587576.454 [DAT](INFO): DAT read: Oct 27 2025 17:52:51 

2025-10-27T17:52:56.663Z,1761587576.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615390,-0.757189,-0.218996],[0.749121,0.648257,-0.136312],[0.245180,-0.080169,0.966157]]
2025-10-27T17:52:57.065Z,1761587577.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609272,-0.761630,-0.220697],[0.748876,0.644172,-0.155650],[0.260714,-0.070441,0.962843]]
2025-10-27T17:52:57.461Z,1761587577.461 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-27T17:52:57.462Z,1761587577.462 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:52:57.463Z,1761587577.463 [DAT](INFO): commRate: 600
2025-10-27T17:52:57.473Z,1761587577.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583387,-0.774835,-0.243494],[0.761663,0.626022,-0.167230],[0.282008,-0.087901,0.955377]]
2025-10-27T17:52:57.880Z,1761587577.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555287,-0.789582,-0.261185],[0.780345,0.603271,-0.164697],[0.287607,-0.112360,0.951135]]
2025-10-27T17:52:58.285Z,1761587578.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541765,-0.797803,-0.264577],[0.781051,0.594142,-0.192238],[0.310565,-0.102500,0.945010]]
2025-10-27T17:52:58.681Z,1761587578.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531058,-0.807750,-0.255963],[0.771775,0.585800,-0.247391],[0.349773,-0.066167,0.934495]]
2025-10-27T17:52:59.085Z,1761587579.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535011,-0.814084,-0.225898],[0.763628,0.580362,-0.282935],[0.361436,-0.021129,0.932158]]
2025-10-27T17:52:59.491Z,1761587579.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561302,-0.806974,-0.183667],[0.754982,0.590187,-0.285800],[0.339031,0.021755,0.940524]]
2025-10-27T17:52:59.527Z,1761587579.527 [DAT](INFO): entering command mode
2025-10-27T17:52:59.729Z,1761587579.729 [DAT](INFO): DAT read: 

2025-10-27T17:52:59.730Z,1761587579.730 [DAT](INFO): DAT read: user:1>

2025-10-27T17:52:59.730Z,1761587579.730 [DAT](INFO): setting verbose to 3
2025-10-27T17:52:59.897Z,1761587579.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569371,-0.797858,-0.198090],[0.752640,0.602844,-0.264789],[0.330681,0.001672,0.943741]]
2025-10-27T17:52:59.980Z,1761587579.980 [DAT](INFO): DAT read: user:1>

2025-10-27T17:52:59.981Z,1761587579.981 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-27T17:52:59.982Z,1761587579.982 [DAT](INFO): set verbose to 3
2025-10-27T17:52:59.982Z,1761587579.982 [DAT](INFO): setting DatVerbose to 27440
2025-10-27T17:53:00.232Z,1761587580.232 [DAT](INFO): DAT read: user:2>

2025-10-27T17:53:00.233Z,1761587580.233 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-27T17:53:00.233Z,1761587580.233 [DAT](INFO): set DatVerbose to 27440
2025-10-27T17:53:00.233Z,1761587580.233 [DAT](INFO): setting transmit power to 8
2025-10-27T17:53:00.300Z,1761587580.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558643,-0.796353,-0.231819],[0.756538,0.603813,-0.251117],[0.339953,-0.035095,0.939787]]
2025-10-27T17:53:00.484Z,1761587580.484 [DAT](INFO): DAT read: user:3>

2025-10-27T17:53:00.485Z,1761587580.485 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-27T17:53:00.485Z,1761587580.485 [DAT](INFO): set transmit power to 8
2025-10-27T17:53:00.485Z,1761587580.485 [DAT](INFO): setting local address to 11
2025-10-27T17:53:00.702Z,1761587580.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566702,-0.793927,-0.220293],[0.757399,0.607231,-0.240035],[0.324339,-0.030821,0.945439]]
2025-10-27T17:53:00.736Z,1761587580.736 [DAT](INFO): DAT read: user:4>

2025-10-27T17:53:00.738Z,1761587580.738 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-27T17:53:00.738Z,1761587580.738 [DAT](INFO): set local address to 11
2025-10-27T17:53:00.740Z,1761587580.740 [DAT](INFO): Setting time to: 17:53:0 And date to:10/27/2025
2025-10-27T17:53:00.792Z,1761587580.792 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:53:00.792Z,1761587580.792 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:53:00.792Z,1761587580.792 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:53:00.792Z,1761587580.792 [marl:UpdateRudder:A] Stopped
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode] Stopped
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:53:00.793Z,1761587580.793 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed] Stopped
2025-10-27T17:53:00.794Z,1761587580.794 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:53:00.988Z,1761587580.988 [DAT](INFO): DAT read: user:5>

2025-10-27T17:53:00.989Z,1761587580.989 [DAT](INFO): DAT read: Mon Oct 27, 2025  17:53:00  

2025-10-27T17:53:00.989Z,1761587580.989 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025  17:53:00  

2025-10-27T17:53:00.990Z,1761587580.990 [DAT](INFO): setting remote address to 6
2025-10-27T17:53:00.990Z,1761587580.990 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:01.110Z,1761587581.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575687,-0.794278,-0.194182],[0.757740,0.607474,-0.238340],[0.307269,-0.009931,0.951571]]
2025-10-27T17:53:01.186Z,1761587581.186 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:53:01.186Z,1761587581.186 [marl:UpdateRudder:B] Stopped
2025-10-27T17:53:01.186Z,1761587581.186 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:53:01.186Z,1761587581.186 [marl:UpdateRudder] Stopped
2025-10-27T17:53:01.186Z,1761587581.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:53:01.240Z,1761587581.240 [DAT](INFO): DAT read: user:6>

2025-10-27T17:53:01.241Z,1761587581.241 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-27T17:53:01.242Z,1761587581.242 [DAT](INFO): set remote address to 6
2025-10-27T17:53:01.242Z,1761587581.242 [DAT](INFO): entering online mode
2025-10-27T17:53:01.492Z,1761587581.492 [DAT](INFO): DAT read: user:7>

2025-10-27T17:53:01.492Z,1761587581.492 [DAT](INFO): DAT read: 

2025-10-27T17:53:01.493Z,1761587581.493 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-27T17:53:01.494Z,1761587581.494 [DAT](INFO): commRate: 600
2025-10-27T17:53:01.494Z,1761587581.494 [DAT](INFO): online mode acknowledged
2025-10-27T17:53:01.494Z,1761587581.494 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:53:01.494Z,1761587581.494 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:01.523Z,1761587581.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565364,-0.796172,-0.215578],[0.762279,0.604167,-0.232190],[0.315108,-0.033059,0.948480]]
2025-10-27T17:53:01.744Z,1761587581.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:01.914Z,1761587581.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547090,-0.799940,-0.246555],[0.772104,0.596015,-0.220501],[0.323338,-0.069733,0.943711]]
2025-10-27T17:53:01.996Z,1761587581.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:02.248Z,1761587582.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:02.322Z,1761587582.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537979,-0.800111,-0.265332],[0.781613,0.591352,-0.198453],[0.315689,-0.100623,0.943512]]
2025-10-27T17:53:02.500Z,1761587582.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:02.723Z,1761587582.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527945,-0.801196,-0.281707],[0.788935,0.585467,-0.186575],[0.314413,-0.123747,0.941186]]
2025-10-27T17:53:02.752Z,1761587582.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:03.004Z,1761587583.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:03.126Z,1761587583.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524676,-0.807737,-0.268842],[0.790211,0.579574,-0.199146],[0.316672,-0.107955,0.942372]]
2025-10-27T17:53:03.256Z,1761587583.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:03.508Z,1761587583.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:03.530Z,1761587583.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528821,-0.814911,-0.237207],[0.790166,0.574731,-0.212887],[0.309814,-0.074854,0.947846]]
2025-10-27T17:53:03.760Z,1761587583.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:03.941Z,1761587583.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517305,-0.826814,-0.220848],[0.791657,0.560348,-0.243494],[0.325076,-0.048875,0.944424]]
2025-10-27T17:53:04.012Z,1761587584.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:04.264Z,1761587584.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:04.354Z,1761587584.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502969,-0.830940,-0.237827],[0.793062,0.553092,-0.255229],[0.343620,-0.060239,0.937175]]
2025-10-27T17:53:04.516Z,1761587584.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:04.753Z,1761587584.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498394,-0.832770,-0.241036],[0.796028,0.549715,-0.253284],[0.343428,-0.065636,0.936883]]
2025-10-27T17:53:04.768Z,1761587584.768 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:53:04.0044

2025-10-27T17:53:04.769Z,1761587584.769 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:53:04.769Z,1761587584.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:05.020Z,1761587585.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:05.150Z,1761587585.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500126,-0.834850,-0.230000],[0.794863,0.547971,-0.260617],[0.343610,-0.052477,0.937645]]
2025-10-27T17:53:05.272Z,1761587585.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:05.524Z,1761587585.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:05.556Z,1761587585.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508981,-0.833257,-0.215917],[0.791938,0.551598,-0.261865],[0.337301,-0.037709,0.940641]]
2025-10-27T17:53:05.776Z,1761587585.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:05.955Z,1761587585.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519122,-0.830769,-0.200836],[0.794188,0.555705,-0.245880],[0.315875,-0.031859,0.948266]]
2025-10-27T17:53:06.029Z,1761587586.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:06.280Z,1761587586.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:06.363Z,1761587586.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520541,-0.832422,-0.190025],[0.801127,0.553142,-0.228539],[0.295352,-0.033270,0.954809]]
2025-10-27T17:53:06.535Z,1761587586.535 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:06.764Z,1761587586.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510629,-0.835822,-0.201640],[0.809909,0.546310,-0.213524],[0.288626,-0.054278,0.955902]]
2025-10-27T17:53:06.789Z,1761587586.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:07.040Z,1761587587.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:07.166Z,1761587587.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497945,-0.836285,-0.229518],[0.815526,0.541573,-0.204002],[0.294905,-0.085596,0.951685]]
2025-10-27T17:53:07.292Z,1761587587.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:07.544Z,1761587587.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:07.569Z,1761587587.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489482,-0.830928,-0.264511],[0.812175,0.544843,-0.208611],[0.317458,-0.112718,0.941549]]
2025-10-27T17:53:07.797Z,1761587587.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:07.974Z,1761587587.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490551,-0.826778,-0.275315],[0.795613,0.553820,-0.245525],[0.355470,-0.098602,0.929473]]
2025-10-27T17:53:08.049Z,1761587588.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:08.300Z,1761587588.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:08.552Z,1761587588.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:08.782Z,1761587588.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514669,-0.827664,-0.223804],[0.773846,0.560805,-0.294381],[0.369159,-0.021680,0.929113]]
2025-10-27T17:53:08.806Z,1761587588.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:09.056Z,1761587589.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:09.185Z,1761587589.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517837,-0.830568,-0.204943],[0.786916,0.556436,-0.266725],[0.335571,-0.023153,0.941730]]
2025-10-27T17:53:09.318Z,1761587589.318 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:09.564Z,1761587589.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:09.590Z,1761587589.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499183,-0.837331,-0.222918],[0.808756,0.542577,-0.226989],[0.311015,-0.066977,0.948042]]
2025-10-27T17:53:09.816Z,1761587589.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:09.995Z,1761587589.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466709,-0.844203,-0.263635],[0.827294,0.522109,-0.207334],[0.312678,-0.121339,0.942077]]
2025-10-27T17:53:10.069Z,1761587590.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:10.321Z,1761587590.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:10.398Z,1761587590.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455841,-0.852436,-0.256050],[0.826548,0.512140,-0.233518],[0.330193,-0.105190,0.938034]]
2025-10-27T17:53:10.572Z,1761587590.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:10.814Z,1761587590.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459585,-0.855454,-0.238707],[0.816957,0.512624,-0.264193],[0.348372,-0.073594,0.934463]]
2025-10-27T17:53:10.834Z,1761587590.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:11.085Z,1761587591.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:11.206Z,1761587591.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453432,-0.858451,-0.239712],[0.808457,0.509363,-0.294868],[0.375230,-0.060094,0.924982]]
2025-10-27T17:53:11.336Z,1761587591.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:11.588Z,1761587591.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:11.612Z,1761587591.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445005,-0.861982,-0.242811],[0.802108,0.504226,-0.319967],[0.398237,-0.052373,0.915786]]
2025-10-27T17:53:11.840Z,1761587591.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:12.014Z,1761587592.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446950,-0.867485,-0.218415],[0.795929,0.497085,-0.345549],[0.408329,-0.019400,0.912629]]
2025-10-27T17:53:12.092Z,1761587592.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:12.347Z,1761587592.347 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:12.418Z,1761587592.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463289,-0.867516,-0.181048],[0.791512,0.496943,-0.355747],[0.398587,0.021512,0.916878]]
2025-10-27T17:53:12.596Z,1761587592.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:12.850Z,1761587592.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:12.868Z,1761587592.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469658,-0.866614,-0.168528],[0.800485,0.498522,-0.332715],[0.372350,0.021358,0.927847]]
2025-10-27T17:53:13.100Z,1761587593.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:13.227Z,1761587593.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448689,-0.871026,-0.199977],[0.819829,0.490245,-0.295873],[0.355751,-0.031192,0.934060]]
2025-10-27T17:53:13.352Z,1761587593.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:13.604Z,1761587593.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:13.630Z,1761587593.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420916,-0.872597,-0.247798],[0.830881,0.480492,-0.280650],[0.363960,-0.087760,0.927271]]
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateRudder:A] Stopped
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:53:13.678Z,1761587593.678 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:53:13.679Z,1761587593.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:53:13.679Z,1761587593.679 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:53:13.679Z,1761587593.679 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:53:13.679Z,1761587593.679 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:53:13.679Z,1761587593.679 [marl:UpdateCommandMode] Stopped
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed] Stopped
2025-10-27T17:53:13.680Z,1761587593.680 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:53:13.856Z,1761587593.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:14.034Z,1761587594.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416688,-0.870511,-0.261880],[0.824996,0.483114,-0.293227],[0.381776,-0.093866,0.919476]]
2025-10-27T17:53:14.084Z,1761587594.084 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:53:14.084Z,1761587594.084 [marl:UpdateRudder:B] Stopped
2025-10-27T17:53:14.084Z,1761587594.084 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:53:14.085Z,1761587594.085 [marl:UpdateRudder] Stopped
2025-10-27T17:53:14.085Z,1761587594.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:53:14.116Z,1761587594.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:14.372Z,1761587594.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:14.438Z,1761587594.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422065,-0.872076,-0.247679],[0.821787,0.483398,-0.301649],[0.382789,-0.076224,0.920686]]
2025-10-27T17:53:14.620Z,1761587594.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:14.872Z,1761587594.872 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:53:14.872Z,1761587594.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:14.873Z,1761587594.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429668,-0.874617,-0.224565],[0.824676,0.481380,-0.296956],[0.367824,-0.057601,0.928110]]
2025-10-27T17:53:15.124Z,1761587595.124 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:53:15.124Z,1761587595.124 [DAT](INFO): #Outgoing data=12
2025-10-27T17:53:15.124Z,1761587595.124 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:53:15.125Z,1761587595.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:15.246Z,1761587595.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434895,-0.879589,-0.192844],[0.818472,0.475411,-0.322627],[0.375460,-0.017528,0.926673]]
2025-10-27T17:53:15.376Z,1761587595.376 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:53:15.376Z,1761587595.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:15.628Z,1761587595.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:15.650Z,1761587595.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427771,-0.876852,-0.219413],[0.813713,0.479268,-0.328898],[0.393552,-0.037846,0.918523]]
2025-10-27T17:53:15.880Z,1761587595.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:16.082Z,1761587596.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415289,-0.876259,-0.244346],[0.831060,0.474690,-0.289843],[0.369966,-0.082698,0.925357]]
2025-10-27T17:53:16.132Z,1761587596.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:16.384Z,1761587596.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:16.459Z,1761587596.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400043,-0.872241,-0.281355],[0.854292,0.466055,-0.230168],[0.331889,-0.148282,0.931591]]
2025-10-27T17:53:16.636Z,1761587596.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:16.888Z,1761587596.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:16.930Z,1761587596.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395390,-0.871620,-0.289734],[0.854212,0.464884,-0.232817],[0.337621,-0.155441,0.928359]]
2025-10-27T17:53:17.140Z,1761587597.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:17.396Z,1761587597.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:17.648Z,1761587597.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:17.670Z,1761587597.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401299,-0.886398,-0.230776],[0.810597,0.461001,-0.361125],[0.426488,-0.042147,0.903511]]
2025-10-27T17:53:17.900Z,1761587597.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:18.075Z,1761587598.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404020,-0.896155,-0.183507],[0.803854,0.443563,-0.396321],[0.436562,0.012608,0.899586]]
2025-10-27T17:53:18.152Z,1761587598.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:18.404Z,1761587598.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:18.478Z,1761587598.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418260,-0.897101,-0.142367],[0.812218,0.439550,-0.383534],[0.406646,0.044784,0.912488]]
2025-10-27T17:53:18.656Z,1761587598.656 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:53:17.9044

2025-10-27T17:53:18.657Z,1761587598.657 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:53:18.657Z,1761587598.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:18.881Z,1761587598.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422240,-0.890615,-0.168875],[0.817110,0.454608,-0.354491],[0.392486,0.011691,0.919684]]
2025-10-27T17:53:18.908Z,1761587598.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:19.160Z,1761587599.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:19.286Z,1761587599.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405869,-0.877829,-0.254337],[0.810938,0.474245,-0.342741],[0.421486,-0.067144,0.904346]]
2025-10-27T17:53:19.412Z,1761587599.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:19.664Z,1761587599.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:19.693Z,1761587599.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391697,-0.865587,-0.311982],[0.797189,0.488575,-0.354661],[0.459417,-0.109789,0.881409]]
2025-10-27T17:53:19.916Z,1761587599.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:20.093Z,1761587600.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422129,-0.859552,-0.288059],[0.791633,0.504354,-0.344884],[0.441729,-0.082451,0.893352]]
2025-10-27T17:53:20.168Z,1761587600.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:20.420Z,1761587600.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:20.497Z,1761587600.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471034,-0.853301,-0.223615],[0.784307,0.521146,-0.336555],[0.403719,-0.016855,0.914728]]
2025-10-27T17:53:20.676Z,1761587600.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:20.902Z,1761587600.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492290,-0.852790,-0.174357],[0.793394,0.522016,-0.313091],[0.358017,0.015798,0.933581]]
2025-10-27T17:53:20.928Z,1761587600.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:21.180Z,1761587601.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:21.314Z,1761587601.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482072,-0.861851,-0.157544],[0.823092,0.507121,-0.255633],[0.300212,-0.006439,0.953851]]
2025-10-27T17:53:21.432Z,1761587601.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:21.684Z,1761587601.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:21.709Z,1761587601.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479635,-0.855447,-0.195349],[0.837692,0.512671,-0.188256],[0.261192,-0.073348,0.962496]]
2025-10-27T17:53:21.936Z,1761587601.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:22.114Z,1761587602.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469140,-0.836384,-0.283495],[0.842538,0.520090,-0.140132],[0.264647,-0.173114,0.948680]]
2025-10-27T17:53:22.188Z,1761587602.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:22.440Z,1761587602.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:22.517Z,1761587602.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442051,-0.830885,-0.337965],[0.848842,0.509277,-0.141788],[0.289927,-0.224201,0.930417]]
2025-10-27T17:53:22.692Z,1761587602.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:22.923Z,1761587602.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455293,-0.839580,-0.296333],[0.836108,0.517570,-0.181781],[0.305993,-0.165003,0.937626]]
2025-10-27T17:53:22.944Z,1761587602.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:23.196Z,1761587603.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:23.335Z,1761587603.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471029,-0.859448,-0.198700],[0.832802,0.507527,-0.221035],[0.290814,-0.061364,0.954810]]
2025-10-27T17:53:23.453Z,1761587603.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:23.700Z,1761587603.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:23.739Z,1761587603.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481743,-0.869991,-0.105066],[0.837526,0.492374,-0.236893],[0.257827,0.026126,0.965838]]
2025-10-27T17:53:23.952Z,1761587603.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:24.134Z,1761587604.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495490,-0.866724,-0.057262],[0.837682,0.494242,-0.232407],[0.229734,0.067188,0.970932]]
2025-10-27T17:53:24.204Z,1761587604.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:24.456Z,1761587604.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:24.538Z,1761587604.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519562,-0.850939,-0.077195],[0.826371,0.523407,-0.207738],[0.217177,0.044141,0.975134]]
2025-10-27T17:53:24.708Z,1761587604.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:24.941Z,1761587604.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546952,-0.820056,-0.168379],[0.800417,0.571193,-0.181855],[0.245308,-0.035308,0.968802]]
2025-10-27T17:53:24.960Z,1761587604.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:25.212Z,1761587605.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:25.345Z,1761587605.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545736,-0.802190,-0.242206],[0.808060,0.580322,-0.101324],[0.221838,-0.140420,0.964920]]
2025-10-27T17:53:25.409Z,1761587605.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:53:25.487Z,1761587605.487 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:25.715Z,1761587605.715 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:25.769Z,1761587605.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552397,-0.802627,-0.225048],[0.822080,0.569239,-0.012319],[0.137994,-0.178202,0.974270]]
2025-10-27T17:53:25.968Z,1761587605.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:26.153Z,1761587606.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569349,-0.798439,-0.195799],[0.814468,0.580204,0.002349],[0.111728,-0.160809,0.980641]]
2025-10-27T17:53:26.220Z,1761587606.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:26.411Z,1761587606.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:53:26.472Z,1761587606.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:26.557Z,1761587606.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563922,-0.810658,-0.157563],[0.818175,0.574348,-0.026737],[0.112171,-0.113836,0.987147]]
2025-10-27T17:53:26.724Z,1761587606.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:26.961Z,1761587606.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560947,-0.823272,-0.086955],[0.825998,0.563620,-0.007719],[0.055364,-0.067495,0.996182]]
2025-10-27T17:53:26.976Z,1761587606.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:27.028Z,1761587607.028 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:53:27.028Z,1761587607.028 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateRudder:A] Stopped
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:53:27.029Z,1761587607.029 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateCommandMode] Stopped
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:53:27.030Z,1761587607.030 [marl:UpdateSpeed] Stopped
2025-10-27T17:53:27.031Z,1761587607.031 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:53:27.228Z,1761587607.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:27.365Z,1761587607.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553479,-0.830567,-0.061797],[0.832639,0.553527,0.017910],[0.019331,-0.061367,0.997928]]
2025-10-27T17:53:27.413Z,1761587607.413 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:53:27.414Z,1761587607.414 [marl:UpdateRudder:B] Stopped
2025-10-27T17:53:27.414Z,1761587607.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:53:27.414Z,1761587607.414 [marl:UpdateRudder] Stopped
2025-10-27T17:53:27.414Z,1761587607.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:53:27.480Z,1761587607.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:27.732Z,1761587607.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:27.775Z,1761587607.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549929,-0.831705,-0.076448],[0.835210,0.547760,0.048817],[0.001273,-0.090696,0.995878]]
2025-10-27T17:53:27.984Z,1761587607.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:28.174Z,1761587608.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559575,-0.823690,-0.091709],[0.828758,0.555324,0.069100],[-0.005989,-0.114671,0.993385]]
2025-10-27T17:53:28.236Z,1761587608.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:28.488Z,1761587608.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:28.579Z,1761587608.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556943,-0.823644,-0.106889],[0.830529,0.553217,0.064591],[0.005933,-0.124748,0.992171]]
2025-10-27T17:53:28.740Z,1761587608.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:28.982Z,1761587608.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545753,-0.832504,-0.095344],[0.837935,0.542782,0.057036],[0.004268,-0.111020,0.993809]]
2025-10-27T17:53:28.992Z,1761587608.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:29.245Z,1761587609.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:29.389Z,1761587609.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566662,-0.820163,-0.078910],[0.823264,0.567495,0.013615],[0.033614,-0.072679,0.996789]]
2025-10-27T17:53:29.496Z,1761587609.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:29.748Z,1761587609.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:29.801Z,1761587609.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598269,-0.800000,-0.045539],[0.799118,0.599866,-0.039629],[0.059021,-0.012682,0.998176]]
2025-10-27T17:53:29.000Z,1761587610.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:30.199Z,1761587610.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621700,-0.783167,-0.011826],[0.783040,0.621812,-0.014082],[0.018382,-0.000505,0.999831]]
2025-10-27T17:53:30.252Z,1761587610.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:30.504Z,1761587610.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:30.601Z,1761587610.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625072,-0.780508,0.009561],[0.780122,0.625082,0.026126],[-0.026368,-0.008872,0.999613]]
2025-10-27T17:53:30.756Z,1761587610.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:31.005Z,1761587611.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607049,-0.794558,-0.012989],[0.794507,0.606523,0.029798],[-0.015798,-0.028409,0.999472]]
2025-10-27T17:53:31.008Z,1761587611.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:31.260Z,1761587611.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:31.512Z,1761587611.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:31.764Z,1761587611.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:31.827Z,1761587611.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590733,-0.790239,-0.162963],[0.803422,0.594732,0.028398],[0.074478,-0.147704,0.986223]]
2025-10-27T17:53:32.016Z,1761587612.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:32.217Z,1761587612.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606725,-0.780468,-0.150846],[0.792049,0.609646,0.031465],[0.067405,-0.138568,0.988056]]
2025-10-27T17:53:32.268Z,1761587612.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:32.520Z,1761587612.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:32.621Z,1761587612.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640940,-0.762113,-0.091536],[0.767098,0.640232,0.040796],[0.027513,-0.096365,0.994966]]
2025-10-27T17:53:32.774Z,1761587612.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:33.024Z,1761587613.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:33.028Z,1761587613.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633221,-0.770828,-0.069681],[0.771566,0.635782,-0.021629],[0.060974,-0.040067,0.997335]]
2025-10-27T17:53:33.276Z,1761587613.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:33.437Z,1761587613.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635983,-0.771156,-0.029061],[0.768368,0.636282,-0.068958],[0.071668,0.021527,0.997196]]
2025-10-27T17:53:33.528Z,1761587613.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:33.780Z,1761587613.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:33.836Z,1761587613.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668304,-0.743888,-0.001133],[0.743777,0.668229,-0.016283],[0.012870,0.010039,0.999867]]
2025-10-27T17:53:34.032Z,1761587614.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:34.238Z,1761587614.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686815,-0.724304,-0.060567],[0.726781,0.683392,0.069023],[-0.008603,-0.091425,0.995775]]
2025-10-27T17:53:34.285Z,1761587614.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:34.536Z,1761587614.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:34.643Z,1761587614.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655754,-0.747588,-0.105348],[0.753306,0.638633,0.157093],[-0.050163,-0.182373,0.981949]]
2025-10-27T17:53:34.788Z,1761587614.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:35.040Z,1761587615.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:35.046Z,1761587615.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632441,-0.769791,-0.086256],[0.764209,0.601884,0.231775],[-0.126502,-0.212501,0.968938]]
2025-10-27T17:53:35.294Z,1761587615.294 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:35.450Z,1761587615.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636922,-0.760325,-0.127420],[0.766841,0.607834,0.206140],[-0.079283,-0.229006,0.970191]]
2025-10-27T17:53:35.544Z,1761587615.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:35.796Z,1761587615.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:35.854Z,1761587615.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617575,-0.761916,-0.195153],[0.786509,0.597541,0.156040],[-0.002277,-0.249856,0.968280]]
2025-10-27T17:53:36.048Z,1761587616.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:36.259Z,1761587616.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576295,-0.800628,-0.163948],[0.817242,0.564653,0.115251],[0.000301,-0.200403,0.979713]]
2025-10-27T17:53:36.310Z,1761587616.310 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:36.560Z,1761587616.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:36.661Z,1761587616.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574404,-0.814481,-0.081736],[0.818550,0.572245,0.050109],[0.005961,-0.095688,0.995394]]
2025-10-27T17:53:36.817Z,1761587616.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:37.064Z,1761587617.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:37.067Z,1761587617.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578023,-0.814597,-0.048178],[0.814242,0.579653,-0.031826],[0.053851,-0.020832,0.998332]]
2025-10-27T17:53:37.316Z,1761587617.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:37.470Z,1761587617.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550571,-0.833867,-0.039217],[0.829525,0.551762,-0.086292],[0.093594,0.014979,0.995498]]
2025-10-27T17:53:37.572Z,1761587617.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:37.820Z,1761587617.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:37.883Z,1761587617.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551867,-0.831288,-0.066349],[0.826860,0.555792,-0.086005],[0.108371,-0.007398,0.994083]]
2025-10-27T17:53:38.072Z,1761587618.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:38.285Z,1761587618.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569961,-0.811450,-0.129205],[0.813235,0.579566,-0.052449],[0.117443,-0.075180,0.990230]]
2025-10-27T17:53:38.324Z,1761587618.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:38.576Z,1761587618.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:38.681Z,1761587618.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561356,-0.812952,-0.154884],[0.821684,0.569802,-0.012681],[0.098562,-0.120148,0.987851]]
2025-10-27T17:53:38.830Z,1761587618.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:39.080Z,1761587619.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:39.087Z,1761587619.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563319,-0.815302,-0.133992],[0.821097,0.570468,-0.019142],[0.092045,-0.099237,0.990798]]
2025-10-27T17:53:39.332Z,1761587619.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:39.491Z,1761587619.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582266,-0.808224,-0.087978],[0.808418,0.587056,-0.042718],[0.086174,-0.046249,0.995206]]
2025-10-27T17:53:39.585Z,1761587619.585 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:39.836Z,1761587619.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:39.893Z,1761587619.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592134,-0.805422,-0.025948],[0.805099,0.592663,-0.023813],[0.034558,-0.006791,0.999380]]
2025-10-27T17:53:40.088Z,1761587620.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:40.305Z,1761587620.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581951,-0.812837,-0.025087],[0.813221,0.581598,0.020360],[-0.001959,-0.032250,0.999478]]
2025-10-27T17:53:40.336Z,1761587620.336 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateRudder:A] Stopped
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:53:40.337Z,1761587620.337 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateCommandMode] Stopped
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:53:40.338Z,1761587620.338 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:53:40.339Z,1761587620.339 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:53:40.340Z,1761587620.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:40.340Z,1761587620.340 [marl:UpdateSpeed] Stopped
2025-10-27T17:53:40.340Z,1761587620.340 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:53:40.592Z,1761587620.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:40.702Z,1761587620.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538015,-0.838459,-0.086753],[0.842818,0.536797,0.038809],[0.014029,-0.093997,0.995474]]
2025-10-27T17:53:40.765Z,1761587620.765 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:53:40.765Z,1761587620.765 [marl:UpdateRudder:B] Stopped
2025-10-27T17:53:40.765Z,1761587620.765 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:53:40.765Z,1761587620.765 [marl:UpdateRudder] Stopped
2025-10-27T17:53:40.766Z,1761587620.766 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:53:40.846Z,1761587620.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:41.096Z,1761587621.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:41.109Z,1761587621.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518732,-0.846041,-0.123014],[0.854810,0.515740,0.057557],[0.014748,-0.135010,0.990734]]
2025-10-27T17:53:41.348Z,1761587621.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:41.509Z,1761587621.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523893,-0.840131,-0.140417],[0.851783,0.517003,0.084694],[0.001442,-0.163975,0.986463]]
2025-10-27T17:53:41.600Z,1761587621.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:41.852Z,1761587621.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:41.914Z,1761587621.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491500,-0.857594,-0.151525],[0.870739,0.487036,0.067899],[0.015568,-0.165311,0.986119]]
2025-10-27T17:53:42.104Z,1761587622.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:42.356Z,1761587622.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:42.608Z,1761587622.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:42.725Z,1761587622.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487125,-0.872161,-0.045222],[0.873218,0.487247,0.009022],[0.014166,-0.043883,0.998936]]
2025-10-27T17:53:42.862Z,1761587622.862 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:43.112Z,1761587623.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:43.127Z,1761587623.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506208,-0.862407,-0.002807],[0.861977,0.505847,0.033392],[-0.027377,-0.019323,0.999438]]
2025-10-27T17:53:43.364Z,1761587623.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:43.530Z,1761587623.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499000,-0.866254,0.024557],[0.862460,0.499183,0.083543],[-0.084628,-0.020508,0.996202]]
2025-10-27T17:53:43.617Z,1761587623.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:43.868Z,1761587623.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:43.934Z,1761587623.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470984,-0.882059,0.012117],[0.877418,0.469837,0.096902],[-0.091167,-0.035007,0.995220]]
2025-10-27T17:53:44.120Z,1761587624.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:44.340Z,1761587624.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435093,-0.898893,-0.051823],[0.898742,0.430103,0.085292],[-0.054379,-0.083685,0.995007]]
2025-10-27T17:53:44.372Z,1761587624.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:44.624Z,1761587624.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:44.750Z,1761587624.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411434,-0.901176,-0.136399],[0.911401,0.405415,0.070614],[-0.008337,-0.153368,0.988134]]
2025-10-27T17:53:44.876Z,1761587624.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:45.128Z,1761587625.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:45.146Z,1761587625.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403120,-0.897602,-0.178340],[0.915064,0.397985,0.065318],[0.012347,-0.189524,0.981798]]
2025-10-27T17:53:45.380Z,1761587625.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:45.641Z,1761587625.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:45.892Z,1761587625.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:45.962Z,1761587625.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379694,-0.920703,-0.090212],[0.921472,0.385040,-0.051324],[0.081990,-0.063640,0.994599]]
2025-10-27T17:53:46.144Z,1761587626.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:46.358Z,1761587626.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382596,-0.922578,-0.049702],[0.918825,0.385576,-0.084214],[0.096857,-0.013448,0.995207]]
2025-10-27T17:53:46.396Z,1761587626.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:46.648Z,1761587626.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:46.772Z,1761587626.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388753,-0.920918,-0.027949],[0.920439,0.389536,-0.032465],[0.040785,-0.013104,0.999082]]
2025-10-27T17:53:46.900Z,1761587626.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:47.152Z,1761587627.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:47.404Z,1761587627.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:47.656Z,1761587627.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:47.908Z,1761587627.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:47.977Z,1761587627.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369513,-0.925713,-0.080715],[0.928814,0.370539,0.002418],[0.027670,-0.075863,0.996734]]
2025-10-27T17:53:48.160Z,1761587628.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:48.378Z,1761587628.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374382,-0.924028,-0.077525],[0.926142,0.376747,-0.017980],[0.045821,-0.065068,0.996828]]
2025-10-27T17:53:48.412Z,1761587628.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:48.664Z,1761587628.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:48.794Z,1761587628.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377247,-0.923399,-0.070847],[0.920695,0.382204,-0.078998],[0.100025,-0.035427,0.994354]]
2025-10-27T17:53:48.916Z,1761587628.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:49.168Z,1761587629.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:49.194Z,1761587629.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385137,-0.920648,-0.063853],[0.920019,0.388456,-0.051644],[0.072350,-0.038856,0.996622]]
2025-10-27T17:53:49.420Z,1761587629.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:49.594Z,1761587629.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371991,-0.925457,-0.071779],[0.926669,0.374743,-0.029196],[0.053918,-0.055655,0.996993]]
2025-10-27T17:53:49.672Z,1761587629.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:49.924Z,1761587629.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:49.998Z,1761587629.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321862,-0.940792,-0.106371],[0.945624,0.324997,-0.013104],[0.046898,-0.096370,0.994240]]
2025-10-27T17:53:50.176Z,1761587630.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:50.403Z,1761587630.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309965,-0.940380,-0.140024],[0.950702,0.308022,0.035898],[0.009373,-0.144248,0.989497]]
2025-10-27T17:53:50.428Z,1761587630.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:50.680Z,1761587630.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:50.821Z,1761587630.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332267,-0.930052,-0.156853],[0.943180,0.327049,0.058747],[-0.003339,-0.167460,0.985873]]
2025-10-27T17:53:50.932Z,1761587630.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:51.187Z,1761587631.187 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:51.206Z,1761587631.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356817,-0.923007,-0.144014],[0.934132,0.353995,0.045656],[0.008839,-0.150819,0.988522]]
2025-10-27T17:53:51.357Z,1761587631.357 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:53:51.357Z,1761587631.357 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:53:51.436Z,1761587631.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:51.610Z,1761587631.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335529,-0.936672,-0.100326],[0.942023,0.333201,0.039625],[-0.003687,-0.107805,0.994165]]
2025-10-27T17:53:51.671Z,1761587631.671 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:53:51.692Z,1761587631.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:51.944Z,1761587631.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:52.020Z,1761587632.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308610,-0.949931,-0.048906],[0.951170,0.308516,0.009650],[0.005921,-0.049496,0.998757]]
2025-10-27T17:53:52.196Z,1761587632.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:52.424Z,1761587632.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331080,-0.943213,-0.027134],[0.943187,0.331650,-0.020138],[0.027993,-0.018925,0.999429]]
2025-10-27T17:53:52.448Z,1761587632.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:52.700Z,1761587632.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:52.864Z,1761587632.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320673,-0.946108,-0.045264],[0.946639,0.321750,-0.018743],[0.032297,-0.036838,0.998799]]
2025-10-27T17:53:52.952Z,1761587632.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:53.204Z,1761587633.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:53.229Z,1761587633.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309084,-0.945976,-0.097957],[0.949383,0.312974,-0.026811],[0.056020,-0.084712,0.994829]]
2025-10-27T17:53:53.456Z,1761587633.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:53.634Z,1761587633.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318935,-0.935822,-0.150057],[0.944706,0.326626,-0.029089],[0.076235,-0.132483,0.988249]]
2025-10-27T17:53:53.665Z,1761587633.665 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:53:53.665Z,1761587633.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateRudder:A] Stopped
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:53:53.666Z,1761587633.666 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateCommandMode] Stopped
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:53:53.667Z,1761587633.667 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:53:53.668Z,1761587633.668 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:53:53.668Z,1761587633.668 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:53:53.668Z,1761587633.668 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:53:53.668Z,1761587633.668 [marl:UpdateSpeed] Stopped
2025-10-27T17:53:53.668Z,1761587633.668 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:53:53.708Z,1761587633.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:53.960Z,1761587633.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:54.041Z,1761587634.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320619,-0.934237,-0.156223],[0.946694,0.321491,0.020348],[0.031215,-0.154420,0.987512]]
2025-10-27T17:53:54.075Z,1761587634.075 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:53:54.075Z,1761587634.075 [marl:UpdateRudder:B] Stopped
2025-10-27T17:53:54.076Z,1761587634.076 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:53:54.076Z,1761587634.076 [marl:UpdateRudder] Stopped
2025-10-27T17:53:54.076Z,1761587634.076 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:53:54.212Z,1761587634.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:54.441Z,1761587634.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331212,-0.937216,-0.109201],[0.943552,0.329331,0.035368],[0.002816,-0.114751,0.993390]]
2025-10-27T17:53:54.468Z,1761587634.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:54.720Z,1761587634.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:54.869Z,1761587634.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338193,-0.939375,-0.056568],[0.940247,0.339808,-0.021595],[0.039508,-0.045885,0.998165]]
2025-10-27T17:53:54.972Z,1761587634.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:55.224Z,1761587635.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:55.262Z,1761587635.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312087,-0.949998,0.010277],[0.949621,0.311601,-0.033526],[0.028648,0.020222,0.999385]]
2025-10-27T17:53:55.476Z,1761587635.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:55.654Z,1761587635.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316647,-0.948514,-0.007514],[0.948417,0.316725,-0.013824],[0.015492,-0.002749,0.999876]]
2025-10-27T17:53:55.728Z,1761587635.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:55.980Z,1761587635.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:56.058Z,1761587636.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320850,-0.939006,-0.123786],[0.945501,0.325212,-0.016258],[0.055523,-0.111824,0.992176]]
2025-10-27T17:53:56.232Z,1761587636.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:56.462Z,1761587636.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294863,-0.934550,-0.199177],[0.954827,0.296217,0.023667],[0.036882,-0.197158,0.979678]]
2025-10-27T17:53:56.484Z,1761587636.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:56.531Z,1761587636.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:53:56.736Z,1761587636.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:56.984Z,1761587636.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269114,-0.945116,-0.185292],[0.962735,0.258625,0.079092],[-0.026830,-0.199672,0.979496]]
2025-10-27T17:53:56.988Z,1761587636.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:57.242Z,1761587637.242 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:57.276Z,1761587637.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258224,-0.956138,-0.138278],[0.965682,0.251324,0.065530],[-0.027903,-0.150454,0.988223]]
2025-10-27T17:53:57.492Z,1761587637.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:57.535Z,1761587637.535 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:53:57.673Z,1761587637.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254023,-0.965181,-0.062428],[0.967177,0.253064,0.022948],[-0.006351,-0.066208,0.997786]]
2025-10-27T17:53:57.745Z,1761587637.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:57.997Z,1761587637.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:58.084Z,1761587638.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249944,-0.968015,-0.021813],[0.968166,0.250170,-0.008332],[0.013522,-0.019037,0.999727]]
2025-10-27T17:53:58.248Z,1761587638.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:58.483Z,1761587638.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233224,-0.971767,-0.035724],[0.972238,0.233739,-0.010927],[0.018968,-0.032184,0.999302]]
2025-10-27T17:53:58.500Z,1761587638.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:58.754Z,1761587638.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:58.885Z,1761587638.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208829,-0.976867,-0.046050],[0.977929,0.208269,0.016708],[-0.006730,-0.048523,0.998799]]
2025-10-27T17:53:59.004Z,1761587639.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:59.256Z,1761587639.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:59.310Z,1761587639.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177518,-0.981904,-0.065973],[0.983313,0.174264,0.052229],[-0.039787,-0.074144,0.996454]]
2025-10-27T17:53:59.508Z,1761587639.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:53:59.761Z,1761587639.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:00.012Z,1761587640.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:00.099Z,1761587640.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198154,-0.971950,-0.126678],[0.978342,0.204017,-0.034988],[0.059851,-0.117002,0.991327]]
2025-10-27T17:54:00.264Z,1761587640.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:00.501Z,1761587640.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212347,-0.970651,-0.112897],[0.967049,0.225340,-0.118481],[0.140444,-0.084018,0.986517]]
2025-10-27T17:54:00.520Z,1761587640.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:00.772Z,1761587640.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:00.906Z,1761587640.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213908,-0.975124,-0.058104],[0.964416,0.220272,-0.146228],[0.155389,-0.024757,0.987543]]
2025-10-27T17:54:01.024Z,1761587641.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:01.276Z,1761587641.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:01.310Z,1761587641.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206836,-0.978051,-0.025198],[0.972251,0.208351,-0.106389],[0.109303,-0.002493,0.994005]]
2025-10-27T17:54:01.528Z,1761587641.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:01.780Z,1761587641.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:02.032Z,1761587642.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:02.118Z,1761587642.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195075,-0.977326,-0.082342],[0.980476,0.196443,-0.008774],[0.024750,-0.079023,0.996566]]
2025-10-27T17:54:02.126Z,1761587642.126 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175358.00,A,3646.55634,N,12151.96661,W,0.330,266.86,271025,,,A*70
2025-10-27T17:54:02.128Z,1761587642.128 [NAL9602](INFO): GPS fix at 20251027T175358: (36.775939, -121.866110)
2025-10-27T17:54:02.157Z,1761587642.157 [UniversalFixResidualReporter](INFO): Fix residual: 1.6 %DT, over the last 646.2 m. Residual distance 10.2 m at bearing -116.3 degrees. Fix at (36.7759, -121.8661) with 152.3 m made good.
2025-10-27T17:54:02.168Z,1761587642.168 [marl:NeedComms:C] Stopped
2025-10-27T17:54:02.168Z,1761587642.168 [marl:NeedComms:D] Running Loop=1
2025-10-27T17:54:02.169Z,1761587642.169 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587584.00. Resetting abort timer.
2025-10-27T17:54:02.284Z,1761587642.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:02.526Z,1761587642.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187726,-0.975781,-0.112297],[0.980734,0.192503,-0.033225],[0.054038,-0.103896,0.993119]]
2025-10-27T17:54:02.536Z,1761587642.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:02.788Z,1761587642.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:02.980Z,1761587642.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197165,-0.974565,-0.106535],[0.973779,0.207260,-0.093801],[0.113496,-0.085247,0.989875]]
2025-10-27T17:54:03.040Z,1761587643.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:03.292Z,1761587643.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:03.378Z,1761587643.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200551,-0.978470,-0.048746],[0.974781,0.204272,-0.089864],[0.097887,-0.029494,0.994760]]
2025-10-27T17:54:03.544Z,1761587643.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:03.782Z,1761587643.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209088,-0.977848,0.009763],[0.976422,0.208214,-0.056989],[0.053694,0.021449,0.998327]]
2025-10-27T17:54:03.796Z,1761587643.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:04.048Z,1761587644.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:04.187Z,1761587644.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219346,-0.975595,0.010083],[0.974639,0.218638,-0.047701],[0.044333,0.020290,0.998811]]
2025-10-27T17:54:04.300Z,1761587644.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:04.552Z,1761587644.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:04.590Z,1761587644.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208940,-0.976950,-0.043729],[0.977405,0.210082,-0.023347],[0.031995,-0.037863,0.998771]]
2025-10-27T17:54:04.807Z,1761587644.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:04.993Z,1761587644.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190582,-0.977124,-0.094375],[0.981671,0.189741,0.017882],[0.000434,-0.096053,0.995376]]
2025-10-27T17:54:05.058Z,1761587645.058 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:05.308Z,1761587645.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:05.398Z,1761587645.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181893,-0.975572,-0.123180],[0.982955,0.176986,0.049765],[-0.026748,-0.130133,0.991136]]
2025-10-27T17:54:05.560Z,1761587645.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:05.803Z,1761587645.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143382,-0.977406,-0.155300],[0.989636,0.140354,0.030350],[-0.007868,-0.158042,0.987401]]
2025-10-27T17:54:05.812Z,1761587645.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:06.064Z,1761587646.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:06.205Z,1761587646.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111593,-0.984827,-0.132904],[0.993485,0.113671,-0.008127],[0.023111,-0.131131,0.991096]]
2025-10-27T17:54:06.317Z,1761587646.317 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:06.568Z,1761587646.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:06.610Z,1761587646.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106503,-0.990833,-0.083103],[0.994236,0.107156,-0.003415],[0.012288,-0.082260,0.996535]]
2025-10-27T17:54:06.822Z,1761587646.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:07.014Z,1761587647.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122100,-0.992282,-0.021618],[0.992348,0.121648,0.021129],[-0.018336,-0.024033,0.999543]]
2025-10-27T17:54:07.072Z,1761587647.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:07.088Z,1761587647.088 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:54:07.090Z,1761587647.090 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:54:07.091Z,1761587647.091 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:54:07.095Z,1761587647.095 [marl:UpdateRudder:A] Stopped
2025-10-27T17:54:07.095Z,1761587647.095 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:54:07.095Z,1761587647.095 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:54:07.095Z,1761587647.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:54:07.095Z,1761587647.095 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateCommandMode] Stopped
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:54:07.096Z,1761587647.096 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:54:07.097Z,1761587647.097 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:54:07.097Z,1761587647.097 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:54:07.097Z,1761587647.097 [marl:UpdateSpeed] Stopped
2025-10-27T17:54:07.097Z,1761587647.097 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:54:07.324Z,1761587647.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:07.418Z,1761587647.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126151,-0.991918,0.013588],[0.992005,0.126091,-0.005178],[0.003423,0.014133,0.999894]]
2025-10-27T17:54:07.459Z,1761587647.459 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:54:07.459Z,1761587647.459 [marl:UpdateRudder:B] Stopped
2025-10-27T17:54:07.459Z,1761587647.459 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:54:07.460Z,1761587647.460 [marl:UpdateRudder] Stopped
2025-10-27T17:54:07.460Z,1761587647.460 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:54:07.576Z,1761587647.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:07.821Z,1761587647.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092593,-0.995686,-0.005979],[0.993676,0.092786,-0.063233],[0.063515,-0.000087,0.997981]]
2025-10-27T17:54:07.828Z,1761587647.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:08.080Z,1761587648.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:08.233Z,1761587648.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111028,-0.991701,-0.064816],[0.989328,0.116483,-0.087531],[0.094354,-0.054406,0.994051]]
2025-10-27T17:54:08.332Z,1761587648.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:08.584Z,1761587648.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:08.629Z,1761587648.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135392,-0.979741,-0.147566],[0.988271,0.144160,-0.050390],[0.070642,-0.139013,0.987768]]
2025-10-27T17:54:08.838Z,1761587648.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:09.088Z,1761587649.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:09.340Z,1761587649.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:09.438Z,1761587649.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086312,-0.982109,-0.167366],[0.993848,0.096580,-0.054199],[0.069394,-0.161658,0.984404]]
2025-10-27T17:54:09.592Z,1761587649.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:09.844Z,1761587649.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:09.845Z,1761587649.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113758,-0.987314,-0.110773],[0.991388,0.120088,-0.052235],[0.064874,-0.103876,0.992472]]
2025-10-27T17:54:10.096Z,1761587650.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:10.348Z,1761587650.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:10.478Z,1761587650.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143946,-0.989581,-0.002895],[0.987996,0.143880,-0.056229],[0.056060,0.005234,0.998414]]
2025-10-27T17:54:10.600Z,1761587650.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:10.854Z,1761587650.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:11.104Z,1761587651.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:11.356Z,1761587651.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:11.612Z,1761587651.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:11.860Z,1761587651.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:12.112Z,1761587652.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:12.364Z,1761587652.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:12.617Z,1761587652.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:12.673Z,1761587652.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040664,-0.988471,-0.145845],[0.999173,0.040328,0.005261],[0.000682,-0.145939,0.989293]]
2025-10-27T17:54:12.868Z,1761587652.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:13.057Z,1761587653.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053376,-0.991276,-0.120515],[0.997468,0.058608,-0.040289],[0.047001,-0.118059,0.991894]]
2025-10-27T17:54:13.120Z,1761587653.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:13.372Z,1761587653.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:13.462Z,1761587653.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052039,-0.997061,-0.056218],[0.996085,0.055852,-0.068527],[0.071466,-0.052432,0.996064]]
2025-10-27T17:54:13.624Z,1761587653.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:13.866Z,1761587653.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044691,-0.998961,0.008879],[0.998024,0.044253,-0.044607],[0.044167,0.010855,0.998965]]
2025-10-27T17:54:13.877Z,1761587653.877 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:14.128Z,1761587654.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:14.271Z,1761587654.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027642,-0.999604,0.005354],[0.999396,0.027523,-0.021193],[0.021037,0.005937,0.999761]]
2025-10-27T17:54:14.337Z,1761587654.337 [marl:SendObservationData] Running Loop=1
2025-10-27T17:54:14.338Z,1761587654.338 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T17:54:14.338Z,1761587654.338 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T17:54:14.338Z,1761587654.338 [marl:SendObservationData:A] Running Loop=1
2025-10-27T17:54:14.344Z,1761587654.344 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T17:54:14.344Z,1761587654.344 [marl:SendObservationData:A] Stopped
2025-10-27T17:54:14.344Z,1761587654.344 [marl:SendObservationData:B] Running Loop=1
2025-10-27T17:54:14.380Z,1761587654.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:14.632Z,1761587654.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:14.673Z,1761587654.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004312,-0.999136,-0.041342],[0.999486,0.005619,-0.031568],[0.031773,-0.041185,0.998646]]
2025-10-27T17:54:14.730Z,1761587654.730 [marl:SendObservationData:B] Stopped
2025-10-27T17:54:14.730Z,1761587654.730 [marl:SendObservationData:C] Running Loop=1
2025-10-27T17:54:14.884Z,1761587654.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:15.077Z,1761587655.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002305,-0.993751,-0.111596],[0.999931,0.003575,-0.011184],[0.011513,-0.111562,0.993691]]
2025-10-27T17:54:15.132Z,1761587655.132 [marl:SendObservationData:C] Stopped
2025-10-27T17:54:15.133Z,1761587655.133 [marl:SendObservationData:E] Running Loop=1
2025-10-27T17:54:15.136Z,1761587655.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:15.388Z,1761587655.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:15.537Z,1761587655.537 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.011249 min 
2025-10-27T17:54:15.537Z,1761587655.537 [marl:SendObservationData:E] Stopped
2025-10-27T17:54:15.538Z,1761587655.538 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T17:54:15.538Z,1761587655.538 [marl:SendObservationData] Stopped
2025-10-27T17:54:15.538Z,1761587655.538 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T17:54:15.538Z,1761587655.538 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T17:54:15.640Z,1761587655.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:15.892Z,1761587655.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:16.144Z,1761587656.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:16.290Z,1761587656.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030705,-0.992296,-0.120022],[0.999452,-0.028993,-0.015988],[0.012385,-0.120447,0.992643]]
2025-10-27T17:54:16.396Z,1761587656.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:16.648Z,1761587656.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:16.694Z,1761587656.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028571,-0.998836,-0.038858],[0.996704,-0.025514,-0.077006],[0.075925,-0.040930,0.996273]]
2025-10-27T17:54:16.900Z,1761587656.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:17.099Z,1761587657.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001838,-0.999913,0.013081],[0.998251,0.001061,-0.059106],[0.059087,0.013167,0.998166]]
2025-10-27T17:54:17.152Z,1761587657.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:17.404Z,1761587657.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:17.502Z,1761587657.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023931,-0.999407,0.024750],[0.998637,-0.025047,-0.045785],[0.046378,0.023621,0.998645]]
2025-10-27T17:54:17.656Z,1761587657.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:17.905Z,1761587657.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022128,-0.999755,-0.000599],[0.997629,-0.022042,-0.065192],[0.065163,-0.002040,0.997873]]
2025-10-27T17:54:17.908Z,1761587657.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:18.160Z,1761587658.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:18.310Z,1761587658.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004423,-0.997414,-0.071732],[0.994784,0.011699,-0.101331],[0.101908,-0.070910,0.992263]]
2025-10-27T17:54:18.413Z,1761587658.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:18.664Z,1761587658.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:18.738Z,1761587658.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009009,-0.991502,-0.129782],[0.995707,0.020851,-0.090178],[0.092118,-0.128412,0.987433]]
2025-10-27T17:54:18.916Z,1761587658.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:19.118Z,1761587659.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000100,-0.991101,-0.133112],[0.999765,0.002787,-0.021503],[0.021682,-0.133083,0.990868]]
2025-10-27T17:54:19.168Z,1761587659.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:19.420Z,1761587659.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:19.522Z,1761587659.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019629,-0.993709,-0.110258],[0.999741,-0.020783,0.009324],[-0.011556,-0.110046,0.993859]]
2025-10-27T17:54:19.672Z,1761587659.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:19.924Z,1761587659.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:19.930Z,1761587659.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021635,-0.993884,-0.108290],[0.999762,-0.021820,0.000521],[-0.002880,-0.108253,0.994119]]
2025-10-27T17:54:20.176Z,1761587660.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:20.331Z,1761587660.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047588,-0.992630,-0.111450],[0.998803,-0.048550,0.005934],[-0.011301,-0.111034,0.993752]]
2025-10-27T17:54:20.428Z,1761587660.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:20.680Z,1761587660.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:20.758Z,1761587660.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070400,-0.993837,-0.085632],[0.997508,-0.070541,-0.001376],[-0.004673,-0.085515,0.996326]]
2025-10-27T17:54:20.932Z,1761587660.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:21.138Z,1761587661.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079633,-0.995274,-0.055578],[0.996442,-0.077934,-0.032088],[0.027605,-0.057935,0.997939]]
2025-10-27T17:54:21.184Z,1761587661.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:21.436Z,1761587661.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:21.543Z,1761587661.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061964,-0.997100,-0.044189],[0.997272,-0.060074,-0.042887],[0.040108,-0.046726,0.998102]]
2025-10-27T17:54:21.688Z,1761587661.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:21.940Z,1761587661.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:21.947Z,1761587661.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041987,-0.997951,-0.048276],[0.999036,-0.041313,-0.014871],[0.012846,-0.048853,0.998723]]
2025-10-27T17:54:22.192Z,1761587662.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:22.350Z,1761587662.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040145,-0.999151,-0.009235],[0.998781,-0.040392,0.028377],[-0.028726,-0.008084,0.999555]]
2025-10-27T17:54:22.373Z,1761587662.373 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:54:22.373Z,1761587662.373 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:54:22.373Z,1761587662.373 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateRudder:A] Stopped
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:54:22.374Z,1761587662.374 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateCommandMode] Stopped
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:54:22.375Z,1761587662.375 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:54:22.376Z,1761587662.376 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:54:22.376Z,1761587662.376 [marl:UpdateSpeed] Stopped
2025-10-27T17:54:22.376Z,1761587662.376 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:54:22.445Z,1761587662.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:22.697Z,1761587662.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:22.769Z,1761587662.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074330,-0.997234,0.000068],[0.997233,-0.074330,0.001230],[-0.001222,0.000159,0.999999]]
2025-10-27T17:54:22.796Z,1761587662.796 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:54:22.797Z,1761587662.797 [marl:UpdateRudder:B] Stopped
2025-10-27T17:54:22.797Z,1761587662.797 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:54:22.797Z,1761587662.797 [marl:UpdateRudder] Stopped
2025-10-27T17:54:22.798Z,1761587662.798 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:54:22.948Z,1761587662.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:23.158Z,1761587663.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093774,-0.995264,-0.025615],[0.992803,-0.091556,-0.077198],[0.074487,-0.032670,0.996687]]
2025-10-27T17:54:23.201Z,1761587663.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:23.452Z,1761587663.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:23.562Z,1761587663.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091252,-0.992695,-0.078926],[0.989994,-0.081865,-0.114936],[0.107635,-0.088624,0.990232]]
2025-10-27T17:54:23.704Z,1761587663.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:23.960Z,1761587663.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:23.970Z,1761587663.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082198,-0.992485,-0.090653],[0.990606,-0.071389,-0.116632],[0.109284,-0.099389,0.989029]]
2025-10-27T17:54:24.212Z,1761587664.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:24.369Z,1761587664.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071840,-0.991401,-0.109380],[0.995777,-0.065004,-0.064830],[0.057163,-0.113575,0.991884]]
2025-10-27T17:54:24.476Z,1761587664.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:24.728Z,1761587664.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:24.777Z,1761587664.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083330,-0.992064,-0.094150],[0.996335,-0.084771,0.011409],[-0.019300,-0.092854,0.995493]]
2025-10-27T17:54:24.980Z,1761587664.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:25.178Z,1761587665.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094410,-0.994754,-0.039383],[0.995124,-0.095432,0.024905],[-0.028533,-0.036840,0.998914]]
2025-10-27T17:54:25.232Z,1761587665.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:25.484Z,1761587665.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:25.583Z,1761587665.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079898,-0.996797,0.003431],[0.996616,-0.079816,0.019657],[-0.019320,0.004989,0.999801]]
2025-10-27T17:54:25.736Z,1761587665.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:25.985Z,1761587665.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117945,-0.992923,0.013903],[0.992363,-0.117346,0.038016],[-0.036116,0.018281,0.999180]]
2025-10-27T17:54:25.988Z,1761587665.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:26.240Z,1761587666.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:26.389Z,1761587666.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144985,-0.989278,-0.017584],[0.988890,-0.145471,0.030559],[-0.032790,-0.012958,0.999378]]
2025-10-27T17:54:26.492Z,1761587666.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:26.744Z,1761587666.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:26.806Z,1761587666.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122674,-0.990175,-0.067113],[0.992333,-0.123402,0.006790],[-0.015005,-0.065766,0.997722]]
2025-10-27T17:54:26.996Z,1761587666.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:27.209Z,1761587667.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127369,-0.982638,-0.134905],[0.991498,-0.122490,-0.043904],[0.026617,-0.139350,0.989885]]
2025-10-27T17:54:27.248Z,1761587667.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:27.500Z,1761587667.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:27.601Z,1761587667.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133365,-0.981805,-0.135180],[0.986856,-0.118996,-0.109343],[0.091268,-0.147985,0.984769]]
2025-10-27T17:54:27.606Z,1761587667.606 [NAL9602](INFO): SBD MO Status=1, MOMSN=3068, MT Status=0, MTMSN=0
2025-10-27T17:54:27.655Z,1761587667.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:54:27.670Z,1761587667.670 [NAL9602](INFO): Sent 94 bytes from file Logs/20251027T165046/Courier0018.lzma
2025-10-27T17:54:27.670Z,1761587667.670 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:54:27.752Z,1761587667.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:28.004Z,1761587668.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:28.007Z,1761587668.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103644,-0.990719,-0.087947],[0.988249,-0.092589,-0.121617],[0.112346,-0.099519,0.988673]]
2025-10-27T17:54:28.256Z,1761587668.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:28.508Z,1761587668.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:28.659Z,1761587668.659 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:54:28.777Z,1761587668.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:29.028Z,1761587669.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:29.258Z,1761587669.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062981,-0.997995,0.006310],[0.998010,-0.062999,-0.002797],[0.003189,0.006121,0.999976]]
2025-10-27T17:54:29.280Z,1761587669.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:29.532Z,1761587669.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:29.784Z,1761587669.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:30.036Z,1761587670.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:30.288Z,1761587670.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:30.540Z,1761587670.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:30.792Z,1761587670.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:31.044Z,1761587671.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:31.296Z,1761587671.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:31.432Z,1761587671.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002929,-0.997793,-0.066330],[0.999608,0.004769,-0.027592],[0.027847,-0.066223,0.997416]]
2025-10-27T17:54:31.548Z,1761587671.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:31.800Z,1761587671.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:31.829Z,1761587671.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039318,-0.999021,-0.020251],[0.998897,0.038776,0.026477],[-0.025666,-0.021269,0.999444]]
2025-10-27T17:54:32.052Z,1761587672.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:32.256Z,1761587672.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002741,-0.999996,-0.000452],[0.994814,0.002681,0.101676],[-0.101674,-0.000728,0.994817]]
2025-10-27T17:54:32.309Z,1761587672.309 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:32.560Z,1761587672.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:32.690Z,1761587672.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057759,-0.997853,-0.030861],[0.986647,-0.061772,0.150704],[-0.152287,-0.021744,0.988097]]
2025-10-27T17:54:32.814Z,1761587672.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:33.064Z,1761587673.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:33.158Z,1761587673.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062485,-0.992560,-0.104497],[0.996240,-0.068325,0.053272],[-0.060016,-0.100776,0.993097]]
2025-10-27T17:54:33.316Z,1761587673.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:33.441Z,1761587673.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051113,-0.981980,-0.181943],[0.996609,-0.038388,-0.072785],[0.064489,-0.185046,0.980612]]
2025-10-27T17:54:33.568Z,1761587673.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:33.820Z,1761587673.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:33.845Z,1761587673.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099358,-0.979121,-0.177343],[0.992497,-0.084753,-0.088125],[0.071255,-0.184768,0.980196]]
2025-10-27T17:54:34.072Z,1761587674.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:34.250Z,1761587674.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115747,-0.987568,-0.106357],[0.991717,-0.108899,-0.068104],[0.055675,-0.113359,0.991993]]
2025-10-27T17:54:34.324Z,1761587674.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:34.576Z,1761587674.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:34.663Z,1761587674.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099508,-0.992236,-0.074610],[0.994089,-0.095861,-0.050977],[0.043429,-0.079241,0.995909]]
2025-10-27T17:54:34.830Z,1761587674.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:35.058Z,1761587675.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118728,-0.992557,-0.027084],[0.989490,-0.116005,-0.086327],[0.082543,-0.037049,0.995899]]
2025-10-27T17:54:35.080Z,1761587675.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:35.332Z,1761587675.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:35.464Z,1761587675.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123953,-0.991269,0.044963],[0.982661,-0.128921,-0.133258],[0.137891,0.027666,0.990061]]
2025-10-27T17:54:35.584Z,1761587675.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:35.836Z,1761587675.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:35.866Z,1761587675.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097736,-0.993743,0.054052],[0.986727,-0.103837,-0.124854],[0.129686,0.041132,0.990702]]
2025-10-27T17:54:36.088Z,1761587676.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:36.270Z,1761587676.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074849,-0.996981,-0.020640],[0.994080,-0.072965,-0.080504],[0.078755,-0.026543,0.996541]]
2025-10-27T17:54:36.340Z,1761587676.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:36.592Z,1761587676.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:36.687Z,1761587676.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095959,-0.990076,-0.102671],[0.995379,-0.095078,-0.013456],[0.003561,-0.103488,0.994624]]
2025-10-27T17:54:36.847Z,1761587676.847 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:37.078Z,1761587677.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110293,-0.983658,-0.142312],[0.992251,-0.117219,0.041207],[-0.057215,-0.136665,0.988964]]
2025-10-27T17:54:37.096Z,1761587677.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:37.348Z,1761587677.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:37.482Z,1761587677.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102146,-0.983393,-0.150013],[0.991863,-0.112203,0.060160],[-0.075993,-0.142647,0.986852]]
2025-10-27T17:54:37.600Z,1761587677.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:37.852Z,1761587677.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:37.892Z,1761587677.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106353,-0.984502,-0.139446],[0.991422,-0.115709,0.060776],[-0.075969,-0.131786,0.988363]]
2025-10-27T17:54:37.915Z,1761587677.915 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:54:37.915Z,1761587677.915 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:54:37.915Z,1761587677.915 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateRudder:A] Stopped
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:54:37.916Z,1761587677.916 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateCommandMode] Stopped
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:54:37.917Z,1761587677.917 [marl:UpdateSpeed] Stopped
2025-10-27T17:54:37.918Z,1761587677.918 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:54:38.104Z,1761587678.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:38.290Z,1761587678.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126172,-0.984633,-0.120742],[0.991194,-0.130062,0.024871],[-0.040193,-0.116540,0.992372]]
2025-10-27T17:54:38.324Z,1761587678.324 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:54:38.324Z,1761587678.324 [marl:UpdateRudder:B] Stopped
2025-10-27T17:54:38.324Z,1761587678.324 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:54:38.324Z,1761587678.324 [marl:UpdateRudder] Stopped
2025-10-27T17:54:38.325Z,1761587678.325 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:54:38.356Z,1761587678.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:38.608Z,1761587678.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:38.705Z,1761587678.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120073,-0.989145,-0.084709],[0.992658,-0.120875,0.004387],[-0.014578,-0.083560,0.996396]]
2025-10-27T17:54:38.861Z,1761587678.861 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:39.098Z,1761587679.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138266,-0.989619,-0.039207],[0.990369,-0.137869,-0.012678],[0.007141,-0.040582,0.999151]]
2025-10-27T17:54:39.112Z,1761587679.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:39.364Z,1761587679.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:39.503Z,1761587679.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165182,-0.985624,-0.035487],[0.985143,-0.163173,-0.053556],[0.046996,-0.043806,0.997934]]
2025-10-27T17:54:39.616Z,1761587679.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:39.868Z,1761587679.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:39.909Z,1761587679.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159794,-0.985619,-0.054965],[0.985366,-0.155911,-0.068895],[0.059334,-0.065170,0.996109]]
2025-10-27T17:54:40.120Z,1761587680.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:40.310Z,1761587680.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156820,-0.985397,-0.066338],[0.985412,-0.151618,-0.077298],[0.066111,-0.077492,0.994799]]
2025-10-27T17:54:40.314Z,1761587680.314 [NAL9602](INFO): SBD MO Status=1, MOMSN=3069, MT Status=0, MTMSN=0
2025-10-27T17:54:40.363Z,1761587680.363 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0019.lzma
2025-10-27T17:54:40.363Z,1761587680.363 [NAL9602](INFO): Packets left to send: 2
2025-10-27T17:54:40.372Z,1761587680.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:40.624Z,1761587680.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:40.719Z,1761587680.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130702,-0.991215,-0.020236],[0.987842,-0.128470,-0.087537],[0.084168,-0.031431,0.995956]]
2025-10-27T17:54:40.876Z,1761587680.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:41.128Z,1761587681.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:41.380Z,1761587681.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:41.643Z,1761587681.643 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:41.896Z,1761587681.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:42.004Z,1761587682.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167857,-0.983872,-0.061807],[0.979755,-0.159558,-0.120918],[0.109106,-0.080853,0.990737]]
2025-10-27T17:54:42.148Z,1761587682.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:42.400Z,1761587682.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:42.652Z,1761587682.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:42.904Z,1761587682.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:43.156Z,1761587683.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:43.408Z,1761587683.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:43.662Z,1761587683.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:43.912Z,1761587683.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:44.165Z,1761587684.165 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:44.212Z,1761587684.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155206,-0.987490,-0.027845],[0.987533,-0.155839,0.022205],[-0.026267,-0.024052,0.999366]]
2025-10-27T17:54:44.416Z,1761587684.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:44.603Z,1761587684.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167714,-0.980404,-0.103342],[0.983292,-0.173886,0.053862],[-0.070776,-0.092582,0.993186]]
2025-10-27T17:54:44.668Z,1761587684.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:44.920Z,1761587684.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:45.006Z,1761587685.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208738,-0.968667,-0.134582],[0.977930,-0.208010,-0.019612],[-0.008997,-0.135706,0.990708]]
2025-10-27T17:54:45.172Z,1761587685.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:45.410Z,1761587685.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212628,-0.972487,-0.095179],[0.975803,-0.206248,-0.072599],[0.050971,-0.108313,0.992809]]
2025-10-27T17:54:45.424Z,1761587685.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:45.677Z,1761587685.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:45.815Z,1761587685.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170376,-0.985021,-0.026561],[0.983960,-0.168623,-0.058209],[0.052858,-0.036052,0.997951]]
2025-10-27T17:54:45.928Z,1761587685.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:46.180Z,1761587686.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:46.217Z,1761587686.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189403,-0.981832,-0.011517],[0.980847,-0.188644,-0.048498],[0.045444,-0.020482,0.998757]]
2025-10-27T17:54:46.432Z,1761587686.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:46.622Z,1761587686.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230413,-0.972895,-0.019623],[0.970861,-0.228473,-0.072309],[0.065866,-0.035712,0.997189]]
2025-10-27T17:54:46.686Z,1761587686.686 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:46.936Z,1761587686.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:47.029Z,1761587687.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225684,-0.972446,-0.058439],[0.970644,-0.219335,-0.098703],[0.083166,-0.078999,0.993400]]
2025-10-27T17:54:47.188Z,1761587687.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:47.430Z,1761587687.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221553,-0.968723,-0.111754],[0.971362,-0.209150,-0.112747],[0.085847,-0.133533,0.987319]]
2025-10-27T17:54:47.440Z,1761587687.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:47.692Z,1761587687.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:47.833Z,1761587687.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236266,-0.966545,-0.099848],[0.967284,-0.224177,-0.118768],[0.092411,-0.124642,0.987889]]
2025-10-27T17:54:47.944Z,1761587687.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:48.196Z,1761587688.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:48.237Z,1761587688.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243137,-0.968840,-0.047265],[0.966200,-0.237594,-0.100035],[0.085687,-0.069990,0.993861]]
2025-10-27T17:54:48.450Z,1761587688.450 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:48.642Z,1761587688.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220545,-0.975377,-0.000491],[0.972858,-0.219939,-0.071928],[0.070049,-0.016341,0.997410]]
2025-10-27T17:54:48.700Z,1761587688.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:48.952Z,1761587688.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:49.046Z,1761587689.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193494,-0.980706,-0.027843],[0.980164,-0.191990,-0.049186],[0.042891,-0.036808,0.998401]]
2025-10-27T17:54:49.204Z,1761587689.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:49.456Z,1761587689.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:49.708Z,1761587689.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:49.853Z,1761587689.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289320,-0.955642,-0.055158],[0.956035,-0.285597,-0.066561],[0.047856,-0.071990,0.996257]]
2025-10-27T17:54:49.960Z,1761587689.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:50.212Z,1761587690.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:50.260Z,1761587690.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250351,-0.965708,-0.068793],[0.967845,-0.247838,-0.043047],[0.024521,-0.077358,0.996702]]
2025-10-27T17:54:50.464Z,1761587690.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:50.674Z,1761587690.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226512,-0.972064,-0.061521],[0.973994,-0.225712,-0.019742],[0.005304,-0.064393,0.997910]]
2025-10-27T17:54:50.681Z,1761587690.681 [NAL9602](INFO): SBD MO Status=1, MOMSN=3070, MT Status=0, MTMSN=0
2025-10-27T17:54:50.716Z,1761587690.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:50.748Z,1761587690.748 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0019.lzma
2025-10-27T17:54:50.749Z,1761587690.749 [NAL9602](INFO): Packets left to send: 1
2025-10-27T17:54:50.968Z,1761587690.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:51.065Z,1761587691.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221328,-0.975162,-0.008498],[0.974640,-0.220898,-0.035782],[0.033017,-0.016202,0.999323]]
2025-10-27T17:54:51.220Z,1761587691.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:51.472Z,1761587691.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:51.724Z,1761587691.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:51.853Z,1761587691.853 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:54:51.949Z,1761587691.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203045,-0.978269,-0.041993],[0.978946,-0.203728,0.012642],[-0.020922,-0.038542,0.999038]]
2025-10-27T17:54:51.976Z,1761587691.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:52.129Z,1761587692.129 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:54:52.129Z,1761587692.129 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:54:52.228Z,1761587692.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:52.350Z,1761587692.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225857,-0.970439,-0.085065],[0.973774,-0.227363,0.008326],[-0.027421,-0.080954,0.996341]]
2025-10-27T17:54:52.480Z,1761587692.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:52.732Z,1761587692.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:52.984Z,1761587692.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:53.236Z,1761587693.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:53.488Z,1761587693.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:53.740Z,1761587693.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:53.992Z,1761587693.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:54.244Z,1761587694.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:54.496Z,1761587694.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:54.536Z,1761587694.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247790,-0.965301,-0.082431],[0.968812,-0.247049,-0.019231],[-0.001801,-0.084625,0.996411]]
2025-10-27T17:54:54.749Z,1761587694.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:54.919Z,1761587694.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241358,-0.969949,0.030736],[0.965895,-0.243169,-0.088965],[0.093766,0.008215,0.995560]]
2025-10-27T17:54:55.000Z,1761587695.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:55.255Z,1761587695.255 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:55.322Z,1761587695.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257900,-0.966170,-0.001488],[0.962296,-0.256727,-0.089871],[0.086449,-0.024610,0.995952]]
2025-10-27T17:54:55.504Z,1761587695.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:55.730Z,1761587695.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276461,-0.960376,-0.035322],[0.956692,-0.271542,-0.104910],[0.091161,-0.062796,0.993854]]
2025-10-27T17:54:55.757Z,1761587695.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:55.771Z,1761587695.771 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:54:55.771Z,1761587695.771 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:54:55.771Z,1761587695.771 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateRudder:A] Stopped
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:54:55.772Z,1761587695.772 [marl:UpdateCommandMode] Stopped
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed] Stopped
2025-10-27T17:54:55.773Z,1761587695.773 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:54:56.008Z,1761587696.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:56.130Z,1761587696.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255659,-0.965418,-0.051064],[0.961588,-0.248474,-0.116656],[0.099934,-0.078926,0.991859]]
2025-10-27T17:54:56.182Z,1761587696.182 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:54:56.182Z,1761587696.182 [marl:UpdateRudder:B] Stopped
2025-10-27T17:54:56.182Z,1761587696.182 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:54:56.182Z,1761587696.182 [marl:UpdateRudder] Stopped
2025-10-27T17:54:56.182Z,1761587696.182 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:54:56.260Z,1761587696.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:56.512Z,1761587696.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:56.534Z,1761587696.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229108,-0.972055,-0.051176],[0.970304,-0.223872,-0.091604],[0.077587,-0.070643,0.994480]]
2025-10-27T17:54:56.764Z,1761587696.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:56.937Z,1761587696.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225503,-0.973261,-0.043724],[0.971076,-0.220929,-0.090561],[0.078480,-0.062881,0.994931]]
2025-10-27T17:54:57.016Z,1761587697.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:57.268Z,1761587697.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:57.343Z,1761587697.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219314,-0.973896,-0.058543],[0.973472,-0.214418,-0.079859],[0.065222,-0.074504,0.995086]]
2025-10-27T17:54:57.520Z,1761587697.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:57.772Z,1761587697.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:58.024Z,1761587698.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:58.160Z,1761587698.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243348,-0.967647,-0.066639],[0.969924,-0.242386,-0.022289],[0.005416,-0.070059,0.997528]]
2025-10-27T17:54:58.276Z,1761587698.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:58.528Z,1761587698.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:58.557Z,1761587698.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244821,-0.969528,-0.008856],[0.969561,-0.244844,0.001566],[-0.003686,-0.008203,0.999960]]
2025-10-27T17:54:58.780Z,1761587698.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:58.781Z,1761587698.781 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:54:58.957Z,1761587698.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214787,-0.976607,0.010237],[0.976273,-0.214395,0.030427],[-0.027520,0.016529,0.999485]]
2025-10-27T17:54:58.971Z,1761587698.971 [NAL9602](INFO): SBD MO Status=1, MOMSN=3071, MT Status=0, MTMSN=0
2025-10-27T17:54:59.021Z,1761587699.021 [NAL9602](INFO): Sent 240 bytes from file Logs/20251027T165046/Express0019.lzma
2025-10-27T17:54:59.021Z,1761587699.021 [NAL9602](INFO): Packets left to send: 0
2025-10-27T17:54:59.032Z,1761587699.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:59.284Z,1761587699.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:59.365Z,1761587699.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225320,-0.973721,-0.033127],[0.972781,-0.226731,0.047864],[-0.054117,-0.021441,0.998304]]
2025-10-27T17:54:59.536Z,1761587699.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:54:59.783Z,1761587699.783 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:54:59.788Z,1761587699.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:00.014Z,1761587700.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274817,-0.956760,-0.095315],[0.961209,-0.275805,-0.002906],[-0.023508,-0.092416,0.995443]]
2025-10-27T17:55:00.040Z,1761587700.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:00.292Z,1761587700.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:00.413Z,1761587700.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266976,-0.955404,-0.126201],[0.963510,-0.262003,-0.054798],[0.019290,-0.136226,0.990490]]
2025-10-27T17:55:00.544Z,1761587700.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:00.797Z,1761587700.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:00.876Z,1761587700.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283294,-0.958482,-0.032505],[0.955344,-0.279073,-0.097138],[0.084034,-0.058572,0.994740]]
2025-10-27T17:55:01.048Z,1761587701.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:01.300Z,1761587701.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:01.552Z,1761587701.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:01.638Z,1761587701.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279496,-0.959947,0.019565],[0.957958,-0.280176,-0.061790],[0.064797,0.001472,0.997897]]
2025-10-27T17:55:01.804Z,1761587701.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:02.056Z,1761587702.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:02.308Z,1761587702.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:02.434Z,1761587702.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231173,-0.971908,0.044208],[0.969917,-0.233786,-0.067865],[0.076293,0.027189,0.996715]]
2025-10-27T17:55:02.560Z,1761587702.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:02.813Z,1761587702.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:02.870Z,1761587702.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260460,-0.962633,-0.074144],[0.960399,-0.250452,-0.122097],[0.098965,-0.103009,0.989745]]
2025-10-27T17:55:03.064Z,1761587703.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:03.316Z,1761587703.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:03.568Z,1761587703.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:03.657Z,1761587703.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261611,-0.958292,-0.115045],[0.962994,-0.251153,-0.097801],[0.064828,-0.136374,0.988534]]
2025-10-27T17:55:03.820Z,1761587703.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:04.051Z,1761587704.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281324,-0.954371,-0.100169],[0.958498,-0.274431,-0.077262],[0.046247,-0.117747,0.991966]]
2025-10-27T17:55:04.072Z,1761587704.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:04.324Z,1761587704.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:04.576Z,1761587704.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:04.830Z,1761587704.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:04.878Z,1761587704.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281746,-0.959074,-0.028221],[0.959452,-0.281872,0.000498],[-0.008432,-0.026937,0.999602]]
2025-10-27T17:55:05.080Z,1761587705.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:05.332Z,1761587705.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:05.584Z,1761587705.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:05.672Z,1761587705.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317672,-0.948191,0.004168],[0.944821,-0.316908,-0.082956],[0.079979,-0.022415,0.996545]]
2025-10-27T17:55:05.836Z,1761587705.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:06.074Z,1761587706.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307580,-0.951521,0.001621],[0.947613,-0.306470,-0.090036],[0.086168,-0.026157,0.995937]]
2025-10-27T17:55:06.088Z,1761587706.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:06.340Z,1761587706.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:06.478Z,1761587706.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324871,-0.944449,-0.049749],[0.944209,-0.320880,-0.074198],[0.054113,-0.071078,0.996002]]
2025-10-27T17:55:06.592Z,1761587706.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:06.916Z,1761587706.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:06.998Z,1761587706.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333526,-0.941448,-0.049352],[0.941627,-0.330131,-0.065970],[0.045815,-0.068474,0.996600]]
2025-10-27T17:55:07.013Z,1761587707.013 [NAL9602](INFO): SBD MO Status=0, MOMSN=3072, MT Status=0, MTMSN=0
2025-10-27T17:55:07.104Z,1761587707.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:07.356Z,1761587707.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:07.386Z,1761587707.386 [marl:NeedComms:D] Stopped
2025-10-27T17:55:07.386Z,1761587707.386 [marl:NeedComms:E] Running Loop=1
2025-10-27T17:55:07.608Z,1761587707.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:07.646Z,1761587707.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308051,-0.951274,-0.013466],[0.950674,-0.307254,-0.042591],[0.036378,-0.025922,0.999002]]
2025-10-27T17:55:07.860Z,1761587707.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:08.042Z,1761587708.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275778,-0.960590,0.034841],[0.960319,-0.276908,-0.033306],[0.041641,0.024274,0.998838]]
2025-10-27T17:55:08.117Z,1761587708.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:08.368Z,1761587708.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:08.411Z,1761587708.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273601,-0.960847,0.043773],[0.961437,-0.274525,-0.016605],[0.027972,0.037541,0.998904]]
2025-10-27T17:55:08.416Z,1761587708.416 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175504.00,A,3646.56115,N,12151.97058,W,0.486,303.53,271025,,,A*75
2025-10-27T17:55:08.418Z,1761587708.418 [NAL9602](INFO): GPS fix at 20251027T175504: (36.776019, -121.866176)
2025-10-27T17:55:08.475Z,1761587708.475 [marl:NeedComms:E] Stopped
2025-10-27T17:55:08.476Z,1761587708.476 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T17:55:08.476Z,1761587708.476 [marl:NeedComms] Stopped
2025-10-27T17:55:08.476Z,1761587708.476 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T17:55:08.476Z,1761587708.476 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T17:55:08.476Z,1761587708.476 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T17:55:08.477Z,1761587708.477 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:08.621Z,1761587708.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:08.872Z,1761587708.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:08.875Z,1761587708.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312873,-0.949794,-0.001389],[0.949752,-0.312872,0.009034],[-0.009015,0.001508,0.999958]]
2025-10-27T17:55:09.125Z,1761587709.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:09.376Z,1761587709.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:09.629Z,1761587709.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:09.638Z,1761587709.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300607,-0.950302,-0.081003],[0.953734,-0.299978,-0.020107],[-0.005192,-0.083300,0.996511]]
2025-10-27T17:55:09.682Z,1761587709.682 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:55:09.682Z,1761587709.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:55:09.682Z,1761587709.682 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:55:09.699Z,1761587709.699 [marl:UpdateRudder:A] Stopped
2025-10-27T17:55:09.699Z,1761587709.699 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:55:09.699Z,1761587709.699 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:55:09.699Z,1761587709.699 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:55:09.699Z,1761587709.699 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateCommandMode] Stopped
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:55:09.700Z,1761587709.700 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:55:09.701Z,1761587709.701 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:55:09.701Z,1761587709.701 [marl:UpdateSpeed] Stopped
2025-10-27T17:55:09.701Z,1761587709.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:55:09.880Z,1761587709.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:10.026Z,1761587710.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328733,-0.940761,-0.083083],[0.943336,-0.322863,-0.076655],[0.045289,-0.103574,0.993590]]
2025-10-27T17:55:10.083Z,1761587710.083 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:55:10.083Z,1761587710.083 [marl:UpdateRudder:B] Stopped
2025-10-27T17:55:10.084Z,1761587710.084 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:55:10.084Z,1761587710.084 [marl:UpdateRudder] Stopped
2025-10-27T17:55:10.084Z,1761587710.084 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:55:10.133Z,1761587710.133 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:10.384Z,1761587710.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:10.433Z,1761587710.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339531,-0.940060,-0.031716],[0.939994,-0.337915,-0.047167],[0.033622,-0.045827,0.998383]]
2025-10-27T17:55:10.637Z,1761587710.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:10.888Z,1761587710.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:10.900Z,1761587710.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296303,-0.953756,-0.050545],[0.954035,-0.298051,0.031342],[-0.044958,-0.038935,0.998230]]
2025-10-27T17:55:10.913Z,1761587710.913 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175507.00,A,3646.56106,N,12151.97098,W,0.641,303.53,271025,,,A*71
2025-10-27T17:55:10.919Z,1761587710.919 [NAL9602](INFO): GPS fix at 20251027T175507: (36.776018, -121.866183)
2025-10-27T17:55:11.032Z,1761587711.032 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:11.140Z,1761587711.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:11.310Z,1761587711.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322282,-0.943077,-0.082096],[0.946359,-0.318843,-0.052390],[0.023232,-0.094577,0.995246]]
2025-10-27T17:55:11.392Z,1761587711.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:11.644Z,1761587711.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:11.706Z,1761587711.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331919,-0.941429,-0.059506],[0.939373,-0.324120,-0.111910],[0.086069,-0.093043,0.991935]]
2025-10-27T17:55:11.897Z,1761587711.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:12.117Z,1761587712.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313473,-0.948145,-0.052490],[0.946271,-0.307276,-0.100759],[0.079405,-0.081255,0.993525]]
2025-10-27T17:55:12.148Z,1761587712.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:12.401Z,1761587712.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:12.524Z,1761587712.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317230,-0.946642,-0.056872],[0.945569,-0.311142,-0.095345],[0.072562,-0.084023,0.993818]]
2025-10-27T17:55:12.652Z,1761587712.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:12.904Z,1761587712.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:12.921Z,1761587712.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337978,-0.941114,0.008701],[0.936682,-0.337258,-0.094255],[0.091639,-0.023706,0.995510]]
2025-10-27T17:55:13.156Z,1761587713.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:13.322Z,1761587713.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322046,-0.944703,0.061827],[0.941574,-0.326413,-0.083024],[0.098614,0.031477,0.994628]]
2025-10-27T17:55:13.408Z,1761587713.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:13.667Z,1761587713.667 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:13.753Z,1761587713.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268246,-0.962216,0.046729],[0.962543,-0.269692,-0.027893],[0.039442,0.037496,0.998518]]
2025-10-27T17:55:13.917Z,1761587713.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:14.146Z,1761587714.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256825,-0.966151,-0.024340],[0.966454,-0.256677,-0.009107],[0.002551,-0.025862,0.999662]]
2025-10-27T17:55:14.155Z,1761587714.155 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175510.00,A,3646.56150,N,12151.97136,W,0.233,307.69,271025,,,A*7D
2025-10-27T17:55:14.161Z,1761587714.161 [NAL9602](INFO): GPS fix at 20251027T175510: (36.776025, -121.866189)
2025-10-27T17:55:14.168Z,1761587714.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:14.250Z,1761587714.250 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:14.420Z,1761587714.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:14.542Z,1761587714.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281046,-0.956672,-0.076099],[0.959248,-0.277612,-0.052676],[0.029267,-0.087802,0.995708]]
2025-10-27T17:55:14.672Z,1761587714.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:14.924Z,1761587714.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:14.946Z,1761587714.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298449,-0.946595,-0.122008],[0.953496,-0.290073,-0.081868],[0.042105,-0.140768,0.989147]]
2025-10-27T17:55:15.177Z,1761587715.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:15.400Z,1761587715.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300375,-0.936543,-0.180725],[0.953263,-0.288281,-0.090459],[0.032619,-0.199450,0.979365]]
2025-10-27T17:55:15.428Z,1761587715.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:15.680Z,1761587715.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:15.786Z,1761587715.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298157,-0.933607,-0.198695],[0.954496,-0.290242,-0.068538],[0.006318,-0.210088,0.977662]]
2025-10-27T17:55:15.932Z,1761587715.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:16.184Z,1761587716.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:16.205Z,1761587716.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293848,-0.943316,-0.154297],[0.955360,-0.284667,-0.079069],[0.030664,-0.170644,0.984856]]
2025-10-27T17:55:16.436Z,1761587716.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:16.599Z,1761587716.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260130,-0.963294,-0.066307],[0.962422,-0.253125,-0.098341],[0.077948,-0.089397,0.992941]]
2025-10-27T17:55:16.688Z,1761587716.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:16.940Z,1761587716.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:17.002Z,1761587717.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233710,-0.972161,-0.016801],[0.967697,-0.230887,-0.101265],[0.094567,-0.039925,0.994718]]
2025-10-27T17:55:17.012Z,1761587717.012 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175513.00,A,3646.56182,N,12151.97161,W,0.758,319.64,271025,,,A*79
2025-10-27T17:55:17.014Z,1761587717.014 [NAL9602](INFO): GPS fix at 20251027T175513: (36.776030, -121.866193)
2025-10-27T17:55:17.077Z,1761587717.077 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:17.192Z,1761587717.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:17.406Z,1761587717.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239701,-0.970713,-0.016123],[0.968638,-0.238003,-0.071385],[0.065457,-0.032728,0.997319]]
2025-10-27T17:55:17.444Z,1761587717.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:17.696Z,1761587717.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:17.809Z,1761587717.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260457,-0.964054,-0.052557],[0.964125,-0.256816,-0.067144],[0.051233,-0.068159,0.996358]]
2025-10-27T17:55:17.948Z,1761587717.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:18.200Z,1761587718.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:18.228Z,1761587718.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250597,-0.964316,-0.085413],[0.965491,-0.242486,-0.095018],[0.070916,-0.106277,0.991804]]
2025-10-27T17:55:18.433Z,1761587718.433 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002809
2025-10-27T17:55:18.453Z,1761587718.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:18.632Z,1761587718.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215597,-0.970147,-0.111055],[0.974250,-0.206022,-0.091606],[0.065991,-0.127945,0.989583]]
2025-10-27T17:55:18.704Z,1761587718.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:18.956Z,1761587718.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:19.021Z,1761587719.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195304,-0.973753,-0.116882],[0.980003,-0.189136,-0.061822],[0.038093,-0.126619,0.991220]]
2025-10-27T17:55:19.208Z,1761587719.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:19.425Z,1761587719.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197625,-0.974317,-0.107941],[0.980278,-0.196473,-0.021314],[-0.000440,-0.110024,0.993929]]
2025-10-27T17:55:19.431Z,1761587719.431 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:55:19.460Z,1761587719.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:19.712Z,1761587719.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:19.831Z,1761587719.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228155,-0.967002,-0.113366],[0.973428,-0.224218,-0.046520],[0.019566,-0.120967,0.992464]]
2025-10-27T17:55:19.836Z,1761587719.836 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175516.00,A,3646.56194,N,12151.97122,W,0.875,68.40,271025,,,A*4F
2025-10-27T17:55:19.838Z,1761587719.838 [NAL9602](INFO): GPS fix at 20251027T175516: (36.776032, -121.866187)
2025-10-27T17:55:19.864Z,1761587719.864 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:19.964Z,1761587719.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:20.216Z,1761587720.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:20.246Z,1761587720.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215411,-0.968891,-0.121856],[0.974783,-0.205900,-0.086042],[0.058275,-0.137317,0.988811]]
2025-10-27T17:55:20.468Z,1761587720.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:20.640Z,1761587720.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201423,-0.970945,-0.129205],[0.978912,-0.194954,-0.061035],[0.034073,-0.138774,0.989738]]
2025-10-27T17:55:20.720Z,1761587720.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:20.972Z,1761587720.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:21.042Z,1761587721.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199789,-0.969130,-0.144468],[0.979654,-0.194701,-0.048682],[0.019051,-0.151254,0.988311]]
2025-10-27T17:55:21.224Z,1761587721.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:21.471Z,1761587721.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200713,-0.967570,-0.153373],[0.979639,-0.198981,-0.026723],[-0.004662,-0.155614,0.987807]]
2025-10-27T17:55:21.476Z,1761587721.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:21.729Z,1761587721.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:21.877Z,1761587721.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202938,-0.969192,-0.139582],[0.979189,-0.200527,-0.031273],[0.002319,-0.143024,0.989717]]
2025-10-27T17:55:21.980Z,1761587721.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:22.232Z,1761587722.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:22.258Z,1761587722.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193178,-0.973115,-0.125418],[0.981075,-0.189857,-0.038023],[0.013190,-0.130390,0.991375]]
2025-10-27T17:55:22.486Z,1761587722.486 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:22.666Z,1761587722.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192594,-0.974378,-0.116164],[0.981063,-0.188717,-0.043599],[0.020560,-0.122361,0.992273]]
2025-10-27T17:55:22.737Z,1761587722.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:22.988Z,1761587722.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:23.150Z,1761587723.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176622,-0.975884,-0.128278],[0.983977,-0.171835,-0.047563],[0.024374,-0.134623,0.990597]]
2025-10-27T17:55:23.163Z,1761587723.163 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175519.00,A,3646.56193,N,12151.97040,W,0.486,81.49,271025,,,A*4C
2025-10-27T17:55:23.165Z,1761587723.165 [NAL9602](INFO): GPS fix at 20251027T175519: (36.776032, -121.866173)
2025-10-27T17:55:23.240Z,1761587723.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:23.270Z,1761587723.270 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:55:23.270Z,1761587723.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:55:23.303Z,1761587723.303 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:55:23.303Z,1761587723.303 [marl:UpdateRudder:A] Stopped
2025-10-27T17:55:23.303Z,1761587723.303 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:55:23.303Z,1761587723.303 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:55:23.303Z,1761587723.303 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateCommandMode] Stopped
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:55:23.304Z,1761587723.304 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:55:23.305Z,1761587723.305 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:55:23.305Z,1761587723.305 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:55:23.305Z,1761587723.305 [marl:UpdateSpeed] Stopped
2025-10-27T17:55:23.305Z,1761587723.305 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:55:23.315Z,1761587723.315 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:23.492Z,1761587723.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:23.534Z,1761587723.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166826,-0.979244,-0.115112],[0.983997,-0.157938,-0.082498],[0.062605,-0.127033,0.989921]]
2025-10-27T17:55:23.653Z,1761587723.653 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:55:23.653Z,1761587723.653 [marl:UpdateRudder:B] Stopped
2025-10-27T17:55:23.653Z,1761587723.653 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:55:23.653Z,1761587723.653 [marl:UpdateRudder] Stopped
2025-10-27T17:55:23.653Z,1761587723.653 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:55:23.745Z,1761587723.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:23.938Z,1761587723.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156502,-0.983615,-0.089489],[0.985780,-0.149946,-0.075853],[0.061192,-0.100088,0.993095]]
2025-10-27T17:55:23.996Z,1761587723.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:24.248Z,1761587724.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:24.365Z,1761587724.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162366,-0.981194,-0.104379],[0.985996,-0.165416,0.021195],[-0.038062,-0.099476,0.994312]]
2025-10-27T17:55:24.501Z,1761587724.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:24.752Z,1761587724.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:24.923Z,1761587724.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175008,-0.974999,-0.136926],[0.983886,-0.168018,-0.061136],[0.036601,-0.145418,0.988693]]
2025-10-27T17:55:25.004Z,1761587725.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:25.256Z,1761587725.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:25.508Z,1761587725.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:25.722Z,1761587725.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114325,-0.983269,-0.141814],[0.981492,-0.089717,-0.169185],[0.153632,-0.158532,0.975328]]
2025-10-27T17:55:25.760Z,1761587725.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:26.012Z,1761587726.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:26.122Z,1761587726.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103492,-0.986791,-0.124630],[0.983624,-0.082951,-0.160006],[0.147555,-0.139148,0.979217]]
2025-10-27T17:55:26.131Z,1761587726.131 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175522.00,A,3646.56236,N,12151.97027,W,0.564,33.51,271025,,,A*44
2025-10-27T17:55:26.137Z,1761587726.137 [NAL9602](INFO): GPS fix at 20251027T175522: (36.776039, -121.866171)
2025-10-27T17:55:26.209Z,1761587726.209 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:26.264Z,1761587726.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:26.516Z,1761587726.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:26.556Z,1761587726.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089493,-0.994509,-0.054254],[0.992700,-0.084643,-0.085917],[0.080853,-0.061547,0.994824]]
2025-10-27T17:55:26.768Z,1761587726.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:27.020Z,1761587727.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:27.272Z,1761587727.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:27.350Z,1761587727.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102299,-0.991833,-0.076173],[0.992503,-0.096620,-0.074844],[0.066873,-0.083259,0.994282]]
2025-10-27T17:55:27.524Z,1761587727.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:27.762Z,1761587727.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061547,-0.995373,-0.073792],[0.985536,-0.048910,-0.162256],[0.157896,-0.082711,0.983986]]
2025-10-27T17:55:27.776Z,1761587727.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:28.028Z,1761587728.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:28.280Z,1761587728.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:28.532Z,1761587728.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:28.562Z,1761587728.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017095,-0.996999,-0.075509],[0.990877,-0.006796,-0.134600],[0.133683,-0.077121,0.988019]]
2025-10-27T17:55:28.789Z,1761587728.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:28.966Z,1761587728.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008961,-0.994229,-0.106899],[0.994642,0.019872,-0.101449],[0.102988,-0.105417,0.989081]]
2025-10-27T17:55:28.971Z,1761587728.971 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175525.00,A,3646.56236,N,12151.96979,W,1.089,79.39,271025,,,A*47
2025-10-27T17:55:28.973Z,1761587728.973 [NAL9602](INFO): GPS fix at 20251027T175525: (36.776039, -121.866163)
2025-10-27T17:55:29.036Z,1761587729.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:29.042Z,1761587729.042 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:29.290Z,1761587729.290 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:29.392Z,1761587729.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008213,-0.987626,-0.156613],[0.996531,0.021055,-0.080515],[0.082817,-0.155408,0.984373]]
2025-10-27T17:55:29.540Z,1761587729.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:29.774Z,1761587729.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007570,-0.985733,-0.168146],[0.991816,0.028832,-0.124374],[0.127448,-0.165829,0.977884]]
2025-10-27T17:55:29.792Z,1761587729.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:29.943Z,1761587729.943 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:55:30.044Z,1761587730.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:30.296Z,1761587730.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:30.548Z,1761587730.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:30.593Z,1761587730.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028168,-0.991881,-0.124009],[0.993356,0.041624,-0.107292],[0.111583,-0.120163,0.986463]]
2025-10-27T17:55:30.802Z,1761587730.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:30.988Z,1761587730.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037010,-0.996212,-0.078693],[0.990157,0.047193,-0.131763],[0.134977,-0.073042,0.988153]]
2025-10-27T17:55:31.053Z,1761587731.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:31.304Z,1761587731.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:31.389Z,1761587731.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079915,-0.995381,-0.053199],[0.982750,0.087606,-0.162872],[0.166780,-0.039265,0.985212]]
2025-10-27T17:55:31.556Z,1761587731.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:31.808Z,1761587731.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:31.811Z,1761587731.811 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175528.00,A,3646.56253,N,12151.96806,W,1.691,88.38,271025,,,A*40
2025-10-27T17:55:31.814Z,1761587731.814 [NAL9602](INFO): GPS fix at 20251027T175528: (36.776042, -121.866134)
2025-10-27T17:55:31.861Z,1761587731.861 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:32.060Z,1761587732.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:32.198Z,1761587732.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120045,-0.990800,-0.062486],[0.962517,0.131575,-0.237168],[0.243208,-0.031673,0.969457]]
2025-10-27T17:55:32.312Z,1761587732.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:32.564Z,1761587732.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:32.614Z,1761587732.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147140,-0.985594,-0.083389],[0.961721,0.162259,-0.220828],[0.231178,-0.047704,0.971741]]
2025-10-27T17:55:32.818Z,1761587732.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:33.014Z,1761587733.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170422,-0.978788,-0.113708],[0.955527,0.192342,-0.223546],[0.240675,-0.070554,0.968038]]
2025-10-27T17:55:33.068Z,1761587733.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:33.320Z,1761587733.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:33.524Z,1761587733.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200847,-0.964408,-0.171984],[0.949279,0.234960,-0.208959],[0.241931,-0.121292,0.962682]]
2025-10-27T17:55:33.573Z,1761587733.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:33.824Z,1761587733.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:33.932Z,1761587733.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206603,-0.953613,-0.218945],[0.959113,0.241630,-0.147370],[0.193437,-0.179546,0.964544]]
2025-10-27T17:55:34.077Z,1761587734.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:34.326Z,1761587734.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224284,-0.948768,-0.222569],[0.956054,0.258472,-0.138396],[0.188833,-0.181748,0.965044]]
2025-10-27T17:55:34.328Z,1761587734.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:34.580Z,1761587734.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:34.729Z,1761587734.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225494,-0.942617,-0.246222],[0.948270,0.270326,-0.166455],[0.223464,-0.195950,0.954813]]
2025-10-27T17:55:34.834Z,1761587734.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:35.085Z,1761587735.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:35.215Z,1761587735.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223342,-0.931587,-0.286816],[0.947807,0.276249,-0.159214],[0.227554,-0.236287,0.944663]]
2025-10-27T17:55:35.224Z,1761587735.224 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175531.00,A,3646.56257,N,12151.96628,W,1.322,83.68,271025,,,A*4D
2025-10-27T17:55:35.226Z,1761587735.226 [NAL9602](INFO): GPS fix at 20251027T175531: (36.776043, -121.866105)
2025-10-27T17:55:35.336Z,1761587735.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:35.340Z,1761587735.340 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:35.588Z,1761587735.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:35.622Z,1761587735.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212969,-0.931895,-0.293625],[0.946576,0.271267,-0.174377],[0.242152,-0.240802,0.939881]]
2025-10-27T17:55:35.840Z,1761587735.840 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:55:35.840Z,1761587735.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:36.069Z,1761587736.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187666,-0.936203,-0.297161],[0.943483,0.255953,-0.210542],[0.273170,-0.240855,0.931325]]
2025-10-27T17:55:36.094Z,1761587736.094 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:55:36.094Z,1761587736.094 [DAT](INFO): #Outgoing data=13
2025-10-27T17:55:36.094Z,1761587736.094 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:55:36.095Z,1761587736.095 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:36.344Z,1761587736.344 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:55:36.345Z,1761587736.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:36.537Z,1761587736.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164231,-0.929439,-0.330410],[0.948172,0.241115,-0.206961],[0.272025,-0.279296,0.920867]]
2025-10-27T17:55:36.596Z,1761587736.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateRudder:A] Stopped
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:55:36.626Z,1761587736.626 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:55:36.627Z,1761587736.627 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:55:36.635Z,1761587736.635 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:55:36.635Z,1761587736.635 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:55:36.635Z,1761587736.635 [marl:UpdateCommandMode] Stopped
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed] Stopped
2025-10-27T17:55:36.636Z,1761587736.636 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:55:36.851Z,1761587736.851 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:36.922Z,1761587736.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141158,-0.932948,-0.331185],[0.938506,0.232582,-0.255171],[0.315089,-0.274799,0.908408]]
2025-10-27T17:55:37.052Z,1761587737.052 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:55:37.052Z,1761587737.052 [marl:UpdateRudder:B] Stopped
2025-10-27T17:55:37.052Z,1761587737.052 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:55:37.052Z,1761587737.052 [marl:UpdateRudder] Stopped
2025-10-27T17:55:37.052Z,1761587737.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:55:37.100Z,1761587737.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:37.335Z,1761587737.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135210,-0.936750,-0.322829],[0.919332,0.240123,-0.311720],[0.369522,-0.254639,0.893651]]
2025-10-27T17:55:37.352Z,1761587737.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:37.604Z,1761587737.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:37.734Z,1761587737.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146176,-0.935728,-0.321009],[0.902032,0.259304,-0.345107],[0.406165,-0.239114,0.881961]]
2025-10-27T17:55:37.856Z,1761587737.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:38.108Z,1761587738.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:38.129Z,1761587738.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163439,-0.942732,-0.290764],[0.886687,0.269583,-0.375648],[0.432521,-0.196421,0.879969]]
2025-10-27T17:55:38.134Z,1761587738.134 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175534.00,A,3646.56327,N,12151.96567,W,1.283,83.68,271025,,,A*4C
2025-10-27T17:55:38.137Z,1761587738.137 [NAL9602](INFO): GPS fix at 20251027T175534: (36.776055, -121.866095)
2025-10-27T17:55:38.192Z,1761587738.192 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761587712.00. Resetting abort timer.
2025-10-27T17:55:38.361Z,1761587738.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:38.535Z,1761587738.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168057,-0.946504,-0.275476],[0.877022,0.271155,-0.396621],[0.450100,-0.174944,0.875674]]
2025-10-27T17:55:38.612Z,1761587738.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:38.865Z,1761587738.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:38.942Z,1761587738.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167535,-0.946830,-0.274671],[0.877184,0.270329,-0.396826],[0.449979,-0.174455,0.875834]]
2025-10-27T17:55:39.116Z,1761587739.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:39.368Z,1761587739.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:39.450Z,1761587739.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169828,-0.945378,-0.278243],[0.881032,0.272151,-0.386933],[0.441522,-0.179429,0.879127]]
2025-10-27T17:55:39.623Z,1761587739.623 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:55:38.8562

2025-10-27T17:55:39.624Z,1761587739.624 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:55:39.624Z,1761587739.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:39.806Z,1761587739.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174808,-0.943956,-0.279980],[0.881080,0.276894,-0.383442],[0.439477,-0.179656,0.880104]]
2025-10-27T17:55:39.872Z,1761587739.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:40.124Z,1761587740.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:40.210Z,1761587740.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178593,-0.943162,-0.280268],[0.881013,0.280116,-0.381250],[0.438088,-0.178831,0.880965]]
2025-10-27T17:55:40.376Z,1761587740.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:40.616Z,1761587740.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177384,-0.940663,-0.289289],[0.884116,0.281435,-0.373007],[0.432290,-0.189600,0.881577]]
2025-10-27T17:55:40.628Z,1761587740.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:40.880Z,1761587740.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:41.018Z,1761587741.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173425,-0.938070,-0.299915],[0.891214,0.279081,-0.357562],[0.419119,-0.205278,0.884421]]
2025-10-27T17:55:41.132Z,1761587741.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:41.384Z,1761587741.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:41.636Z,1761587741.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:41.826Z,1761587741.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159667,-0.941278,-0.297492],[0.914339,0.254618,-0.314887],[0.372143,-0.221731,0.901302]]
2025-10-27T17:55:41.888Z,1761587741.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:42.140Z,1761587742.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:42.231Z,1761587742.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155320,-0.945588,-0.285901],[0.924581,0.241069,-0.295019],[0.347888,-0.218516,0.911715]]
2025-10-27T17:55:42.393Z,1761587742.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:42.633Z,1761587742.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148704,-0.952112,-0.267152],[0.930632,0.226092,-0.287763],[0.334383,-0.205829,0.919686]]
2025-10-27T17:55:42.644Z,1761587742.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:42.899Z,1761587742.899 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:43.037Z,1761587743.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138988,-0.958029,-0.250724],[0.933806,0.211077,-0.288883],[0.329680,-0.193976,0.923950]]
2025-10-27T17:55:43.152Z,1761587743.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:43.404Z,1761587743.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:43.442Z,1761587743.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129830,-0.962182,-0.239481],[0.935387,0.198974,-0.292336],[0.328930,-0.186053,0.925845]]
2025-10-27T17:55:43.657Z,1761587743.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:43.847Z,1761587743.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121552,-0.964804,-0.233193],[0.936227,0.189478,-0.295933],[0.329702,-0.182350,0.926307]]
2025-10-27T17:55:43.908Z,1761587743.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:44.161Z,1761587744.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:44.255Z,1761587744.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114160,-0.966724,-0.228936],[0.934619,0.182638,-0.305173],[0.336831,-0.179129,0.924369]]
2025-10-27T17:55:44.412Z,1761587744.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:44.658Z,1761587744.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111098,-0.969417,-0.218833],[0.929479,0.179292,-0.322370],[0.351746,-0.167586,0.920972]]
2025-10-27T17:55:44.664Z,1761587744.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:44.916Z,1761587744.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:45.070Z,1761587745.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114456,-0.971267,-0.208661],[0.922501,0.181854,-0.340471],[0.368635,-0.153521,0.916810]]
2025-10-27T17:55:45.168Z,1761587745.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:45.420Z,1761587745.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:45.474Z,1761587745.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123023,-0.972190,-0.199280],[0.915278,0.188765,-0.355855],[0.383576,-0.138618,0.913047]]
2025-10-27T17:55:45.672Z,1761587745.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:45.870Z,1761587745.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132670,-0.970606,-0.200807],[0.909844,0.199626,-0.363776],[0.393170,-0.134441,0.909584]]
2025-10-27T17:55:45.945Z,1761587745.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:46.196Z,1761587746.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:46.273Z,1761587746.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141973,-0.967332,-0.210030],[0.907826,0.211820,-0.361918],[0.394583,-0.139289,0.908242]]
2025-10-27T17:55:46.448Z,1761587746.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:46.677Z,1761587746.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151118,-0.962459,-0.225469],[0.910644,0.224278,-0.347025],[0.384565,-0.152881,0.910350]]
2025-10-27T17:55:46.700Z,1761587746.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:46.952Z,1761587746.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:47.092Z,1761587747.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160304,-0.956389,-0.244179],[0.918126,0.235303,-0.318869],[0.362419,-0.173071,0.915805]]
2025-10-27T17:55:47.204Z,1761587747.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:47.456Z,1761587747.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:47.486Z,1761587747.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168048,-0.951446,-0.257894],[0.928318,0.240755,-0.283307],[0.331641,-0.191799,0.923703]]
2025-10-27T17:55:47.712Z,1761587747.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:47.889Z,1761587747.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167922,-0.949132,-0.266365],[0.938624,0.236526,-0.251078],[0.301309,-0.207855,0.930596]]
2025-10-27T17:55:47.961Z,1761587747.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:48.212Z,1761587748.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:48.293Z,1761587748.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158254,-0.950370,-0.267866],[0.947705,0.222341,-0.228953],[0.277148,-0.217625,0.935857]]
2025-10-27T17:55:48.464Z,1761587748.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:48.716Z,1761587748.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:48.968Z,1761587748.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:49.116Z,1761587749.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125025,-0.959834,-0.251171],[0.961496,0.179662,-0.207961],[0.244734,-0.215500,0.945339]]
2025-10-27T17:55:49.220Z,1761587749.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:49.472Z,1761587749.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:49.514Z,1761587749.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105996,-0.965559,-0.237616],[0.966117,0.156556,-0.205201],[0.235334,-0.207814,0.949437]]
2025-10-27T17:55:49.594Z,1761587749.594 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:55:49.594Z,1761587749.594 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:55:49.595Z,1761587749.595 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:55:49.601Z,1761587749.601 [marl:UpdateRudder:A] Stopped
2025-10-27T17:55:49.601Z,1761587749.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:55:49.601Z,1761587749.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:55:49.602Z,1761587749.602 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:55:49.602Z,1761587749.602 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:55:49.602Z,1761587749.602 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:55:49.607Z,1761587749.607 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:55:49.607Z,1761587749.607 [marl:UpdateCommandMode] Stopped
2025-10-27T17:55:49.607Z,1761587749.607 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:55:49.608Z,1761587749.608 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed] Stopped
2025-10-27T17:55:49.610Z,1761587749.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:55:49.725Z,1761587749.725 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:55:49.725Z,1761587749.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:49.949Z,1761587749.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089497,-0.970972,-0.221820],[0.968937,0.136433,-0.206270],[0.230546,-0.196469,0.953021]]
2025-10-27T17:55:49.977Z,1761587749.977 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:55:49.977Z,1761587749.977 [DAT](INFO): #Outgoing data=14
2025-10-27T17:55:49.977Z,1761587749.977 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:55:49.977Z,1761587749.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:50.036Z,1761587750.036 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:55:50.037Z,1761587750.037 [marl:UpdateRudder:B] Stopped
2025-10-27T17:55:50.037Z,1761587750.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:55:50.037Z,1761587750.037 [marl:UpdateRudder] Stopped
2025-10-27T17:55:50.037Z,1761587750.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:55:50.228Z,1761587750.228 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:55:50.229Z,1761587750.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:50.364Z,1761587750.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077157,-0.975808,-0.204560],[0.969787,0.121077,-0.211786],[0.231430,-0.182039,0.955668]]
2025-10-27T17:55:50.480Z,1761587750.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:50.732Z,1761587750.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:50.770Z,1761587750.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071171,-0.979624,-0.187805],[0.969077,0.112508,-0.219619],[0.236274,-0.166367,0.957338]]
2025-10-27T17:55:50.984Z,1761587750.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:51.169Z,1761587751.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072195,-0.982375,-0.172415],[0.967374,0.111058,-0.227714],[0.242849,-0.150350,0.958342]]
2025-10-27T17:55:51.236Z,1761587751.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:51.489Z,1761587751.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:51.588Z,1761587751.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079055,-0.983429,-0.163148],[0.965359,0.116347,-0.233550],[0.248662,-0.139033,0.958560]]
2025-10-27T17:55:51.740Z,1761587751.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:51.989Z,1761587751.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090101,-0.983189,-0.158814],[0.963758,0.126279,-0.234996],[0.251100,-0.131885,0.958934]]
2025-10-27T17:55:51.992Z,1761587751.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:52.043Z,1761587752.043 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:55:52.195Z,1761587752.195 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:55:52.195Z,1761587752.195 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:55:52.244Z,1761587752.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:52.390Z,1761587752.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103657,-0.981400,-0.161586],[0.963046,0.139639,-0.230313],[0.248593,-0.131741,0.959607]]
2025-10-27T17:55:52.496Z,1761587752.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:52.748Z,1761587752.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:52.819Z,1761587752.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120075,-0.977419,-0.173877],[0.963104,0.157180,-0.218463],[0.240860,-0.141230,0.960229]]
2025-10-27T17:55:52.000Z,1761587753.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:53.252Z,1761587753.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:53.505Z,1761587753.505 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:55:52.7576

2025-10-27T17:55:53.506Z,1761587753.506 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:55:53.506Z,1761587753.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:53.757Z,1761587753.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:53.805Z,1761587753.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184462,-0.943560,-0.275079],[0.964191,0.227992,-0.135480],[0.190549,-0.240238,0.951828]]
2025-10-27T17:55:54.008Z,1761587754.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:54.260Z,1761587754.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:54.512Z,1761587754.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:54.633Z,1761587754.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204492,-0.919082,-0.336854],[0.965650,0.245771,-0.084357],[0.160320,-0.308033,0.937770]]
2025-10-27T17:55:54.765Z,1761587754.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:55.016Z,1761587755.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:55.034Z,1761587755.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207724,-0.910486,-0.357583],[0.966073,0.248306,-0.071039],[0.153471,-0.330695,0.931175]]
2025-10-27T17:55:55.268Z,1761587755.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:55.520Z,1761587755.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:55.722Z,1761587755.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212557,-0.903508,-0.372145],[0.965389,0.253081,-0.063041],[0.151140,-0.345865,0.926031]]
2025-10-27T17:55:55.772Z,1761587755.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:56.024Z,1761587756.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:56.279Z,1761587756.279 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:56.420Z,1761587756.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235149,-0.891019,-0.388317],[0.959494,0.276584,-0.053608],[0.155168,-0.359982,0.919965]]
2025-10-27T17:55:56.528Z,1761587756.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:56.782Z,1761587756.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:56.930Z,1761587756.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275514,-0.875599,-0.396759],[0.947847,0.316242,-0.039713],[0.160245,-0.365126,0.917063]]
2025-10-27T17:55:57.032Z,1761587757.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:57.284Z,1761587757.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:57.326Z,1761587757.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297625,-0.867844,-0.397826],[0.941120,0.336701,-0.030425],[0.160352,-0.365347,0.916956]]
2025-10-27T17:55:57.536Z,1761587757.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:57.734Z,1761587757.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321702,-0.860361,-0.395331],[0.933730,0.357514,-0.018235],[0.157025,-0.363266,0.918357]]
2025-10-27T17:55:57.788Z,1761587757.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:58.041Z,1761587758.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:58.292Z,1761587758.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:58.545Z,1761587758.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:58.551Z,1761587758.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371713,-0.843370,-0.388016],[0.917982,0.396202,0.018251],[0.138340,-0.362976,0.921472]]
2025-10-27T17:55:58.797Z,1761587758.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:59.048Z,1761587759.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:59.094Z,1761587759.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387494,-0.837439,-0.385415],[0.913145,0.406063,0.035769],[0.126548,-0.365800,0.922050]]
2025-10-27T17:55:59.300Z,1761587759.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:59.507Z,1761587759.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397729,-0.833544,-0.383426],[0.910322,0.410687,0.051474],[0.114562,-0.369514,0.922136]]
2025-10-27T17:55:59.553Z,1761587759.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:55:59.805Z,1761587759.805 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:00.056Z,1761587760.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:00.091Z,1761587760.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407147,-0.830075,-0.381060],[0.907600,0.414478,0.066864],[0.102439,-0.373073,0.922129]]
2025-10-27T17:56:00.308Z,1761587760.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:00.561Z,1761587760.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:00.609Z,1761587760.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424774,-0.823545,-0.375952],[0.900698,0.426269,0.083897],[0.091164,-0.374256,0.922833]]
2025-10-27T17:56:00.815Z,1761587760.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:01.066Z,1761587761.066 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:01.101Z,1761587761.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433498,-0.818628,-0.376734],[0.896165,0.435549,0.084763],[0.094696,-0.374360,0.922435]]
2025-10-27T17:56:01.316Z,1761587761.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:01.568Z,1761587761.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:01.715Z,1761587761.715 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:56:01.820Z,1761587761.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:02.072Z,1761587762.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:02.312Z,1761587762.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474205,-0.795207,-0.377856],[0.873392,0.478994,0.088042],[0.110980,-0.371767,0.921669]]
2025-10-27T17:56:02.324Z,1761587762.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:02.576Z,1761587762.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:02.714Z,1761587762.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493213,-0.785788,-0.373201],[0.862968,0.496049,0.096027],[0.109669,-0.369422,0.922768]]
2025-10-27T17:56:02.831Z,1761587762.831 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:03.080Z,1761587763.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:03.122Z,1761587763.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510355,-0.777750,-0.366938],[0.853450,0.510487,0.105008],[0.105647,-0.366754,0.924300]]
2025-10-27T17:56:03.332Z,1761587763.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:03.520Z,1761587763.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524683,-0.770557,-0.361869],[0.845354,0.521747,0.114700],[0.100421,-0.366089,0.925146]]
2025-10-27T17:56:03.584Z,1761587763.584 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:56:03.584Z,1761587763.584 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:56:03.584Z,1761587763.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:03.836Z,1761587763.836 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:56:03.836Z,1761587763.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:04.088Z,1761587764.088 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:56:04.088Z,1761587764.088 [DAT](INFO): #Outgoing data=15
2025-10-27T17:56:04.089Z,1761587764.089 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:56:04.089Z,1761587764.089 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:04.094Z,1761587764.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536869,-0.763374,-0.359209],[0.838297,0.530640,0.125216],[0.095024,-0.368348,0.924819]]
2025-10-27T17:56:04.149Z,1761587764.149 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:56:04.149Z,1761587764.149 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:56:04.149Z,1761587764.149 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:56:04.149Z,1761587764.149 [marl:UpdateRudder:A] Stopped
2025-10-27T17:56:04.149Z,1761587764.149 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode] Stopped
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:56:04.150Z,1761587764.150 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:56:04.151Z,1761587764.151 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:56:04.155Z,1761587764.155 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:56:04.155Z,1761587764.155 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:56:04.155Z,1761587764.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:56:04.155Z,1761587764.155 [marl:UpdateSpeed] Stopped
2025-10-27T17:56:04.156Z,1761587764.156 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:56:04.340Z,1761587764.340 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:56:04.341Z,1761587764.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:04.499Z,1761587764.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547941,-0.756241,-0.357575],[0.831503,0.539121,0.133983],[0.091453,-0.370739,0.924223]]
2025-10-27T17:56:04.574Z,1761587764.574 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:56:04.574Z,1761587764.574 [marl:UpdateRudder:B] Stopped
2025-10-27T17:56:04.574Z,1761587764.574 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:56:04.574Z,1761587764.574 [marl:UpdateRudder] Stopped
2025-10-27T17:56:04.574Z,1761587764.574 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:56:04.592Z,1761587764.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:04.846Z,1761587764.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:05.041Z,1761587765.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574224,-0.739075,-0.352185],[0.813848,0.562061,0.147440],[0.088980,-0.371288,0.924244]]
2025-10-27T17:56:05.096Z,1761587765.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:05.348Z,1761587765.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:05.465Z,1761587765.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591568,-0.727665,-0.347204],[0.801292,0.578326,0.153199],[0.089319,-0.368839,0.925192]]
2025-10-27T17:56:05.600Z,1761587765.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:05.852Z,1761587765.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:05.867Z,1761587765.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610846,-0.714038,-0.342076],[0.786649,0.596305,0.160012],[0.089727,-0.366836,0.925948]]
2025-10-27T17:56:06.105Z,1761587766.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:06.270Z,1761587766.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631113,-0.698449,-0.337440],[0.770566,0.614437,0.169398],[0.089020,-0.366930,0.925980]]
2025-10-27T17:56:06.356Z,1761587766.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:06.609Z,1761587766.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:06.680Z,1761587766.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651624,-0.682245,-0.331555],[0.753587,0.632133,0.180319],[0.086565,-0.367355,0.926043]]
2025-10-27T17:56:06.862Z,1761587766.862 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:07.088Z,1761587767.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671833,-0.665693,-0.324797],[0.736153,0.648614,0.193335],[0.081966,-0.368989,0.925812]]
2025-10-27T17:56:07.112Z,1761587767.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:07.364Z,1761587767.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:07.481Z,1761587767.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690441,-0.650203,-0.317060],[0.719379,0.663233,0.206434],[0.076061,-0.370617,0.925666]]
2025-10-27T17:56:07.617Z,1761587767.617 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:56:06.8562

2025-10-27T17:56:07.617Z,1761587767.617 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:56:07.618Z,1761587767.618 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:07.868Z,1761587767.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:07.886Z,1761587767.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707018,-0.636145,-0.308940],[0.703826,0.675546,0.219695],[0.068945,-0.372768,0.925360]]
2025-10-27T17:56:08.120Z,1761587768.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:08.290Z,1761587768.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721366,-0.624030,-0.300363],[0.689892,0.685482,0.232728],[0.060664,-0.375100,0.924997]]
2025-10-27T17:56:08.372Z,1761587768.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:08.624Z,1761587768.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:08.697Z,1761587768.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733622,-0.613805,-0.291619],[0.677594,0.693323,0.245294],[0.051624,-0.377553,0.924548]]
2025-10-27T17:56:08.876Z,1761587768.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:09.098Z,1761587769.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744012,-0.605416,-0.282697],[0.666834,0.699501,0.256964],[0.042177,-0.379697,0.924149]]
2025-10-27T17:56:09.128Z,1761587769.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:09.381Z,1761587769.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:09.501Z,1761587769.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752426,-0.598391,-0.275288],[0.657827,0.703907,0.267916],[0.033458,-0.382679,0.923275]]
2025-10-27T17:56:09.633Z,1761587769.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:09.884Z,1761587769.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:10.143Z,1761587770.143 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:10.312Z,1761587770.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764843,-0.587973,-0.263255],[0.643857,0.711331,0.281880],[0.021523,-0.385092,0.922627]]
2025-10-27T17:56:10.390Z,1761587770.390 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:10.640Z,1761587770.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:10.713Z,1761587770.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770009,-0.582371,-0.260633],[0.637740,0.714876,0.286774],[0.019311,-0.387034,0.921863]]
2025-10-27T17:56:10.892Z,1761587770.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:11.117Z,1761587771.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775145,-0.576756,-0.257880],[0.631487,0.719793,0.288309],[0.019336,-0.386330,0.922158]]
2025-10-27T17:56:11.144Z,1761587771.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:11.400Z,1761587771.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:11.531Z,1761587771.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780358,-0.570390,-0.256312],[0.624976,0.725239,0.288848],[0.021131,-0.385594,0.922427]]
2025-10-27T17:56:11.649Z,1761587771.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:11.900Z,1761587771.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:11.931Z,1761587771.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785743,-0.563610,-0.254854],[0.618076,0.731574,0.287720],[0.024282,-0.383593,0.923183]]
2025-10-27T17:56:12.159Z,1761587772.159 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:12.329Z,1761587772.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791875,-0.556256,-0.252016],[0.610057,0.739230,0.285251],[0.027625,-0.379628,0.924727]]
2025-10-27T17:56:12.404Z,1761587772.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:12.656Z,1761587772.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:12.740Z,1761587772.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799981,-0.546610,-0.247485],[0.599291,0.748274,0.284493],[0.029680,-0.375905,0.926183]]
2025-10-27T17:56:12.908Z,1761587772.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:13.145Z,1761587773.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811590,-0.532338,-0.240704],[0.583480,0.759402,0.287855],[0.029555,-0.374066,0.926931]]
2025-10-27T17:56:13.160Z,1761587773.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:13.412Z,1761587773.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:13.554Z,1761587773.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825398,-0.514802,-0.231725],[0.563864,0.771987,0.293417],[0.027837,-0.372847,0.927475]]
2025-10-27T17:56:13.665Z,1761587773.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:13.916Z,1761587773.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:13.946Z,1761587773.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839058,-0.496789,-0.221770],[0.543465,0.784133,0.299634],[0.025043,-0.371935,0.927921]]
2025-10-27T17:56:14.168Z,1761587774.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:14.349Z,1761587774.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852367,-0.478667,-0.210589],[0.522507,0.796000,0.305565],[0.021365,-0.370488,0.928592]]
2025-10-27T17:56:14.420Z,1761587774.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:14.673Z,1761587774.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:14.761Z,1761587774.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864823,-0.461364,-0.198051],[0.501801,0.807333,0.310499],[0.016640,-0.367909,0.929713]]
2025-10-27T17:56:14.925Z,1761587774.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:15.163Z,1761587775.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876747,-0.443928,-0.185048],[0.480824,0.817900,0.315986],[0.011075,-0.366016,0.930543]]
2025-10-27T17:56:15.176Z,1761587775.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:15.428Z,1761587775.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:15.561Z,1761587775.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887432,-0.427346,-0.172741],[0.460904,0.827277,0.321218],[0.005634,-0.364676,0.931117]]
2025-10-27T17:56:15.680Z,1761587775.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:15.932Z,1761587775.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:15.966Z,1761587775.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895809,-0.413509,-0.162904],[0.444438,0.834585,0.325488],[0.001365,-0.363975,0.931408]]
2025-10-27T17:56:16.184Z,1761587776.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:16.369Z,1761587776.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902370,-0.402232,-0.154719],[0.430959,0.840678,0.327925],[-0.001833,-0.362587,0.931948]]
2025-10-27T17:56:16.436Z,1761587776.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:16.689Z,1761587776.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:16.776Z,1761587776.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907801,-0.392099,-0.148849],[0.419383,0.845284,0.331077],[-0.003995,-0.362977,0.931789]]
2025-10-27T17:56:16.944Z,1761587776.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:17.190Z,1761587777.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913207,-0.381313,-0.143711],[0.407466,0.850304,0.333098],[-0.004816,-0.362745,0.931876]]
2025-10-27T17:56:17.192Z,1761587777.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:17.274Z,1761587777.274 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:56:17.274Z,1761587777.274 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:56:17.274Z,1761587777.274 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:56:17.279Z,1761587777.279 [marl:UpdateRudder:A] Stopped
2025-10-27T17:56:17.279Z,1761587777.279 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:56:17.279Z,1761587777.279 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:56:17.279Z,1761587777.279 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:56:17.279Z,1761587777.279 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateCommandMode] Stopped
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:56:17.280Z,1761587777.280 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:56:17.281Z,1761587777.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:56:17.281Z,1761587777.281 [marl:UpdateSpeed] Stopped
2025-10-27T17:56:17.281Z,1761587777.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:56:17.444Z,1761587777.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:17.590Z,1761587777.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918889,-0.369293,-0.138800],[0.394479,0.855286,0.335965],[-0.005356,-0.363468,0.931591]]
2025-10-27T17:56:17.625Z,1761587777.625 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:56:17.625Z,1761587777.625 [marl:UpdateRudder:B] Stopped
2025-10-27T17:56:17.625Z,1761587777.625 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:56:17.626Z,1761587777.626 [marl:UpdateRudder] Stopped
2025-10-27T17:56:17.626Z,1761587777.626 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:56:17.696Z,1761587777.696 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:56:17.696Z,1761587777.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:17.948Z,1761587777.948 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T17:56:17.948Z,1761587777.948 [DAT](INFO): #Outgoing data=15
2025-10-27T17:56:17.948Z,1761587777.948 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:56:17.949Z,1761587777.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:17.994Z,1761587777.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925257,-0.355016,-0.133656],[0.379293,0.860168,0.340951],[-0.006076,-0.366162,0.930531]]
2025-10-27T17:56:18.200Z,1761587778.200 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:56:18.200Z,1761587778.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:18.398Z,1761587778.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932374,-0.338459,-0.126980],[0.361416,0.865442,0.346970],[-0.007541,-0.369399,0.929240]]
2025-10-27T17:56:18.453Z,1761587778.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:18.704Z,1761587778.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:18.957Z,1761587778.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:19.205Z,1761587779.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946228,-0.304823,-0.108330],[0.323233,0.877263,0.354867],[-0.013138,-0.370801,0.928619]]
2025-10-27T17:56:19.208Z,1761587779.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:19.460Z,1761587779.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:19.609Z,1761587779.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950834,-0.294605,-0.095511],[0.309147,0.884445,0.349551],[-0.018505,-0.361891,0.932037]]
2025-10-27T17:56:19.712Z,1761587779.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:19.964Z,1761587779.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:20.021Z,1761587780.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952733,-0.292741,-0.081252],[0.302785,0.893000,0.332975],[-0.024917,-0.341838,0.939429]]
2025-10-27T17:56:20.216Z,1761587780.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:20.419Z,1761587780.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952750,-0.296149,-0.067550],[0.302126,0.900906,0.311591],[-0.031421,-0.317277,0.947812]]
2025-10-27T17:56:20.484Z,1761587780.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:20.736Z,1761587780.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:20.865Z,1761587780.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951808,-0.301720,-0.055012],[0.304383,0.907340,0.289974],[-0.037576,-0.292744,0.955452]]
2025-10-27T17:56:20.988Z,1761587780.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:21.226Z,1761587781.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950705,-0.306912,-0.044316],[0.307061,0.911793,0.272668],[-0.043278,-0.272834,0.961087]]
2025-10-27T17:56:21.240Z,1761587781.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:21.492Z,1761587781.492 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:56:20.7062

2025-10-27T17:56:21.493Z,1761587781.493 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:56:21.493Z,1761587781.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:21.630Z,1761587781.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949545,-0.311567,-0.035921],[0.309832,0.914099,0.261587],[-0.048666,-0.259518,0.964511]]
2025-10-27T17:56:21.747Z,1761587781.747 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:21.996Z,1761587781.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:22.046Z,1761587782.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948352,-0.315904,-0.028859],[0.312547,0.914954,0.255290],[-0.054242,-0.251124,0.966434]]
2025-10-27T17:56:22.248Z,1761587782.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:22.438Z,1761587782.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947043,-0.320232,-0.023668],[0.315521,0.914356,0.253769],[-0.059624,-0.247798,0.966975]]
2025-10-27T17:56:22.500Z,1761587782.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:22.752Z,1761587782.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:22.871Z,1761587782.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945560,-0.324867,-0.019441],[0.319009,0.913371,0.252955],[-0.064420,-0.245386,0.967283]]
2025-10-27T17:56:23.005Z,1761587783.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:23.249Z,1761587783.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944209,-0.328983,-0.015470],[0.322093,0.912591,0.251858],[-0.068739,-0.242790,0.967640]]
2025-10-27T17:56:23.256Z,1761587783.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:23.509Z,1761587783.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:23.651Z,1761587783.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943625,-0.330825,-0.011233],[0.322920,0.912559,0.250915],[-0.072759,-0.240397,0.967944]]
2025-10-27T17:56:23.760Z,1761587783.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:24.012Z,1761587784.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:24.054Z,1761587784.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944209,-0.329297,-0.005712],[0.320221,0.913855,0.249656],[-0.076991,-0.237556,0.968318]]
2025-10-27T17:56:24.264Z,1761587784.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:24.458Z,1761587784.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945348,-0.326063,0.000023],[0.315748,0.915461,0.249467],[-0.081363,-0.235826,0.968383]]
2025-10-27T17:56:24.517Z,1761587784.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:24.769Z,1761587784.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:24.880Z,1761587784.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946769,-0.321858,0.005930],[0.310295,0.917351,0.249369],[-0.085701,-0.234255,0.968390]]
2025-10-27T17:56:25.020Z,1761587785.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:25.272Z,1761587785.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:25.525Z,1761587785.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:25.776Z,1761587785.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:26.029Z,1761587786.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:26.086Z,1761587786.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951653,-0.306610,0.018628],[0.292461,0.922943,0.250284],[-0.093932,-0.232736,0.967993]]
2025-10-27T17:56:26.280Z,1761587786.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:26.489Z,1761587786.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953259,-0.301327,0.022334],[0.286488,0.924857,0.250130],[-0.096027,-0.232040,0.967955]]
2025-10-27T17:56:26.533Z,1761587786.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:26.786Z,1761587786.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:26.895Z,1761587786.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954741,-0.296162,0.027543],[0.280612,0.927561,0.246752],[-0.098627,-0.227855,0.968687]]
2025-10-27T17:56:27.036Z,1761587787.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:27.289Z,1761587787.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:27.299Z,1761587787.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955814,-0.292110,0.033049],[0.275771,0.929892,0.243415],[-0.101836,-0.223546,0.969359]]
2025-10-27T17:56:27.540Z,1761587787.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:27.792Z,1761587787.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:28.046Z,1761587788.046 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:28.108Z,1761587788.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955332,-0.292605,0.041502],[0.275751,0.933067,0.230970],[-0.106307,-0.209209,0.972075]]
2025-10-27T17:56:28.296Z,1761587788.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:28.524Z,1761587788.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954438,-0.295408,0.042210],[0.278680,0.932954,0.227893],[-0.106701,-0.205747,0.972771]]
2025-10-27T17:56:28.548Z,1761587788.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:28.802Z,1761587788.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:28.913Z,1761587788.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953436,-0.298897,0.040259],[0.282299,0.931427,0.229678],[-0.106148,-0.207618,0.972434]]
2025-10-27T17:56:29.052Z,1761587789.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:29.304Z,1761587789.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:29.321Z,1761587789.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952300,-0.302966,0.036561],[0.286454,0.928780,0.235184],[-0.105210,-0.213493,0.971263]]
2025-10-27T17:56:29.556Z,1761587789.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:29.729Z,1761587789.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951078,-0.307273,0.032172],[0.290940,0.925795,0.241366],[-0.103950,-0.220198,0.969901]]
2025-10-27T17:56:29.808Z,1761587789.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:29.837Z,1761587789.837 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.900440
2025-10-27T17:56:30.060Z,1761587790.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:30.125Z,1761587790.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949732,-0.311786,0.028256],[0.295872,0.923413,0.244477],[-0.102317,-0.223827,0.969243]]
2025-10-27T17:56:30.160Z,1761587790.160 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateRudder:A] Stopped
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:56:30.161Z,1761587790.161 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateCommandMode] Stopped
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:56:30.162Z,1761587790.162 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:56:30.163Z,1761587790.163 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:56:30.166Z,1761587790.166 [marl:UpdateSpeed] Stopped
2025-10-27T17:56:30.167Z,1761587790.167 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:56:30.312Z,1761587790.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:30.535Z,1761587790.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948434,-0.316072,0.023901],[0.300740,0.921118,0.247180],[-0.100142,-0.227246,0.968675]]
2025-10-27T17:56:30.564Z,1761587790.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:30.579Z,1761587790.579 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:56:30.579Z,1761587790.579 [marl:UpdateRudder:B] Stopped
2025-10-27T17:56:30.579Z,1761587790.579 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:56:30.579Z,1761587790.579 [marl:UpdateRudder] Stopped
2025-10-27T17:56:30.579Z,1761587790.579 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:56:30.818Z,1761587790.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:30.841Z,1761587790.841 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:56:31.068Z,1761587791.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:31.320Z,1761587791.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:31.346Z,1761587791.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946869,-0.321351,0.013124],[0.307970,0.917690,0.250998],[-0.092702,-0.233621,0.967899]]
2025-10-27T17:56:31.572Z,1761587791.572 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:56:31.572Z,1761587791.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:31.748Z,1761587791.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947529,-0.319585,0.007325],[0.307202,0.916675,0.255606],[-0.088403,-0.239944,0.966753]]
2025-10-27T17:56:31.824Z,1761587791.824 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:56:31.824Z,1761587791.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:32.076Z,1761587792.076 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:56:32.077Z,1761587792.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:32.145Z,1761587792.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949129,-0.314876,0.002596],[0.303354,0.916545,0.260618],[-0.084442,-0.246573,0.965438]]
2025-10-27T17:56:32.328Z,1761587792.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:32.549Z,1761587792.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950906,-0.309480,-0.000331],[0.298637,0.917310,0.263359],[-0.081201,-0.250529,0.964698]]
2025-10-27T17:56:32.580Z,1761587792.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:32.833Z,1761587792.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:33.084Z,1761587793.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:33.336Z,1761587793.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:33.362Z,1761587793.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953482,-0.301451,-0.000293],[0.291671,0.922299,0.253559],[-0.076166,-0.241849,0.967320]]
2025-10-27T17:56:33.588Z,1761587793.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:33.770Z,1761587793.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950659,-0.310049,0.010856],[0.301705,0.932092,0.200446],[-0.072267,-0.187281,0.979645]]
2025-10-27T17:56:33.840Z,1761587793.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:34.092Z,1761587794.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:34.170Z,1761587794.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946732,-0.321364,0.020599],[0.314196,0.935846,0.159604],[-0.070568,-0.144630,0.986966]]
2025-10-27T17:56:34.344Z,1761587794.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:34.576Z,1761587794.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941665,-0.335039,0.031880],[0.329406,0.936942,0.116757],[-0.068988,-0.099444,0.992649]]
2025-10-27T17:56:34.596Z,1761587794.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:34.850Z,1761587794.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:34.977Z,1761587794.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935172,-0.351551,0.043188],[0.347664,0.934387,0.077791],[-0.067701,-0.057733,0.996034]]
2025-10-27T17:56:35.100Z,1761587795.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:35.352Z,1761587795.352 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:56:34.6062

2025-10-27T17:56:35.353Z,1761587795.353 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:56:35.353Z,1761587795.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:35.378Z,1761587795.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926959,-0.371391,0.053072],[0.369255,0.928192,0.045936],[-0.066321,-0.022984,0.997534]]
2025-10-27T17:56:35.604Z,1761587795.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:35.783Z,1761587795.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917281,-0.393647,0.060316],[0.393056,0.919254,0.021857],[-0.064049,0.003658,0.997940]]
2025-10-27T17:56:35.857Z,1761587795.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:36.108Z,1761587796.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:36.185Z,1761587796.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907034,-0.416373,0.062640],[0.416724,0.908998,0.007969],[-0.060258,0.018876,0.998004]]
2025-10-27T17:56:36.360Z,1761587796.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:36.589Z,1761587796.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896621,-0.438953,0.058227],[0.439449,0.898256,0.004687],[-0.054360,0.021386,0.998292]]
2025-10-27T17:56:36.618Z,1761587796.618 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:36.868Z,1761587796.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:37.005Z,1761587797.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886441,-0.460448,0.047015],[0.460569,0.887579,0.008859],[-0.045809,0.013801,0.998855]]
2025-10-27T17:56:37.120Z,1761587797.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:37.375Z,1761587797.375 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:37.398Z,1761587797.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876722,-0.479985,0.031205],[0.479739,0.877276,0.015432],[-0.034783,0.001440,0.999394]]
2025-10-27T17:56:37.628Z,1761587797.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:37.802Z,1761587797.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867621,-0.497082,0.011961],[0.496756,0.867595,0.022636],[-0.021629,-0.013698,0.999672]]
2025-10-27T17:56:37.880Z,1761587797.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:38.132Z,1761587798.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:38.210Z,1761587798.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859900,-0.510413,-0.007087],[0.510415,0.859549,0.025525],[-0.006937,-0.025566,0.999649]]
2025-10-27T17:56:38.384Z,1761587798.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:38.611Z,1761587798.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854295,-0.519242,-0.023834],[0.519734,0.853971,0.024694],[0.007531,-0.033483,0.999411]]
2025-10-27T17:56:38.636Z,1761587798.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:38.888Z,1761587798.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:39.140Z,1761587799.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:39.392Z,1761587799.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:39.451Z,1761587799.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848243,-0.527949,-0.041876],[0.528885,0.848562,0.014944],[0.027645,-0.034824,0.999011]]
2025-10-27T17:56:39.644Z,1761587799.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:39.822Z,1761587799.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845926,-0.531432,-0.044603],[0.532331,0.846471,0.010547],[0.032150,-0.032666,0.998949]]
2025-10-27T17:56:39.900Z,1761587799.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:40.075Z,1761587800.075 [Radio_Surface](INFO): Powering down
2025-10-27T17:56:40.152Z,1761587800.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:40.229Z,1761587800.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843293,-0.535701,-0.043373],[0.536402,0.843944,0.005573],[0.033619,-0.027965,0.999043]]
2025-10-27T17:56:40.404Z,1761587800.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:40.631Z,1761587800.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839515,-0.541786,-0.041005],[0.542289,0.840191,0.001370],[0.033710,-0.023387,0.999158]]
2025-10-27T17:56:40.656Z,1761587800.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:40.908Z,1761587800.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:41.034Z,1761587801.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833572,-0.551050,-0.038752],[0.551339,0.834273,-0.003759],[0.034401,-0.018232,0.999242]]
2025-10-27T17:56:41.160Z,1761587801.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:41.412Z,1761587801.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:41.437Z,1761587801.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824740,-0.564287,-0.037213],[0.564304,0.825493,-0.011054],[0.036957,-0.011883,0.999246]]
2025-10-27T17:56:41.664Z,1761587801.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:41.844Z,1761587801.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813221,-0.580759,-0.037292],[0.580443,0.814057,-0.019899],[0.041914,-0.005463,0.999106]]
2025-10-27T17:56:41.916Z,1761587801.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:42.171Z,1761587802.171 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:42.251Z,1761587802.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798947,-0.600238,-0.037400],[0.599404,0.799816,-0.031754],[0.048973,0.002952,0.998796]]
2025-10-27T17:56:42.421Z,1761587802.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:42.649Z,1761587802.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783046,-0.620834,-0.037461],[0.619314,0.783849,-0.045070],[0.057345,0.012092,0.998281]]
2025-10-27T17:56:42.672Z,1761587802.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:42.924Z,1761587802.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:43.053Z,1761587803.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767747,-0.639551,-0.039228],[0.637383,0.768548,-0.055478],[0.065630,0.017590,0.997689]]
2025-10-27T17:56:43.122Z,1761587803.122 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:56:43.122Z,1761587803.122 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:56:43.122Z,1761587803.122 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:56:43.122Z,1761587803.122 [marl:UpdateRudder:A] Stopped
2025-10-27T17:56:43.122Z,1761587803.122 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:56:43.123Z,1761587803.123 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:56:43.123Z,1761587803.123 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:56:43.123Z,1761587803.123 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:56:43.123Z,1761587803.123 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:56:43.123Z,1761587803.123 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateCommandMode] Stopped
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed] Stopped
2025-10-27T17:56:43.124Z,1761587803.124 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:56:43.177Z,1761587803.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:43.428Z,1761587803.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:43.463Z,1761587803.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754146,-0.655238,-0.043887],[0.652650,0.755229,-0.060639],[0.072878,0.017088,0.997194]]
2025-10-27T17:56:43.526Z,1761587803.526 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T17:56:43.526Z,1761587803.526 [marl:UpdateRudder:B] Stopped
2025-10-27T17:56:43.526Z,1761587803.526 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:56:43.526Z,1761587803.526 [marl:UpdateRudder] Stopped
2025-10-27T17:56:43.526Z,1761587803.526 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:56:43.680Z,1761587803.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:43.863Z,1761587803.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741673,-0.668883,-0.050177],[0.666130,0.743263,-0.061895],[0.078695,0.012482,0.996821]]
2025-10-27T17:56:43.932Z,1761587803.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:44.184Z,1761587804.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:44.436Z,1761587804.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:44.669Z,1761587804.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716052,-0.694802,-0.067228],[0.692366,0.719185,-0.058327],[0.088875,-0.004781,0.996031]]
2025-10-27T17:56:44.688Z,1761587804.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:44.940Z,1761587804.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:45.193Z,1761587805.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:45.444Z,1761587805.444 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:56:45.444Z,1761587805.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:45.501Z,1761587805.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683577,-0.725133,-0.083095],[0.722686,0.688383,-0.062073],[0.102212,-0.017619,0.994607]]
2025-10-27T17:56:45.696Z,1761587805.696 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:56:45.696Z,1761587805.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:45.881Z,1761587805.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668403,-0.738487,-0.088736],[0.735792,0.673943,-0.066412],[0.108847,-0.020902,0.993839]]
2025-10-27T17:56:45.948Z,1761587805.948 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:56:45.948Z,1761587805.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:46.200Z,1761587806.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:46.285Z,1761587806.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655143,-0.749790,-0.092747],[0.746715,0.661295,-0.071449],[0.114905,-0.022447,0.993123]]
2025-10-27T17:56:46.452Z,1761587806.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:46.689Z,1761587806.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643135,-0.759899,-0.094502],[0.756143,0.649699,-0.078350],[0.120936,-0.021068,0.992437]]
2025-10-27T17:56:46.704Z,1761587806.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:46.957Z,1761587806.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:47.098Z,1761587807.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631843,-0.769175,-0.095619],[0.764584,0.638762,-0.085992],[0.127221,-0.018776,0.991697]]
2025-10-27T17:56:47.208Z,1761587807.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:47.460Z,1761587807.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:47.518Z,1761587807.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621066,-0.777861,-0.095963],[0.772361,0.628234,-0.093698],[0.133172,-0.015925,0.990965]]
2025-10-27T17:56:47.713Z,1761587807.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:47.902Z,1761587807.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611165,-0.785826,-0.094628],[0.779495,0.618322,-0.100326],[0.137349,-0.012446,0.990444]]
2025-10-27T17:56:47.964Z,1761587807.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:48.216Z,1761587808.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:48.305Z,1761587808.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602195,-0.792941,-0.092766],[0.786144,0.609213,-0.104105],[0.139063,-0.010236,0.990231]]
2025-10-27T17:56:48.468Z,1761587808.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:48.711Z,1761587808.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591742,-0.801144,-0.089494],[0.793955,0.598424,-0.107348],[0.139557,-0.007532,0.990185]]
2025-10-27T17:56:48.720Z,1761587808.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:48.974Z,1761587808.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:49.115Z,1761587809.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578030,-0.811608,-0.084693],[0.803895,0.584191,-0.111687],[0.140123,-0.003526,0.990128]]
2025-10-27T17:56:49.225Z,1761587809.225 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:56:48.4561

2025-10-27T17:56:49.225Z,1761587809.225 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:56:49.226Z,1761587809.226 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:49.480Z,1761587809.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:49.521Z,1761587809.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562553,-0.822735,-0.081493],[0.814677,0.568423,-0.114878],[0.140836,-0.001766,0.990031]]
2025-10-27T17:56:49.732Z,1761587809.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:49.922Z,1761587809.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546297,-0.833754,-0.080085],[0.825487,0.552131,-0.117141],[0.141885,-0.002115,0.989881]]
2025-10-27T17:56:49.985Z,1761587809.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:50.236Z,1761587810.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:50.327Z,1761587810.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528858,-0.844854,-0.080815],[0.836416,0.534978,-0.119195],[0.143936,-0.004558,0.989577]]
2025-10-27T17:56:50.488Z,1761587810.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:50.741Z,1761587810.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:50.993Z,1761587810.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:51.134Z,1761587811.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490042,-0.868175,-0.078298],[0.858724,0.496236,-0.127841],[0.149842,-0.004589,0.988699]]
2025-10-27T17:56:51.244Z,1761587811.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:51.497Z,1761587811.497 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:51.538Z,1761587811.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469306,-0.879561,-0.078261],[0.869757,0.475742,-0.131117],[0.152557,-0.006534,0.988273]]
2025-10-27T17:56:51.749Z,1761587811.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:51.944Z,1761587811.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449164,-0.890097,-0.077322],[0.879943,0.455705,-0.134286],[0.154763,-0.007723,0.987921]]
2025-10-27T17:56:52.000Z,1761587812.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:52.252Z,1761587812.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:52.346Z,1761587812.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430711,-0.899319,-0.075583],[0.888754,0.437222,-0.137668],[0.156854,-0.007880,0.987590]]
2025-10-27T17:56:52.395Z,1761587812.395 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:56:52.506Z,1761587812.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:52.557Z,1761587812.557 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:56:52.557Z,1761587812.557 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:56:52.756Z,1761587812.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414420,-0.907000,-0.074880],[0.896132,0.421035,-0.140273],[0.158755,-0.008971,0.987277]]
2025-10-27T17:56:52.760Z,1761587812.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:53.012Z,1761587813.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:53.155Z,1761587813.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399960,-0.913690,-0.072129],[0.902296,0.406343,-0.144043],[0.160919,-0.007471,0.986939]]
2025-10-27T17:56:53.264Z,1761587813.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:53.516Z,1761587813.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:53.557Z,1761587813.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387229,-0.919417,-0.068744],[0.907461,0.393250,-0.147880],[0.162997,-0.005119,0.986613]]
2025-10-27T17:56:53.768Z,1761587813.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:53.962Z,1761587813.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376621,-0.923970,-0.066612],[0.911670,0.382444,-0.150316],[0.164363,-0.004116,0.986391]]
2025-10-27T17:56:54.023Z,1761587814.023 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:54.276Z,1761587814.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:54.366Z,1761587814.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368343,-0.927368,-0.065657],[0.915074,0.374121,-0.150578],[0.164205,-0.004617,0.986415]]
2025-10-27T17:56:54.528Z,1761587814.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:54.773Z,1761587814.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361289,-0.930147,-0.065551],[0.918217,0.367130,-0.148637],[0.162320,-0.006489,0.986717]]
2025-10-27T17:56:54.780Z,1761587814.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:55.032Z,1761587815.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:55.239Z,1761587815.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354879,-0.932607,-0.065617],[0.921364,0.360779,-0.144662],[0.158586,-0.009120,0.987303]]
2025-10-27T17:56:55.292Z,1761587815.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:55.544Z,1761587815.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:55.637Z,1761587815.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346965,-0.935653,-0.064562],[0.925171,0.352746,-0.140104],[0.153863,-0.011120,0.988030]]
2025-10-27T17:56:55.796Z,1761587815.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:56.048Z,1761587816.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:56.192Z,1761587816.192 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:56:56.192Z,1761587816.192 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:56:56.192Z,1761587816.192 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateRudder:A] Stopped
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:56:56.193Z,1761587816.193 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateCommandMode] Stopped
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:56:56.194Z,1761587816.194 [marl:UpdateSpeed] Stopped
2025-10-27T17:56:56.195Z,1761587816.195 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:56:56.300Z,1761587816.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:56.446Z,1761587816.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323759,-0.944149,-0.061337],[0.934804,0.329212,-0.133268],[0.146017,-0.014192,0.989180]]
2025-10-27T17:56:56.537Z,1761587816.537 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:56:56.537Z,1761587816.537 [marl:UpdateRudder:B] Stopped
2025-10-27T17:56:56.537Z,1761587816.537 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:56:56.538Z,1761587816.538 [marl:UpdateRudder] Stopped
2025-10-27T17:56:56.538Z,1761587816.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:56:56.555Z,1761587816.555 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:56.806Z,1761587816.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:56.876Z,1761587816.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308738,-0.949275,-0.059649],[0.940332,0.314057,-0.130934],[0.143025,-0.015666,0.989595]]
2025-10-27T17:56:57.056Z,1761587817.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:57.308Z,1761587817.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:57.560Z,1761587817.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:57.657Z,1761587817.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277920,-0.959173,-0.052418],[0.951008,0.282427,-0.125773],[0.135442,-0.014895,0.990673]]
2025-10-27T17:56:57.812Z,1761587817.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:58.064Z,1761587818.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:58.105Z,1761587818.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261380,-0.964034,-0.048149],[0.956398,0.265400,-0.121928],[0.130321,-0.014180,0.991370]]
2025-10-27T17:56:58.316Z,1761587818.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:58.476Z,1761587818.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244113,-0.968804,-0.042742],[0.961777,0.247510,-0.117150],[0.124075,-0.012510,0.992194]]
2025-10-27T17:56:58.568Z,1761587818.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:58.822Z,1761587818.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:58.878Z,1761587818.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225760,-0.973510,-0.036204],[0.967163,0.228432,-0.111419],[0.116737,-0.009861,0.993114]]
2025-10-27T17:56:59.073Z,1761587819.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:59.274Z,1761587819.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207947,-0.977491,-0.035637],[0.972102,0.210568,-0.103336],[0.108514,-0.013154,0.994008]]
2025-10-27T17:56:59.324Z,1761587819.324 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:56:59.324Z,1761587819.324 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:56:59.324Z,1761587819.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:59.576Z,1761587819.576 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-27T17:56:59.576Z,1761587819.576 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:56:59.576Z,1761587819.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:56:59.677Z,1761587819.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193491,-0.980168,-0.042795],[0.976063,0.196729,-0.092731],[0.099311,-0.023828,0.994771]]
2025-10-27T17:56:59.828Z,1761587819.828 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:56:59.828Z,1761587819.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:00.080Z,1761587820.080 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:57:00.080Z,1761587820.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:00.102Z,1761587820.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182829,-0.981392,-0.058680],[0.979027,0.187196,-0.080401],[0.089890,-0.042750,0.995034]]
2025-10-27T17:57:00.332Z,1761587820.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:00.496Z,1761587820.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173909,-0.981386,-0.081471],[0.981416,0.179538,-0.067737],[0.081104,-0.068177,0.994371]]
2025-10-27T17:57:00.584Z,1761587820.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:00.838Z,1761587820.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:00.890Z,1761587820.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166009,-0.980598,-0.104252],[0.983317,0.172580,-0.057481],[0.074358,-0.092970,0.992888]]
2025-10-27T17:57:00.992Z,1761587820.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:57:01.088Z,1761587821.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:01.298Z,1761587821.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158121,-0.979357,-0.125930],[0.984858,0.165604,-0.051293],[0.071089,-0.115913,0.990712]]
2025-10-27T17:57:01.340Z,1761587821.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:01.592Z,1761587821.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:01.700Z,1761587821.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150736,-0.977673,-0.146406],[0.985939,0.159482,-0.049893],[0.072128,-0.136827,0.987966]]
2025-10-27T17:57:01.844Z,1761587821.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:01.998Z,1761587821.998 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T17:57:01.998Z,1761587821.998 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:57:02.096Z,1761587822.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:02.348Z,1761587822.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:02.506Z,1761587822.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137265,-0.975195,-0.173648],[0.986830,0.149781,-0.061091],[0.085585,-0.162975,0.982911]]
2025-10-27T17:57:02.600Z,1761587822.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:02.854Z,1761587822.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:02.910Z,1761587822.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133477,-0.974286,-0.181524],[0.986531,0.148096,-0.069457],[0.094554,-0.169809,0.980931]]
2025-10-27T17:57:03.108Z,1761587823.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:03.314Z,1761587823.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134345,-0.972733,-0.189057],[0.985659,0.150837,-0.075667],[0.102120,-0.176180,0.979047]]
2025-10-27T17:57:03.356Z,1761587823.356 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:57:02.6061

2025-10-27T17:57:03.356Z,1761587823.356 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:57:03.357Z,1761587823.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:03.608Z,1761587823.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:03.717Z,1761587823.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140049,-0.970148,-0.197989],[0.984378,0.157971,-0.077754],[0.106709,-0.184007,0.977115]]
2025-10-27T17:57:03.861Z,1761587823.861 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:04.112Z,1761587824.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:04.126Z,1761587824.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150224,-0.966948,-0.206020],[0.982790,0.168713,-0.075227],[0.107498,-0.191174,0.975652]]
2025-10-27T17:57:04.364Z,1761587824.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:04.528Z,1761587824.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162375,-0.963388,-0.213350],[0.981178,0.180544,-0.068507],[0.104518,-0.198211,0.974571]]
2025-10-27T17:57:04.625Z,1761587824.625 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:04.876Z,1761587824.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:04.931Z,1761587824.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173899,-0.959786,-0.220384],[0.979822,0.191030,-0.058796],[0.098532,-0.205713,0.973639]]
2025-10-27T17:57:05.128Z,1761587825.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:05.334Z,1761587825.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182172,-0.956617,-0.227371],[0.979117,0.197708,-0.047337],[0.090236,-0.213999,0.972657]]
2025-10-27T17:57:05.380Z,1761587825.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:05.632Z,1761587825.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:05.745Z,1761587825.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184106,-0.955526,-0.230381],[0.979494,0.197869,-0.037928],[0.081827,-0.218674,0.972361]]
2025-10-27T17:57:05.885Z,1761587825.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:06.136Z,1761587826.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:06.388Z,1761587826.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:06.548Z,1761587826.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168748,-0.958836,-0.228380],[0.983169,0.180202,-0.030112],[0.070027,-0.219454,0.973106]]
2025-10-27T17:57:06.645Z,1761587826.645 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:06.896Z,1761587826.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:06.956Z,1761587826.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157395,-0.961676,-0.224513],[0.985327,0.168126,-0.029388],[0.066008,-0.216594,0.974028]]
2025-10-27T17:57:07.148Z,1761587827.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:07.354Z,1761587827.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145893,-0.964767,-0.218953],[0.987245,0.156239,-0.030609],[0.063739,-0.211695,0.975255]]
2025-10-27T17:57:07.400Z,1761587827.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:07.652Z,1761587827.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:07.764Z,1761587827.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133654,-0.968384,-0.210639],[0.988975,0.144005,-0.034523],[0.063764,-0.203703,0.976954]]
2025-10-27T17:57:07.904Z,1761587827.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:08.156Z,1761587828.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:08.170Z,1761587828.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122246,-0.971392,-0.203601],[0.990287,0.133071,-0.040304],[0.066244,-0.196696,0.978224]]
2025-10-27T17:57:08.408Z,1761587828.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:08.566Z,1761587828.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113368,-0.973556,-0.198332],[0.991031,0.125018,-0.047200],[0.070747,-0.191202,0.978998]]
2025-10-27T17:57:08.660Z,1761587828.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:08.912Z,1761587828.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:08.979Z,1761587828.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109821,-0.974385,-0.196247],[0.991113,0.122262,-0.052406],[0.075057,-0.188748,0.979153]]
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateRudder:A] Stopped
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:57:09.061Z,1761587829.061 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateCommandMode] Stopped
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:57:09.062Z,1761587829.062 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:57:09.063Z,1761587829.063 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:57:09.067Z,1761587829.067 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:57:09.067Z,1761587829.067 [marl:UpdateSpeed] Stopped
2025-10-27T17:57:09.067Z,1761587829.067 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:57:09.164Z,1761587829.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:09.382Z,1761587829.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111261,-0.974190,-0.196403],[0.990698,0.124308,-0.055367],[0.078352,-0.188416,0.978959]]
2025-10-27T17:57:09.424Z,1761587829.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:09.489Z,1761587829.489 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:57:09.490Z,1761587829.490 [marl:UpdateRudder:B] Stopped
2025-10-27T17:57:09.490Z,1761587829.490 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:57:09.490Z,1761587829.490 [marl:UpdateRudder] Stopped
2025-10-27T17:57:09.490Z,1761587829.490 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:57:09.676Z,1761587829.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:09.777Z,1761587829.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115030,-0.973689,-0.196716],[0.990029,0.128581,-0.057520],[0.081300,-0.188139,0.978772]]
2025-10-27T17:57:09.929Z,1761587829.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:10.180Z,1761587830.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:10.184Z,1761587830.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120402,-0.972401,-0.199851],[0.989219,0.134424,-0.058094],[0.083356,-0.190702,0.978103]]
2025-10-27T17:57:10.432Z,1761587830.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:10.684Z,1761587830.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:10.936Z,1761587830.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:10.993Z,1761587830.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132518,-0.968148,-0.212432],[0.987618,0.147128,-0.054436],[0.083957,-0.202588,0.975658]]
2025-10-27T17:57:11.188Z,1761587831.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:11.394Z,1761587831.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137058,-0.966174,-0.218457],[0.987214,0.151350,-0.050008],[0.081380,-0.208810,0.974564]]
2025-10-27T17:57:11.441Z,1761587831.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:11.692Z,1761587831.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:11.802Z,1761587831.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137638,-0.965263,-0.222086],[0.987389,0.151422,-0.046195],[0.078219,-0.212927,0.973932]]
2025-10-27T17:57:11.945Z,1761587831.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:12.196Z,1761587832.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:12.209Z,1761587832.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126688,-0.966365,-0.223804],[0.989452,0.139090,-0.040479],[0.070246,-0.216315,0.973793]]
2025-10-27T17:57:12.450Z,1761587832.450 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:12.612Z,1761587832.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117318,-0.967556,-0.223768],[0.990927,0.128930,-0.037955],[0.065574,-0.217285,0.973903]]
2025-10-27T17:57:12.700Z,1761587832.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:12.953Z,1761587832.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:13.014Z,1761587833.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106339,-0.969585,-0.220445],[0.992475,0.117035,-0.036000],[0.060705,-0.214958,0.974735]]
2025-10-27T17:57:13.204Z,1761587833.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:13.418Z,1761587833.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094121,-0.971618,-0.217024],[0.993942,0.104132,-0.035139],[0.056741,-0.212402,0.975534]]
2025-10-27T17:57:13.456Z,1761587833.456 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:57:13.457Z,1761587833.457 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:13.708Z,1761587833.708 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:57:13.708Z,1761587833.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:13.818Z,1761587833.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081348,-0.974236,-0.210349],[0.995187,0.090964,-0.036435],[0.054631,-0.206373,0.976947]]
2025-10-27T17:57:13.961Z,1761587833.961 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:57:13.963Z,1761587833.963 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:14.213Z,1761587834.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:14.231Z,1761587834.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068695,-0.976654,-0.203537],[0.996125,0.078379,-0.039901],[0.054923,-0.200007,0.978254]]
2025-10-27T17:57:14.465Z,1761587834.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:14.625Z,1761587834.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056862,-0.979001,-0.195765],[0.996705,0.067023,-0.045674],[0.057835,-0.192523,0.979587]]
2025-10-27T17:57:14.716Z,1761587834.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:14.968Z,1761587834.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:15.029Z,1761587835.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046172,-0.981145,-0.187677],[0.996927,0.057161,-0.053565],[0.063283,-0.184627,0.980769]]
2025-10-27T17:57:15.224Z,1761587835.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:15.436Z,1761587835.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036980,-0.982609,-0.181967],[0.996806,0.049168,-0.062933],[0.070785,-0.179058,0.981289]]
2025-10-27T17:57:15.472Z,1761587835.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:15.724Z,1761587835.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:15.840Z,1761587835.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029825,-0.983609,-0.177830],[0.996347,0.043497,-0.073490],[0.080021,-0.174988,0.981313]]
2025-10-27T17:57:15.976Z,1761587835.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:16.228Z,1761587836.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:16.243Z,1761587836.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025108,-0.983953,-0.176652],[0.995637,0.040499,-0.084067],[0.089873,-0.173771,0.980677]]
2025-10-27T17:57:16.480Z,1761587836.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:16.646Z,1761587836.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023541,-0.983602,-0.178812],[0.994772,0.040825,-0.093605],[0.099370,-0.175674,0.979420]]
2025-10-27T17:57:16.733Z,1761587836.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:16.984Z,1761587836.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:17.050Z,1761587837.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025279,-0.982577,-0.184129],[0.993865,0.044540,-0.101234],[0.107671,-0.180441,0.977675]]
2025-10-27T17:57:17.236Z,1761587837.236 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:57:16.5061

2025-10-27T17:57:17.237Z,1761587837.237 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:57:17.237Z,1761587837.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:17.465Z,1761587837.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029288,-0.981264,-0.190430],[0.992952,0.050449,-0.107243],[0.114841,-0.185947,0.975825]]
2025-10-27T17:57:17.488Z,1761587837.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:17.741Z,1761587837.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:17.858Z,1761587837.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033349,-0.979604,-0.198149],[0.992022,0.056562,-0.112666],[0.121576,-0.192811,0.973675]]
2025-10-27T17:57:17.996Z,1761587837.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:18.244Z,1761587838.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:18.261Z,1761587838.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036003,-0.978297,-0.204054],[0.991092,0.061151,-0.118311],[0.128222,-0.197977,0.971784]]
2025-10-27T17:57:18.496Z,1761587838.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:18.665Z,1761587838.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037748,-0.977265,-0.208636],[0.990242,0.064611,-0.123479],[0.134152,-0.201939,0.970167]]
2025-10-27T17:57:18.749Z,1761587838.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:18.000Z,1761587839.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:19.072Z,1761587839.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037440,-0.976710,-0.211270],[0.989609,0.065610,-0.127944],[0.138826,-0.204285,0.969018]]
2025-10-27T17:57:19.252Z,1761587839.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:19.493Z,1761587839.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036156,-0.976176,-0.213946],[0.989286,0.065263,-0.130593],[0.141445,-0.206932,0.968077]]
2025-10-27T17:57:19.504Z,1761587839.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:19.763Z,1761587839.763 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:19.878Z,1761587839.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035157,-0.975965,-0.215072],[0.989310,0.064463,-0.130804],[0.141524,-0.208175,0.967799]]
2025-10-27T17:57:20.012Z,1761587840.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:20.264Z,1761587840.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:20.516Z,1761587840.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:20.687Z,1761587840.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032266,-0.976579,-0.212725],[0.990093,0.060332,-0.126794],[0.136658,-0.206526,0.968851]]
2025-10-27T17:57:20.768Z,1761587840.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:21.020Z,1761587841.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:21.090Z,1761587841.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028750,-0.976945,-0.211548],[0.990449,0.056392,-0.125818],[0.134847,-0.205911,0.969235]]
2025-10-27T17:57:21.272Z,1761587841.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:21.494Z,1761587841.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022909,-0.977192,-0.211119],[0.990583,0.050699,-0.127179],[0.134981,-0.206217,0.969151]]
2025-10-27T17:57:21.524Z,1761587841.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:21.776Z,1761587841.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:21.898Z,1761587841.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015135,-0.977751,-0.209224],[0.990405,0.043406,-0.131203],[0.137365,-0.205231,0.969026]]
2025-10-27T17:57:21.960Z,1761587841.960 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:57:21.960Z,1761587841.960 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateRudder:A] Stopped
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:57:21.961Z,1761587841.961 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateCommandMode] Stopped
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:57:21.962Z,1761587841.962 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:57:21.963Z,1761587841.963 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:57:21.967Z,1761587841.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:57:21.967Z,1761587841.967 [marl:UpdateSpeed] Stopped
2025-10-27T17:57:21.967Z,1761587841.967 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:57:22.034Z,1761587842.034 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:22.284Z,1761587842.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:22.310Z,1761587842.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007460,-0.978422,-0.206482],[0.989944,0.036396,-0.136701],[0.141267,-0.203386,0.968854]]
2025-10-27T17:57:22.377Z,1761587842.377 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:57:22.377Z,1761587842.377 [marl:UpdateRudder:B] Stopped
2025-10-27T17:57:22.377Z,1761587842.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:57:22.377Z,1761587842.377 [marl:UpdateRudder] Stopped
2025-10-27T17:57:22.378Z,1761587842.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:57:22.536Z,1761587842.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:22.706Z,1761587842.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000623,-0.978877,-0.204451],[0.989274,0.030467,-0.142856],[0.146068,-0.202170,0.968396]]
2025-10-27T17:57:22.788Z,1761587842.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:23.040Z,1761587843.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:23.110Z,1761587843.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004786,-0.979049,-0.203569],[0.988596,0.026009,-0.148330],[0.150517,-0.201957,0.967759]]
2025-10-27T17:57:23.294Z,1761587843.294 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:23.513Z,1761587843.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008563,-0.979300,-0.202231],[0.988063,0.022821,-0.152350],[0.153812,-0.201122,0.967415]]
2025-10-27T17:57:23.544Z,1761587843.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:23.796Z,1761587843.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:23.919Z,1761587843.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012685,-0.979677,-0.200178],[0.987732,0.018884,-0.155010],[0.155640,-0.199689,0.967420]]
2025-10-27T17:57:24.048Z,1761587844.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:24.300Z,1761587844.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:24.321Z,1761587844.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018538,-0.980013,-0.198066],[0.987535,0.013021,-0.156859],[0.156303,-0.198505,0.967556]]
2025-10-27T17:57:24.552Z,1761587844.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:24.728Z,1761587844.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026346,-0.980428,-0.195105],[0.987400,0.004943,-0.158169],[0.156038,-0.196814,0.967945]]
2025-10-27T17:57:24.806Z,1761587844.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:25.056Z,1761587845.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:25.309Z,1761587845.309 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:25.535Z,1761587845.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046448,-0.980977,-0.188484],[0.986938,-0.015929,-0.160308],[0.154256,-0.193468,0.968904]]
2025-10-27T17:57:25.560Z,1761587845.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:25.814Z,1761587845.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:25.953Z,1761587845.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057769,-0.981314,-0.183537],[0.986322,-0.027673,-0.162490],[0.154374,-0.190413,0.969490]]
2025-10-27T17:57:26.065Z,1761587846.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:26.316Z,1761587846.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:26.568Z,1761587846.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:26.755Z,1761587846.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079054,-0.982512,-0.168585],[0.983789,-0.049586,-0.172341],[0.160968,-0.179476,0.970504]]
2025-10-27T17:57:26.823Z,1761587846.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:27.072Z,1761587847.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:27.150Z,1761587847.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086594,-0.982832,-0.162920],[0.982105,-0.056763,-0.179576],[0.167245,-0.175555,0.970160]]
2025-10-27T17:57:27.324Z,1761587847.324 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:57:27.324Z,1761587847.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:27.554Z,1761587847.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089953,-0.983273,-0.158375],[0.980581,-0.059613,-0.186837],[0.174270,-0.172106,0.969541]]
2025-10-27T17:57:27.576Z,1761587847.576 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:57:27.576Z,1761587847.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:27.828Z,1761587847.828 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:57:27.828Z,1761587847.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:27.960Z,1761587847.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089861,-0.983523,-0.156867],[0.979274,-0.058547,-0.193893],[0.181514,-0.171040,0.968400]]
2025-10-27T17:57:28.080Z,1761587848.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:28.332Z,1761587848.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:28.370Z,1761587848.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087944,-0.983602,-0.157460],[0.978140,-0.055368,-0.200439],[0.188434,-0.171646,0.966970]]
2025-10-27T17:57:28.584Z,1761587848.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:28.772Z,1761587848.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085193,-0.983298,-0.160832],[0.977319,-0.051059,-0.205524],[0.193879,-0.174693,0.965346]]
2025-10-27T17:57:28.838Z,1761587848.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:29.088Z,1761587849.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:29.340Z,1761587849.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:29.574Z,1761587849.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076559,-0.982080,-0.172215],[0.977455,-0.039837,-0.207353],[0.196777,-0.184207,0.962988]]
2025-10-27T17:57:29.592Z,1761587849.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:29.844Z,1761587849.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:29.979Z,1761587849.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072246,-0.980961,-0.180268],[0.978304,-0.034510,-0.204281],[0.194171,-0.191115,0.962171]]
2025-10-27T17:57:30.096Z,1761587850.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:30.348Z,1761587850.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:30.381Z,1761587850.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069617,-0.979709,-0.187947],[0.979274,-0.031194,-0.200125],[0.190202,-0.197984,0.961575]]
2025-10-27T17:57:30.600Z,1761587850.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:30.790Z,1761587850.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072807,-0.978842,-0.191225],[0.979475,-0.034042,-0.198668],[0.187955,-0.201765,0.961231]]
2025-10-27T17:57:30.854Z,1761587850.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:31.104Z,1761587851.104 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:57:30.3561

2025-10-27T17:57:31.104Z,1761587851.104 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:57:31.105Z,1761587851.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:31.190Z,1761587851.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079821,-0.978088,-0.192280],[0.979067,-0.040696,-0.199429],[0.187234,-0.204174,0.960862]]
2025-10-27T17:57:31.356Z,1761587851.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:31.595Z,1761587851.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088291,-0.977111,-0.193543],[0.978201,-0.048390,-0.201942],[0.187955,-0.207154,0.960083]]
2025-10-27T17:57:31.608Z,1761587851.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:31.860Z,1761587851.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:32.114Z,1761587852.114 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:32.120Z,1761587852.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:57:32.364Z,1761587852.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:32.616Z,1761587852.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:32.831Z,1761587852.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107641,-0.976283,-0.187841],[0.974229,-0.065909,-0.215717],[0.198221,-0.206220,0.958218]]
2025-10-27T17:57:32.868Z,1761587852.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:33.120Z,1761587853.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:33.123Z,1761587853.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:57:33.212Z,1761587853.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109593,-0.976956,-0.183155],[0.973110,-0.067898,-0.220105],[0.202597,-0.202352,0.958127]]
2025-10-27T17:57:33.372Z,1761587853.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:33.624Z,1761587853.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:33.876Z,1761587853.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:34.017Z,1761587854.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109545,-0.978478,-0.174875],[0.971402,-0.068100,-0.227464],[0.210659,-0.194792,0.957955]]
2025-10-27T17:57:34.128Z,1761587854.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:34.380Z,1761587854.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:34.443Z,1761587854.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108274,-0.979497,-0.169891],[0.971025,-0.067579,-0.229226],[0.213045,-0.189788,0.958432]]
2025-10-27T17:57:34.633Z,1761587854.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:34.869Z,1761587854.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107458,-0.980243,-0.166063],[0.971044,-0.067634,-0.229127],[0.213368,-0.185876,0.959127]]
2025-10-27T17:57:34.884Z,1761587854.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:35.017Z,1761587855.017 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:57:35.017Z,1761587855.017 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:57:35.017Z,1761587855.017 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateRudder:A] Stopped
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:57:35.018Z,1761587855.018 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateCommandMode] Stopped
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:57:35.019Z,1761587855.019 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:57:35.020Z,1761587855.020 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:57:35.020Z,1761587855.020 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:57:35.020Z,1761587855.020 [marl:UpdateSpeed] Stopped
2025-10-27T17:57:35.020Z,1761587855.020 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:57:35.136Z,1761587855.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:35.340Z,1761587855.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108077,-0.980492,-0.164181],[0.971423,-0.069052,-0.227088],[0.211321,-0.184033,0.959935]]
2025-10-27T17:57:35.388Z,1761587855.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:35.458Z,1761587855.458 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:57:35.458Z,1761587855.458 [marl:UpdateRudder:B] Stopped
2025-10-27T17:57:35.458Z,1761587855.458 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:57:35.458Z,1761587855.458 [marl:UpdateRudder] Stopped
2025-10-27T17:57:35.458Z,1761587855.458 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:57:35.640Z,1761587855.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:35.761Z,1761587855.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111321,-0.980428,-0.162386],[0.971914,-0.073317,-0.223622],[0.207340,-0.182719,0.961053]]
2025-10-27T17:57:35.893Z,1761587855.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:36.144Z,1761587856.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:36.156Z,1761587856.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117730,-0.979807,-0.161610],[0.972224,-0.080574,-0.219745],[0.202286,-0.182992,0.962078]]
2025-10-27T17:57:36.396Z,1761587856.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:36.558Z,1761587856.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126192,-0.978996,-0.160134],[0.972273,-0.090023,-0.215825],[0.196876,-0.182929,0.963212]]
2025-10-27T17:57:36.649Z,1761587856.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:36.901Z,1761587856.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:36.982Z,1761587856.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135821,-0.977881,-0.159064],[0.972114,-0.100559,-0.211853],[0.191171,-0.183403,0.964270]]
2025-10-27T17:57:37.152Z,1761587857.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:37.366Z,1761587857.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145588,-0.976506,-0.158871],[0.971797,-0.111039,-0.208041],[0.185512,-0.184679,0.965132]]
2025-10-27T17:57:37.405Z,1761587857.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:37.656Z,1761587857.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:37.771Z,1761587857.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155071,-0.975311,-0.157229],[0.971284,-0.121449,-0.204589],[0.180442,-0.184440,0.966138]]
2025-10-27T17:57:37.908Z,1761587857.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:38.160Z,1761587858.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:38.177Z,1761587858.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164049,-0.974122,-0.155484],[0.970397,-0.131039,-0.202878],[0.177253,-0.184163,0.966781]]
2025-10-27T17:57:38.413Z,1761587858.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:38.579Z,1761587858.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172806,-0.973145,-0.152074],[0.968985,-0.140275,-0.203445],[0.176650,-0.182514,0.967204]]
2025-10-27T17:57:38.664Z,1761587858.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:38.916Z,1761587858.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:38.982Z,1761587858.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181377,-0.972061,-0.148993],[0.967022,-0.148749,-0.206742],[0.178804,-0.181578,0.966984]]
2025-10-27T17:57:39.169Z,1761587859.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:39.421Z,1761587859.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:39.672Z,1761587859.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:39.790Z,1761587859.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195091,-0.970110,-0.144313],[0.962679,-0.161263,-0.217354],[0.187585,-0.181331,0.965366]]
2025-10-27T17:57:39.925Z,1761587859.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:40.176Z,1761587860.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:40.194Z,1761587860.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196440,-0.969634,-0.145678],[0.961929,-0.161786,-0.220267],[0.190010,-0.183401,0.964500]]
2025-10-27T17:57:40.428Z,1761587860.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:40.598Z,1761587860.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194383,-0.969644,-0.148340],[0.962280,-0.159150,-0.220656],[0.190350,-0.185637,0.964005]]
2025-10-27T17:57:40.681Z,1761587860.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:40.932Z,1761587860.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:41.002Z,1761587861.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192468,-0.969657,-0.150737],[0.962812,-0.156920,-0.219932],[0.189605,-0.187461,0.963799]]
2025-10-27T17:57:41.184Z,1761587861.184 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:57:41.184Z,1761587861.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:41.425Z,1761587861.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190620,-0.969555,-0.153710],[0.963621,-0.154926,-0.217790],[0.187346,-0.189633,0.963816]]
2025-10-27T17:57:41.436Z,1761587861.436 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:57:41.436Z,1761587861.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:41.688Z,1761587861.688 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:57:41.688Z,1761587861.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:41.809Z,1761587861.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189092,-0.969537,-0.155699],[0.964674,-0.153794,-0.213894],[0.183432,-0.190644,0.964369]]
2025-10-27T17:57:41.940Z,1761587861.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:42.192Z,1761587862.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:42.213Z,1761587862.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188640,-0.969615,-0.155760],[0.965761,-0.154398,-0.208489],[0.178105,-0.189756,0.965542]]
2025-10-27T17:57:42.444Z,1761587862.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:42.617Z,1761587862.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191076,-0.969159,-0.155629],[0.966219,-0.157772,-0.203787],[0.172949,-0.189310,0.966566]]
2025-10-27T17:57:42.696Z,1761587862.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:42.948Z,1761587862.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:43.023Z,1761587863.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196433,-0.968159,-0.155181],[0.965947,-0.163893,-0.200216],[0.168408,-0.189226,0.967384]]
2025-10-27T17:57:43.200Z,1761587863.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:43.445Z,1761587863.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211600,-0.965870,-0.149399],[0.963976,-0.181043,-0.194870],[0.161172,-0.185251,0.969384]]
2025-10-27T17:57:43.452Z,1761587863.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:43.704Z,1761587863.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:43.957Z,1761587863.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:44.208Z,1761587864.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:44.240Z,1761587864.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226484,-0.963405,-0.143371],[0.961243,-0.197320,-0.192553],[0.157217,-0.181424,0.970757]]
2025-10-27T17:57:44.460Z,1761587864.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:44.644Z,1761587864.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231857,-0.962531,-0.140625],[0.960037,-0.203129,-0.192528],[0.156749,-0.179644,0.971163]]
2025-10-27T17:57:44.712Z,1761587864.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:44.964Z,1761587864.964 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:57:44.2060

2025-10-27T17:57:44.964Z,1761587864.964 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:57:44.965Z,1761587864.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:45.046Z,1761587865.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234607,-0.961872,-0.140578],[0.959335,-0.205745,-0.193249],[0.156957,-0.180199,0.971027]]
2025-10-27T17:57:45.216Z,1761587865.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:45.453Z,1761587865.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234740,-0.961757,-0.141140],[0.959182,-0.205621,-0.194139],[0.157693,-0.180951,0.970767]]
2025-10-27T17:57:45.476Z,1761587865.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:45.728Z,1761587865.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:45.852Z,1761587865.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232835,-0.961825,-0.143806],[0.959443,-0.203016,-0.195586],[0.158925,-0.183513,0.970086]]
2025-10-27T17:57:45.864Z,1761587865.864 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T17:57:45.980Z,1761587865.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:46.232Z,1761587866.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:46.257Z,1761587866.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229642,-0.961923,-0.148220],[0.960020,-0.198824,-0.197057],[0.160084,-0.187547,0.969123]]
2025-10-27T17:57:46.484Z,1761587866.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:46.658Z,1761587866.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225762,-0.962044,-0.153306],[0.960785,-0.193874,-0.198257],[0.161010,-0.192053,0.968086]]
2025-10-27T17:57:46.740Z,1761587866.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:46.992Z,1761587866.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:47.062Z,1761587867.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222464,-0.961908,-0.158881],[0.961424,-0.189405,-0.199472],[0.161781,-0.197128,0.966937]]
2025-10-27T17:57:47.244Z,1761587867.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:47.470Z,1761587867.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220627,-0.961439,-0.164193],[0.961862,-0.186562,-0.200038],[0.161692,-0.202065,0.965932]]
2025-10-27T17:57:47.496Z,1761587867.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:47.748Z,1761587867.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:47.871Z,1761587867.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220851,-0.960772,-0.167758],[0.962063,-0.186354,-0.199267],[0.160188,-0.205402,0.965479]]
2025-10-27T17:57:47.914Z,1761587867.914 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:57:47.914Z,1761587867.914 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:57:47.914Z,1761587867.914 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:57:47.914Z,1761587867.914 [marl:UpdateRudder:A] Stopped
2025-10-27T17:57:47.914Z,1761587867.914 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:57:47.915Z,1761587867.915 [marl:UpdateCommandMode] Stopped
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed] Stopped
2025-10-27T17:57:47.916Z,1761587867.916 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:57:48.001Z,1761587868.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:48.252Z,1761587868.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:48.274Z,1761587868.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223029,-0.959606,-0.171505],[0.962094,-0.188360,-0.197217],[0.156946,-0.208989,0.965242]]
2025-10-27T17:57:48.358Z,1761587868.358 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:57:48.358Z,1761587868.358 [marl:UpdateRudder:B] Stopped
2025-10-27T17:57:48.358Z,1761587868.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:57:48.358Z,1761587868.358 [marl:UpdateRudder] Stopped
2025-10-27T17:57:48.358Z,1761587868.358 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:57:48.504Z,1761587868.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:48.678Z,1761587868.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227694,-0.958214,-0.173151],[0.961798,-0.193563,-0.193594],[0.151989,-0.210616,0.965681]]
2025-10-27T17:57:48.757Z,1761587868.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:49.008Z,1761587869.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:49.082Z,1761587869.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234726,-0.956716,-0.172042],[0.961048,-0.201837,-0.188806],[0.145910,-0.209659,0.966826]]
2025-10-27T17:57:49.260Z,1761587869.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:49.512Z,1761587869.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:49.531Z,1761587869.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243831,-0.954713,-0.170495],[0.959822,-0.212384,-0.183400],[0.138884,-0.208364,0.968140]]
2025-10-27T17:57:49.764Z,1761587869.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:49.902Z,1761587869.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254422,-0.952695,-0.166260],[0.958049,-0.224833,-0.177741],[0.131952,-0.204506,0.969931]]
2025-10-27T17:57:50.016Z,1761587870.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:50.269Z,1761587870.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:50.294Z,1761587870.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265665,-0.950765,-0.159588],[0.955886,-0.238260,-0.171796],[0.125314,-0.198188,0.972120]]
2025-10-27T17:57:50.520Z,1761587870.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:50.697Z,1761587870.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276622,-0.948767,-0.152712],[0.953472,-0.251149,-0.166781],[0.119883,-0.191742,0.974096]]
2025-10-27T17:57:50.772Z,1761587870.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:51.024Z,1761587871.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:51.101Z,1761587871.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286937,-0.946761,-0.145981],[0.950776,-0.262847,-0.164126],[0.117017,-0.185888,0.975578]]
2025-10-27T17:57:51.276Z,1761587871.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:51.512Z,1761587871.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296621,-0.944717,-0.139737],[0.947793,-0.273279,-0.164341],[0.117068,-0.181189,0.976456]]
2025-10-27T17:57:51.528Z,1761587871.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:51.780Z,1761587871.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:51.914Z,1761587871.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305150,-0.942784,-0.134322],[0.944687,-0.281879,-0.167661],[0.120206,-0.178054,0.976651]]
2025-10-27T17:57:52.032Z,1761587872.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:52.284Z,1761587872.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:52.314Z,1761587872.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312720,-0.941016,-0.129207],[0.941469,-0.289055,-0.173447],[0.125868,-0.175885,0.976331]]
2025-10-27T17:57:52.536Z,1761587872.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:52.717Z,1761587872.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319233,-0.939361,-0.125268],[0.938314,-0.294771,-0.180767],[0.132880,-0.175248,0.975516]]
2025-10-27T17:57:52.786Z,1761587872.786 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:57:52.788Z,1761587872.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:52.943Z,1761587872.943 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:57:52.943Z,1761587872.943 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:57:53.040Z,1761587873.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:53.123Z,1761587873.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323048,-0.938071,-0.125155],[0.936082,-0.297266,-0.188105],[0.139251,-0.177922,0.974142]]
2025-10-27T17:57:53.292Z,1761587873.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:53.533Z,1761587873.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322854,-0.937943,-0.126602],[0.935469,-0.295925,-0.193197],[0.143743,-0.180807,0.972958]]
2025-10-27T17:57:53.544Z,1761587873.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:53.796Z,1761587873.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:53.929Z,1761587873.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319228,-0.938665,-0.130392],[0.936396,-0.291261,-0.195779],[0.145793,-0.184597,0.971940]]
2025-10-27T17:57:54.048Z,1761587874.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:54.300Z,1761587874.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:54.334Z,1761587874.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314332,-0.939510,-0.136075],[0.938049,-0.285379,-0.196527],[0.145806,-0.189419,0.971010]]
2025-10-27T17:57:54.552Z,1761587874.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:54.745Z,1761587874.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309128,-0.940378,-0.141875],[0.940032,-0.279525,-0.195464],[0.144152,-0.193790,0.970394]]
2025-10-27T17:57:54.810Z,1761587874.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:55.060Z,1761587875.060 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:57:55.060Z,1761587875.060 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:57:55.060Z,1761587875.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:55.141Z,1761587875.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304001,-0.941054,-0.148328],[0.942278,-0.274082,-0.192330],[0.140339,-0.198235,0.970056]]
2025-10-27T17:57:55.311Z,1761587875.311 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:57:55.312Z,1761587875.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:55.560Z,1761587875.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299852,-0.941498,-0.153855],[0.944359,-0.270087,-0.187719],[0.135183,-0.201582,0.970098]]
2025-10-27T17:57:55.564Z,1761587875.564 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:57:55.564Z,1761587875.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:55.816Z,1761587875.816 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:57:55.816Z,1761587875.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:55.950Z,1761587875.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297673,-0.941278,-0.159334],[0.945851,-0.268156,-0.182918],[0.129450,-0.205156,0.970131]]
2025-10-27T17:57:56.068Z,1761587876.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:56.320Z,1761587876.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:56.354Z,1761587876.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297994,-0.940301,-0.164422],[0.946481,-0.268679,-0.178847],[0.123993,-0.208917,0.970041]]
2025-10-27T17:57:56.572Z,1761587876.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:56.762Z,1761587876.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300871,-0.939006,-0.166565],[0.946197,-0.272112,-0.175118],[0.119113,-0.210291,0.970356]]
2025-10-27T17:57:56.826Z,1761587876.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:57.076Z,1761587877.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:57.161Z,1761587877.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305195,-0.937230,-0.168691],[0.945369,-0.276867,-0.172112],[0.114603,-0.212003,0.970526]]
2025-10-27T17:57:57.328Z,1761587877.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:57.570Z,1761587877.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310873,-0.935496,-0.167943],[0.943981,-0.283315,-0.169211],[0.110715,-0.211138,0.971166]]
2025-10-27T17:57:57.580Z,1761587877.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:57.832Z,1761587877.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:57.971Z,1761587877.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317456,-0.933808,-0.164998],[0.942192,-0.290936,-0.166223],[0.107216,-0.208229,0.972186]]
2025-10-27T17:57:58.084Z,1761587878.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:58.336Z,1761587878.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:58.389Z,1761587878.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323346,-0.932604,-0.160306],[0.940544,-0.298114,-0.162807],[0.104045,-0.203418,0.973548]]
2025-10-27T17:57:58.592Z,1761587878.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:58.778Z,1761587878.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329297,-0.931098,-0.156907],[0.938753,-0.304970,-0.160425],[0.101519,-0.200124,0.974497]]
2025-10-27T17:57:58.842Z,1761587878.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:59.092Z,1761587879.092 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:57:58.3560

2025-10-27T17:57:59.092Z,1761587879.092 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:57:59.093Z,1761587879.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:59.182Z,1761587879.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335030,-0.929823,-0.152261],[0.936974,-0.311781,-0.157712],[0.099172,-0.195503,0.975676]]
2025-10-27T17:57:59.345Z,1761587879.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:59.594Z,1761587879.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339855,-0.928812,-0.147670],[0.935483,-0.317696,-0.154731],[0.096802,-0.190729,0.976858]]
2025-10-27T17:57:59.596Z,1761587879.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:57:59.849Z,1761587879.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:00.105Z,1761587880.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:00.357Z,1761587880.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:00.608Z,1761587880.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:00.813Z,1761587880.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349697,-0.926398,-0.139639],[0.932604,-0.330023,-0.146062],[0.089227,-0.181306,0.979371]]
2025-10-27T17:58:00.863Z,1761587880.863 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:00.925Z,1761587880.925 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:58:00.925Z,1761587880.925 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateRudder:A] Stopped
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:58:00.926Z,1761587880.926 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateCommandMode] Stopped
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:58:00.927Z,1761587880.927 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:58:00.928Z,1761587880.928 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:58:00.928Z,1761587880.928 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:58:00.928Z,1761587880.928 [marl:UpdateSpeed] Stopped
2025-10-27T17:58:00.928Z,1761587880.928 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:58:01.112Z,1761587881.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:01.201Z,1761587881.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351449,-0.925824,-0.139047],[0.932197,-0.332330,-0.143409],[0.086562,-0.180020,0.979847]]
2025-10-27T17:58:01.236Z,1761587881.236 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:58:01.236Z,1761587881.236 [marl:UpdateRudder:B] Stopped
2025-10-27T17:58:01.236Z,1761587881.236 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:58:01.236Z,1761587881.236 [marl:UpdateRudder] Stopped
2025-10-27T17:58:01.236Z,1761587881.236 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:58:01.364Z,1761587881.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:01.616Z,1761587881.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:01.619Z,1761587881.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352546,-0.925336,-0.139515],[0.932048,-0.333882,-0.140747],[0.083657,-0.179655,0.980166]]
2025-10-27T17:58:01.872Z,1761587881.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:02.010Z,1761587882.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353245,-0.924802,-0.141278],[0.932051,-0.334882,-0.138329],[0.080616,-0.180542,0.980258]]
2025-10-27T17:58:02.120Z,1761587882.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:02.372Z,1761587882.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:02.624Z,1761587882.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:02.866Z,1761587882.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354554,-0.923456,-0.146699],[0.932073,-0.336573,-0.134013],[0.074381,-0.184249,0.980061]]
2025-10-27T17:58:02.877Z,1761587882.877 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:03.128Z,1761587883.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:03.223Z,1761587883.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355217,-0.922835,-0.148982],[0.932049,-0.337469,-0.131906],[0.071451,-0.185713,0.980003]]
2025-10-27T17:58:03.247Z,1761587883.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:58:03.380Z,1761587883.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:03.626Z,1761587883.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356234,-0.922027,-0.151536],[0.931886,-0.338693,-0.129907],[0.068454,-0.187492,0.979878]]
2025-10-27T17:58:03.632Z,1761587883.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:03.884Z,1761587883.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:04.029Z,1761587884.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357557,-0.921223,-0.153299],[0.931581,-0.340295,-0.127888],[0.065647,-0.188538,0.979869]]
2025-10-27T17:58:04.138Z,1761587884.138 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:04.251Z,1761587884.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:58:04.388Z,1761587884.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:04.434Z,1761587884.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358964,-0.920274,-0.155691],[0.931231,-0.341892,-0.126169],[0.062880,-0.190274,0.979715]]
2025-10-27T17:58:04.640Z,1761587884.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:04.872Z,1761587884.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360680,-0.918921,-0.159670],[0.930747,-0.343573,-0.125167],[0.060161,-0.193757,0.979203]]
2025-10-27T17:58:04.892Z,1761587884.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:05.144Z,1761587885.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:05.242Z,1761587885.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362958,-0.917657,-0.161760],[0.930009,-0.345982,-0.124017],[0.057839,-0.195452,0.979006]]
2025-10-27T17:58:05.397Z,1761587885.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:05.646Z,1761587885.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365142,-0.916498,-0.163411],[0.929291,-0.348351,-0.122757],[0.055583,-0.196680,0.978891]]
2025-10-27T17:58:05.648Z,1761587885.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:05.900Z,1761587885.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:06.050Z,1761587886.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368069,-0.915030,-0.165062],[0.928259,-0.351411,-0.121841],[0.053483,-0.198066,0.978728]]
2025-10-27T17:58:06.153Z,1761587886.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:06.404Z,1761587886.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:06.456Z,1761587886.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371183,-0.913852,-0.164614],[0.927139,-0.354940,-0.120129],[0.051352,-0.197210,0.979015]]
2025-10-27T17:58:06.664Z,1761587886.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:06.876Z,1761587886.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374366,-0.912491,-0.164956],[0.925985,-0.358478,-0.118515],[0.049011,-0.197115,0.979155]]
2025-10-27T17:58:06.928Z,1761587886.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:07.180Z,1761587887.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:07.262Z,1761587887.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377929,-0.911387,-0.162924],[0.924632,-0.362582,-0.116573],[0.047170,-0.194701,0.979728]]
2025-10-27T17:58:07.432Z,1761587887.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:07.666Z,1761587887.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381585,-0.910048,-0.161885],[0.923214,-0.366612,-0.115202],[0.045490,-0.193414,0.980062]]
2025-10-27T17:58:07.684Z,1761587887.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:07.936Z,1761587887.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:08.072Z,1761587888.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384645,-0.908922,-0.160961],[0.922037,-0.370106,-0.113442],[0.043537,-0.192047,0.980420]]
2025-10-27T17:58:08.188Z,1761587888.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:08.440Z,1761587888.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:08.474Z,1761587888.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387435,-0.907946,-0.159778],[0.920947,-0.373315,-0.111768],[0.041832,-0.190450,0.980805]]
2025-10-27T17:58:08.692Z,1761587888.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:08.880Z,1761587888.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389812,-0.907055,-0.159054],[0.920004,-0.375987,-0.110574],[0.040494,-0.189433,0.981058]]
2025-10-27T17:58:08.944Z,1761587888.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:09.196Z,1761587889.196 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:58:09.196Z,1761587889.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:09.282Z,1761587889.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391247,-0.906449,-0.158982],[0.919439,-0.377605,-0.109753],[0.039453,-0.189115,0.981162]]
2025-10-27T17:58:09.448Z,1761587889.448 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:58:09.448Z,1761587889.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:09.689Z,1761587889.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392067,-0.906103,-0.158937],[0.919119,-0.378544,-0.109204],[0.038785,-0.188897,0.981231]]
2025-10-27T17:58:09.700Z,1761587889.700 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:58:09.700Z,1761587889.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:09.952Z,1761587889.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:10.090Z,1761587890.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391830,-0.906125,-0.159394],[0.919240,-0.378355,-0.108840],[0.038315,-0.189168,0.981197]]
2025-10-27T17:58:10.204Z,1761587890.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:10.456Z,1761587890.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:10.494Z,1761587890.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390498,-0.906607,-0.159922],[0.919815,-0.377041,-0.108540],[0.038106,-0.189483,0.981144]]
2025-10-27T17:58:10.708Z,1761587890.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:10.897Z,1761587890.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388695,-0.906941,-0.162401],[0.920582,-0.375015,-0.109050],[0.038000,-0.191891,0.980680]]
2025-10-27T17:58:10.960Z,1761587890.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:11.212Z,1761587891.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:11.466Z,1761587891.466 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:11.705Z,1761587891.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384029,-0.908247,-0.166161],[0.922565,-0.370166,-0.108863],[0.037368,-0.195101,0.980071]]
2025-10-27T17:58:11.716Z,1761587891.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:11.969Z,1761587891.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:12.110Z,1761587892.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381699,-0.908668,-0.169199],[0.923571,-0.367758,-0.108489],[0.036357,-0.197677,0.979593]]
2025-10-27T17:58:12.221Z,1761587892.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:12.472Z,1761587892.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:12.514Z,1761587892.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379855,-0.909017,-0.171460],[0.924398,-0.366076,-0.107130],[0.034615,-0.199191,0.979349]]
2025-10-27T17:58:12.724Z,1761587892.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:12.919Z,1761587892.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378648,-0.909203,-0.173136],[0.924980,-0.365229,-0.104971],[0.032205,-0.199894,0.979288]]
2025-10-27T17:58:12.976Z,1761587892.976 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:58:12.2060

2025-10-27T17:58:12.977Z,1761587892.977 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:58:12.977Z,1761587892.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:13.228Z,1761587893.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:13.322Z,1761587893.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378852,-0.908660,-0.175525],[0.924994,-0.365790,-0.102875],[0.029274,-0.201334,0.979085]]
2025-10-27T17:58:13.484Z,1761587893.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:13.729Z,1761587893.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380760,-0.907843,-0.175622],[0.924297,-0.368255,-0.100313],[0.026395,-0.200522,0.979334]]
2025-10-27T17:58:13.736Z,1761587893.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:13.776Z,1761587893.776 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:58:13.776Z,1761587893.776 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:58:13.776Z,1761587893.776 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateRudder:A] Stopped
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:58:13.777Z,1761587893.777 [marl:UpdateCommandMode] Stopped
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed] Stopped
2025-10-27T17:58:13.778Z,1761587893.778 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:58:13.988Z,1761587893.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:14.130Z,1761587894.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384618,-0.906423,-0.174546],[0.922777,-0.372748,-0.097679],[0.023477,-0.198636,0.979792]]
2025-10-27T17:58:14.194Z,1761587894.194 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:58:14.194Z,1761587894.194 [marl:UpdateRudder:B] Stopped
2025-10-27T17:58:14.194Z,1761587894.194 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:58:14.194Z,1761587894.194 [marl:UpdateRudder] Stopped
2025-10-27T17:58:14.194Z,1761587894.194 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:58:14.241Z,1761587894.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:14.492Z,1761587894.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:14.542Z,1761587894.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389655,-0.904077,-0.175539],[0.920733,-0.378180,-0.096071],[0.020470,-0.199059,0.979774]]
2025-10-27T17:58:14.744Z,1761587894.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:14.937Z,1761587894.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395263,-0.901703,-0.175208],[0.918395,-0.384238,-0.094398],[0.017798,-0.198222,0.979996]]
2025-10-27T17:58:14.996Z,1761587894.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:15.248Z,1761587895.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:15.352Z,1761587895.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400989,-0.899210,-0.175014],[0.915957,-0.390374,-0.092908],[0.015223,-0.197561,0.980172]]
2025-10-27T17:58:15.501Z,1761587895.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:15.752Z,1761587895.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:15.766Z,1761587895.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406686,-0.896842,-0.174016],[0.913469,-0.396388,-0.091929],[0.013468,-0.196345,0.980442]]
2025-10-27T17:58:16.004Z,1761587896.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:16.159Z,1761587896.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412168,-0.894702,-0.172120],[0.911015,-0.402007,-0.091881],[0.013012,-0.194674,0.980782]]
2025-10-27T17:58:16.256Z,1761587896.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:16.508Z,1761587896.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:16.562Z,1761587896.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417201,-0.892395,-0.171974],[0.908703,-0.406648,-0.094321],[0.014239,-0.195624,0.980576]]
2025-10-27T17:58:16.761Z,1761587896.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:16.996Z,1761587896.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418608,-0.891411,-0.173649],[0.908014,-0.407299,-0.098076],[0.016699,-0.198731,0.979912]]
2025-10-27T17:58:17.012Z,1761587897.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:17.265Z,1761587897.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:17.516Z,1761587897.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:17.539Z,1761587897.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403842,-0.890892,-0.207902],[0.914503,-0.387069,-0.117736],[0.024418,-0.237673,0.971038]]
2025-10-27T17:58:17.772Z,1761587897.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:17.942Z,1761587897.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390067,-0.890240,-0.235204],[0.920342,-0.369010,-0.129619],[0.028600,-0.267028,0.963264]]
2025-10-27T17:58:18.021Z,1761587898.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:18.274Z,1761587898.274 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:18.354Z,1761587898.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373453,-0.889538,-0.263163],[0.927079,-0.347952,-0.139474],[0.032499,-0.296060,0.954616]]
2025-10-27T17:58:18.524Z,1761587898.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:18.767Z,1761587898.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355461,-0.888694,-0.289603],[0.933992,-0.325735,-0.146817],[0.036141,-0.322675,0.945820]]
2025-10-27T17:58:18.776Z,1761587898.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:19.028Z,1761587899.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:19.208Z,1761587899.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336863,-0.887287,-0.315032],[0.940740,-0.303271,-0.151771],[0.039124,-0.347489,0.936867]]
2025-10-27T17:58:19.280Z,1761587899.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:19.535Z,1761587899.535 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:19.610Z,1761587899.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318252,-0.886239,-0.336596],[0.947089,-0.281613,-0.154003],[0.041694,-0.367798,0.928970]]
2025-10-27T17:58:19.788Z,1761587899.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:20.016Z,1761587900.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300094,-0.886514,-0.352188],[0.952900,-0.261613,-0.153431],[0.043882,-0.381644,0.923267]]
2025-10-27T17:58:20.040Z,1761587900.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:20.292Z,1761587900.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:20.418Z,1761587900.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283385,-0.887142,-0.364242],[0.957890,-0.243522,-0.152133],[0.046263,-0.392016,0.918795]]
2025-10-27T17:58:20.544Z,1761587900.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:20.798Z,1761587900.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:20.865Z,1761587900.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268220,-0.888786,-0.371643],[0.962122,-0.227611,-0.150046],[0.048769,-0.397811,0.916170]]
2025-10-27T17:58:21.048Z,1761587901.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:21.226Z,1761587901.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254383,-0.890959,-0.376140],[0.965726,-0.213271,-0.147946],[0.051594,-0.400883,0.914675]]
2025-10-27T17:58:21.300Z,1761587901.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:21.552Z,1761587901.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:21.635Z,1761587901.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241360,-0.893762,-0.378067],[0.968892,-0.199973,-0.145803],[0.054710,-0.401497,0.914225]]
2025-10-27T17:58:21.805Z,1761587901.805 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:22.060Z,1761587902.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:22.117Z,1761587902.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229178,-0.897092,-0.377761],[0.971666,-0.187791,-0.143527],[0.057817,-0.399951,0.914711]]
2025-10-27T17:58:22.309Z,1761587902.309 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:22.560Z,1761587902.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:22.685Z,1761587902.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217235,-0.900166,-0.377504],[0.974219,-0.175822,-0.141362],[0.060876,-0.398481,0.915154]]
2025-10-27T17:58:22.815Z,1761587902.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:23.064Z,1761587903.064 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:58:23.064Z,1761587903.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:23.211Z,1761587903.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192857,-0.906258,-0.376169],[0.978968,-0.151716,-0.136396],[0.066539,-0.394562,0.916457]]
2025-10-27T17:58:23.317Z,1761587903.317 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:58:23.317Z,1761587903.317 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:23.568Z,1761587903.568 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:58:23.569Z,1761587903.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:23.644Z,1761587903.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179925,-0.909311,-0.375207],[0.981264,-0.139195,-0.133214],[0.068907,-0.392145,0.917319]]
2025-10-27T17:58:23.821Z,1761587903.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:24.044Z,1761587904.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166217,-0.911392,-0.376478],[0.983508,-0.125615,-0.130129],[0.071307,-0.391899,0.917241]]
2025-10-27T17:58:24.076Z,1761587904.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:24.332Z,1761587904.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:24.449Z,1761587904.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152224,-0.913776,-0.376619],[0.985561,-0.111755,-0.127202],[0.074145,-0.390544,0.917593]]
2025-10-27T17:58:24.584Z,1761587904.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:24.838Z,1761587904.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:24.880Z,1761587904.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137497,-0.915585,-0.377887],[0.987498,-0.097023,-0.124233],[0.077082,-0.390244,0.917479]]
2025-10-27T17:58:25.088Z,1761587905.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:25.258Z,1761587905.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121475,-0.917278,-0.379268],[0.989360,-0.081071,-0.120805],[0.080064,-0.389907,0.917367]]
2025-10-27T17:58:25.342Z,1761587905.342 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:25.592Z,1761587905.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:25.722Z,1761587905.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104718,-0.918977,-0.380151],[0.990995,-0.064349,-0.117425],[0.083449,-0.389024,0.917440]]
2025-10-27T17:58:25.844Z,1761587905.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:26.096Z,1761587906.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:26.124Z,1761587906.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086715,-0.919914,-0.382412],[0.992439,-0.046298,-0.113671],[0.086862,-0.389378,0.916973]]
2025-10-27T17:58:26.348Z,1761587906.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:26.600Z,1761587906.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:26.628Z,1761587906.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068135,-0.921230,-0.383004],[0.993628,-0.028111,-0.109148],[0.089784,-0.388000,0.917276]]
2025-10-27T17:58:26.856Z,1761587906.856 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:58:26.1060

2025-10-27T17:58:26.857Z,1761587906.857 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:58:26.860Z,1761587906.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:27.105Z,1761587907.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:27.165Z,1761587907.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029232,-0.922085,-0.385882],[0.995211,0.009177,-0.097322],[0.093280,-0.386879,0.917400]]
2025-10-27T17:58:27.356Z,1761587907.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:27.560Z,1761587907.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009622,-0.921938,-0.387218],[0.995565,0.027407,-0.089992],[0.093580,-0.386367,0.917586]]
2025-10-27T17:58:27.600Z,1761587907.600 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateRudder:A] Stopped
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:58:27.601Z,1761587907.601 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateCommandMode] Stopped
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:58:27.602Z,1761587907.602 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:58:27.603Z,1761587907.603 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:58:27.603Z,1761587907.603 [marl:UpdateSpeed] Stopped
2025-10-27T17:58:27.603Z,1761587907.603 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:58:27.608Z,1761587907.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:27.860Z,1761587907.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:27.962Z,1761587907.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010218,-0.921713,-0.387739],[0.995673,0.045197,-0.081201],[0.092369,-0.385231,0.918186]]
2025-10-27T17:58:28.014Z,1761587908.014 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T17:58:28.014Z,1761587908.014 [marl:UpdateRudder:B] Stopped
2025-10-27T17:58:28.014Z,1761587908.014 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:58:28.014Z,1761587908.014 [marl:UpdateRudder] Stopped
2025-10-27T17:58:28.014Z,1761587908.014 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:58:28.112Z,1761587908.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:28.364Z,1761587908.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:28.371Z,1761587908.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029547,-0.921574,-0.387077],[0.995526,0.061901,-0.071386],[0.089748,-0.383236,0.919280]]
2025-10-27T17:58:28.616Z,1761587908.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:28.774Z,1761587908.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047875,-0.920960,-0.386706],[0.995124,0.077402,-0.061140],[0.086239,-0.381893,0.920174]]
2025-10-27T17:58:28.868Z,1761587908.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:29.120Z,1761587909.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:29.372Z,1761587909.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:29.414Z,1761587909.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063133,-0.920191,-0.386346],[0.994565,0.090123,-0.052132],[0.082790,-0.380955,0.920880]]
2025-10-27T17:58:29.624Z,1761587909.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:29.845Z,1761587909.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075943,-0.919261,-0.386255],[0.993930,0.100716,-0.044276],[0.079603,-0.380547,0.921329]]
2025-10-27T17:58:29.876Z,1761587909.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:30.128Z,1761587910.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:30.357Z,1761587910.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098257,-0.918738,-0.382447],[0.992574,0.118170,-0.028865],[0.071714,-0.376771,0.923526]]
2025-10-27T17:58:30.380Z,1761587910.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:30.632Z,1761587910.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:30.768Z,1761587910.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108843,-0.918498,-0.380151],[0.991768,0.126287,-0.021169],[0.067452,-0.374717,0.924682]]
2025-10-27T17:58:30.884Z,1761587910.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:31.136Z,1761587911.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:31.204Z,1761587911.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119430,-0.918331,-0.377365],[0.990791,0.134659,-0.014127],[0.063789,-0.372203,0.925957]]
2025-10-27T17:58:31.388Z,1761587911.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:31.607Z,1761587911.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129757,-0.917663,-0.375576],[0.989637,0.143351,-0.008349],[0.061501,-0.370601,0.926754]]
2025-10-27T17:58:31.640Z,1761587911.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:31.892Z,1761587911.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:32.010Z,1761587912.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139577,-0.917158,-0.373281],[0.988346,0.152162,-0.004304],[0.060746,-0.368331,0.927708]]
2025-10-27T17:58:32.144Z,1761587912.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:32.396Z,1761587912.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:32.414Z,1761587912.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149985,-0.915746,-0.372712],[0.986806,0.161907,-0.000696],[0.060982,-0.367690,0.927947]]
2025-10-27T17:58:32.648Z,1761587912.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:32.885Z,1761587912.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162759,-0.914183,-0.371185],[0.984745,0.173971,0.003325],[0.061536,-0.366064,0.928553]]
2025-10-27T17:58:32.900Z,1761587912.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:33.152Z,1761587913.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:33.222Z,1761587913.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177393,-0.911821,-0.370289],[0.982217,0.187545,0.008726],[0.061490,-0.365252,0.928876]]
2025-10-27T17:58:33.404Z,1761587913.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:33.625Z,1761587913.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194218,-0.908928,-0.368957],[0.979095,0.202788,0.015824],[0.060437,-0.364317,0.929312]]
2025-10-27T17:58:33.656Z,1761587913.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:33.909Z,1761587913.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:34.031Z,1761587914.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212855,-0.904764,-0.368910],[0.975308,0.219494,0.024422],[0.058877,-0.364999,0.929144]]
2025-10-27T17:58:34.160Z,1761587914.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:34.383Z,1761587914.383 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:58:34.412Z,1761587914.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:34.436Z,1761587914.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232124,-0.900433,-0.367883],[0.971039,0.236522,0.033786],[0.056591,-0.365071,0.929258]]
2025-10-27T17:58:34.664Z,1761587914.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:34.888Z,1761587914.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251557,-0.895562,-0.366997],[0.966355,0.253427,0.043962],[0.053636,-0.365709,0.929183]]
2025-10-27T17:58:34.916Z,1761587914.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:35.168Z,1761587915.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:35.242Z,1761587915.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270965,-0.890665,-0.365095],[0.961271,0.270215,0.054234],[0.050350,-0.365651,0.929389]]
2025-10-27T17:58:35.389Z,1761587915.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:58:35.420Z,1761587915.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:35.647Z,1761587915.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289939,-0.885611,-0.362807],[0.955884,0.286640,0.064212],[0.047128,-0.365419,0.929649]]
2025-10-27T17:58:35.676Z,1761587915.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:35.928Z,1761587915.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:36.050Z,1761587916.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308235,-0.880036,-0.361285],[0.950295,0.302380,0.074206],[0.043941,-0.366200,0.929498]]
2025-10-27T17:58:36.180Z,1761587916.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:36.432Z,1761587916.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:36.454Z,1761587916.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325513,-0.874340,-0.359959],[0.944651,0.317205,0.083763],[0.040943,-0.367302,0.929200]]
2025-10-27T17:58:36.684Z,1761587916.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:36.896Z,1761587916.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342359,-0.868792,-0.357759],[0.938798,0.331731,0.092803],[0.038053,-0.367635,0.929191]]
2025-10-27T17:58:36.936Z,1761587916.936 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:58:36.936Z,1761587916.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:37.188Z,1761587917.188 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:58:37.188Z,1761587917.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:37.332Z,1761587917.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358418,-0.863145,-0.355694],[0.932886,0.345636,0.101291],[0.035512,-0.368126,0.929098]]
2025-10-27T17:58:37.440Z,1761587917.440 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:58:37.442Z,1761587917.442 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:37.695Z,1761587917.695 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:37.754Z,1761587917.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374327,-0.857298,-0.353440],[0.926702,0.359500,0.109470],[0.033213,-0.368510,0.929030]]
2025-10-27T17:58:37.948Z,1761587917.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:38.155Z,1761587918.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390410,-0.851137,-0.350920],[0.920119,0.373571,0.117588],[0.031010,-0.368796,0.928993]]
2025-10-27T17:58:38.200Z,1761587918.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:38.452Z,1761587918.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:38.561Z,1761587918.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406619,-0.844984,-0.347365],[0.913131,0.388043,0.124959],[0.029204,-0.368000,0.929367]]
2025-10-27T17:58:38.704Z,1761587918.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:38.956Z,1761587918.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:38.964Z,1761587918.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423387,-0.838053,-0.344108],[0.905534,0.402975,0.132740],[0.027424,-0.367802,0.929500]]
2025-10-27T17:58:39.208Z,1761587919.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:39.366Z,1761587919.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440708,-0.830788,-0.339954],[0.897286,0.418504,0.140468],[0.025573,-0.366941,0.929892]]
2025-10-27T17:58:39.460Z,1761587919.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:39.712Z,1761587919.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:39.787Z,1761587919.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458325,-0.822973,-0.335639],[0.888476,0.434190,0.148624],[0.023418,-0.366326,0.930192]]
2025-10-27T17:58:39.964Z,1761587919.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:40.175Z,1761587920.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476087,-0.814354,-0.331917],[0.879145,0.449805,0.157417],[0.021105,-0.366747,0.930081]]
2025-10-27T17:58:40.228Z,1761587920.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:40.480Z,1761587920.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:40.578Z,1761587920.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493235,-0.805586,-0.328255],[0.869704,0.464611,0.166590],[0.018308,-0.367653,0.929783]]
2025-10-27T17:58:40.733Z,1761587920.733 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:58:39.9560

2025-10-27T17:58:40.733Z,1761587920.733 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:58:40.734Z,1761587920.734 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:40.982Z,1761587920.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510152,-0.796504,-0.324541],[0.859952,0.478978,0.176245],[0.015069,-0.369001,0.929307]]
2025-10-27T17:58:40.984Z,1761587920.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:41.042Z,1761587921.042 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:58:41.042Z,1761587921.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:58:41.043Z,1761587921.043 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:58:41.043Z,1761587921.043 [marl:UpdateRudder:A] Stopped
2025-10-27T17:58:41.043Z,1761587921.043 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:58:41.043Z,1761587921.043 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode] Stopped
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:58:41.044Z,1761587921.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:58:41.045Z,1761587921.045 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:58:41.045Z,1761587921.045 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:58:41.045Z,1761587921.045 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:58:41.045Z,1761587921.045 [marl:UpdateSpeed] Stopped
2025-10-27T17:58:41.045Z,1761587921.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:58:41.236Z,1761587921.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:41.386Z,1761587921.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525417,-0.788153,-0.320549],[0.850766,0.491786,0.185320],[0.011581,-0.370082,0.928927]]
2025-10-27T17:58:41.442Z,1761587921.442 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:58:41.442Z,1761587921.442 [marl:UpdateRudder:B] Stopped
2025-10-27T17:58:41.442Z,1761587921.442 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:58:41.442Z,1761587921.442 [marl:UpdateRudder] Stopped
2025-10-27T17:58:41.443Z,1761587921.443 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:58:41.488Z,1761587921.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:41.740Z,1761587921.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:41.802Z,1761587921.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539509,-0.780099,-0.316821],[0.841944,0.503336,0.194381],[0.007831,-0.371616,0.928354]]
2025-10-27T17:58:41.992Z,1761587921.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:42.194Z,1761587922.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551744,-0.772933,-0.313295],[0.834002,0.513305,0.202382],[0.004389,-0.372952,0.927840]]
2025-10-27T17:58:42.244Z,1761587922.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:42.496Z,1761587922.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:42.599Z,1761587922.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561923,-0.767508,-0.308503],[0.827189,0.521876,0.208338],[0.001099,-0.372260,0.928128]]
2025-10-27T17:58:42.748Z,1761587922.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:42.000Z,1761587923.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:43.004Z,1761587923.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569980,-0.763453,-0.303748],[0.821656,0.528567,0.213305],[-0.002297,-0.371156,0.928568]]
2025-10-27T17:58:43.252Z,1761587923.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:43.408Z,1761587923.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574478,-0.763417,-0.295244],[0.818499,0.533220,0.213859],[-0.005833,-0.364514,0.931180]]
2025-10-27T17:58:43.504Z,1761587923.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:43.757Z,1761587923.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:43.810Z,1761587923.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575272,-0.768417,-0.280353],[0.817902,0.536245,0.208511],[-0.009885,-0.349252,0.936977]]
2025-10-27T17:58:44.008Z,1761587924.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:44.214Z,1761587924.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573622,-0.776041,-0.262141],[0.818998,0.537850,0.199898],[-0.014137,-0.329359,0.944099]]
2025-10-27T17:58:44.261Z,1761587924.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:44.512Z,1761587924.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:44.618Z,1761587924.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570612,-0.784284,-0.243516],[0.821019,0.538260,0.190273],[-0.018153,-0.308503,0.951050]]
2025-10-27T17:58:44.766Z,1761587924.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:45.016Z,1761587925.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:45.029Z,1761587925.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568373,-0.791091,-0.226111],[0.822480,0.538983,0.181728],[-0.021894,-0.289262,0.957000]]
2025-10-27T17:58:45.269Z,1761587925.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:45.428Z,1761587925.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567338,-0.796829,-0.207825],[0.823089,0.540879,0.173134],[-0.025550,-0.269284,0.962722]]
2025-10-27T17:58:45.520Z,1761587925.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:45.775Z,1761587925.775 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:45.830Z,1761587925.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568295,-0.800325,-0.191104],[0.822293,0.544043,0.166891],[-0.029598,-0.251987,0.967278]]
2025-10-27T17:58:46.028Z,1761587926.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:46.234Z,1761587926.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571832,-0.801161,-0.176493],[0.819646,0.548909,0.163949],[-0.034471,-0.238413,0.970552]]
2025-10-27T17:58:46.281Z,1761587926.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:46.532Z,1761587926.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:46.638Z,1761587926.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576935,-0.800145,-0.164054],[0.815795,0.554582,0.164063],[-0.040293,-0.228488,0.972713]]
2025-10-27T17:58:46.785Z,1761587926.785 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:47.036Z,1761587927.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:47.045Z,1761587927.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583026,-0.797768,-0.153776],[0.811097,0.560599,0.166884],[-0.046928,-0.222025,0.973911]]
2025-10-27T17:58:47.288Z,1761587927.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:47.448Z,1761587927.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589362,-0.794592,-0.145862],[0.806058,0.566297,0.171982],[-0.054054,-0.218933,0.974241]]
2025-10-27T17:58:47.540Z,1761587927.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:47.792Z,1761587927.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:47.852Z,1761587927.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595100,-0.791678,-0.138209],[0.801288,0.571330,0.177535],[-0.061588,-0.216396,0.974361]]
2025-10-27T17:58:48.044Z,1761587928.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:48.265Z,1761587928.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599646,-0.789069,-0.133396],[0.797272,0.574641,0.184782],[-0.069151,-0.217157,0.973684]]
2025-10-27T17:58:48.296Z,1761587928.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:48.548Z,1761587928.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:48.658Z,1761587928.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602784,-0.787332,-0.129463],[0.794211,0.576449,0.192186],[-0.076686,-0.218668,0.972781]]
2025-10-27T17:58:48.804Z,1761587928.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:49.052Z,1761587929.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:49.064Z,1761587929.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603961,-0.786840,-0.126938],[0.792591,0.576188,0.199517],[-0.083848,-0.221111,0.971638]]
2025-10-27T17:58:49.304Z,1761587929.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:49.564Z,1761587929.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:49.808Z,1761587929.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:49.870Z,1761587929.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602691,-0.788178,-0.124653],[0.792185,0.572191,0.212228],[-0.095948,-0.226656,0.969237]]
2025-10-27T17:58:50.061Z,1761587930.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:50.282Z,1761587930.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600682,-0.789812,-0.124009],[0.793087,0.569071,0.217190],[-0.100970,-0.228812,0.968220]]
2025-10-27T17:58:50.312Z,1761587930.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:50.564Z,1761587930.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:50.678Z,1761587930.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598504,-0.791665,-0.122717],[0.794167,0.566168,0.220800],[-0.105321,-0.229607,0.967568]]
2025-10-27T17:58:50.818Z,1761587930.818 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:58:50.819Z,1761587930.819 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:58:50.820Z,1761587930.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:51.068Z,1761587931.068 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:58:51.068Z,1761587931.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:51.091Z,1761587931.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596646,-0.793155,-0.122145],[0.795049,0.563517,0.224378],[-0.109136,-0.230985,0.966817]]
2025-10-27T17:58:51.320Z,1761587931.320 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:58:51.321Z,1761587931.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:51.486Z,1761587931.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595858,-0.793960,-0.120753],[0.795154,0.562176,0.227349],[-0.112622,-0.231485,0.966298]]
2025-10-27T17:58:51.572Z,1761587931.572 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:58:51.572Z,1761587931.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:51.824Z,1761587931.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:51.890Z,1761587931.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595534,-0.794621,-0.117969],[0.794964,0.561804,0.228931],[-0.115638,-0.230117,0.966268]]
2025-10-27T17:58:52.076Z,1761587932.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:52.296Z,1761587932.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596169,-0.794452,-0.115880],[0.794085,0.562200,0.230997],[-0.118368,-0.229732,0.966029]]
2025-10-27T17:58:52.328Z,1761587932.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:52.580Z,1761587932.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:52.699Z,1761587932.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598102,-0.793412,-0.113012],[0.792182,0.563951,0.233256],[-0.121334,-0.229037,0.965826]]
2025-10-27T17:58:52.794Z,1761587932.794 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:58:52.834Z,1761587932.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:52.997Z,1761587932.997 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:58:52.997Z,1761587932.997 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:58:53.084Z,1761587933.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:53.102Z,1761587933.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600231,-0.792268,-0.109702],[0.790182,0.566152,0.234701],[-0.123838,-0.227560,0.965858]]
2025-10-27T17:58:53.336Z,1761587933.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:53.511Z,1761587933.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603418,-0.790085,-0.107946],[0.787351,0.568862,0.237645],[-0.126353,-0.228391,0.965335]]
2025-10-27T17:58:53.588Z,1761587933.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:53.840Z,1761587933.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:53.917Z,1761587933.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610866,-0.785107,-0.102222],[0.780698,0.575828,0.242759],[-0.131729,-0.228098,0.964686]]
2025-10-27T17:58:53.942Z,1761587933.942 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:58:53.943Z,1761587933.943 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:58:53.943Z,1761587933.943 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:58:53.943Z,1761587933.943 [marl:UpdateRudder:A] Stopped
2025-10-27T17:58:53.943Z,1761587933.943 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:58:53.943Z,1761587933.943 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode] Stopped
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:58:53.944Z,1761587933.944 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:58:53.945Z,1761587933.945 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:58:53.945Z,1761587933.945 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:58:53.945Z,1761587933.945 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:58:53.945Z,1761587933.945 [marl:UpdateSpeed] Stopped
2025-10-27T17:58:53.945Z,1761587933.945 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:58:54.092Z,1761587934.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:54.319Z,1761587934.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614900,-0.782263,-0.099810],[0.777031,0.579399,0.246009],[-0.134614,-0.228826,0.964115]]
2025-10-27T17:58:54.344Z,1761587934.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:54.353Z,1761587934.353 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:58:54.353Z,1761587934.353 [marl:UpdateRudder:B] Stopped
2025-10-27T17:58:54.354Z,1761587934.354 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:58:54.354Z,1761587934.354 [marl:UpdateRudder] Stopped
2025-10-27T17:58:54.354Z,1761587934.354 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:58:54.596Z,1761587934.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:54.725Z,1761587934.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618865,-0.779321,-0.098307],[0.773420,0.582698,0.249568],[-0.137210,-0.230482,0.963354]]
2025-10-27T17:58:54.852Z,1761587934.852 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:58:54.1060

2025-10-27T17:58:54.853Z,1761587934.853 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:58:54.855Z,1761587934.855 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:55.100Z,1761587935.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:55.352Z,1761587935.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:55.562Z,1761587935.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625434,-0.774398,-0.095606],[0.767351,0.588228,0.255265],[-0.141438,-0.233014,0.962133]]
2025-10-27T17:58:55.604Z,1761587935.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:55.856Z,1761587935.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:55.957Z,1761587935.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628014,-0.772378,-0.095029],[0.764859,0.590112,0.258376],[-0.143486,-0.234947,0.961359]]
2025-10-27T17:58:56.108Z,1761587936.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:56.360Z,1761587936.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:56.365Z,1761587936.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630580,-0.770368,-0.094349],[0.762316,0.591939,0.261692],[-0.145751,-0.236941,0.960529]]
2025-10-27T17:58:56.612Z,1761587936.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:56.779Z,1761587936.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632471,-0.768902,-0.093650],[0.760327,0.593185,0.264640],[-0.147931,-0.238582,0.959789]]
2025-10-27T17:58:56.864Z,1761587936.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:57.116Z,1761587937.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:57.176Z,1761587937.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634165,-0.767610,-0.092787],[0.758548,0.594404,0.266997],[-0.149796,-0.239704,0.959220]]
2025-10-27T17:58:57.368Z,1761587937.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:57.577Z,1761587937.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635740,-0.766365,-0.092302],[0.756945,0.595521,0.269053],[-0.151225,-0.240915,0.958692]]
2025-10-27T17:58:57.620Z,1761587937.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:57.872Z,1761587937.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:57.981Z,1761587937.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636673,-0.765608,-0.092154],[0.756039,0.596208,0.270075],[-0.151829,-0.241621,0.958419]]
2025-10-27T17:58:58.124Z,1761587938.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:58.377Z,1761587938.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:58.628Z,1761587938.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:58.820Z,1761587938.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638000,-0.764561,-0.091661],[0.754613,0.597071,0.272152],[-0.153348,-0.242802,0.957879]]
2025-10-27T17:58:58.880Z,1761587938.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:59.132Z,1761587939.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:59.193Z,1761587939.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637702,-0.764691,-0.092651],[0.754811,0.596368,0.273141],[-0.153614,-0.244116,0.957502]]
2025-10-27T17:58:59.386Z,1761587939.386 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:59.597Z,1761587939.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636692,-0.765537,-0.092612],[0.755589,0.595373,0.273160],[-0.153976,-0.243895,0.957500]]
2025-10-27T17:58:59.636Z,1761587939.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:58:59.892Z,1761587939.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:00.003Z,1761587940.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634687,-0.767039,-0.093934],[0.757282,0.593142,0.273324],[-0.153934,-0.244610,0.957325]]
2025-10-27T17:59:00.141Z,1761587940.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:00.392Z,1761587940.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:00.410Z,1761587940.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631826,-0.769252,-0.095121],[0.759791,0.590379,0.272341],[-0.153341,-0.244344,0.957488]]
2025-10-27T17:59:00.645Z,1761587940.645 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:00.896Z,1761587940.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:01.148Z,1761587941.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:01.266Z,1761587941.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623961,-0.774894,-0.101058],[0.767282,0.582982,0.267226],[-0.148157,-0.244279,0.958320]]
2025-10-27T17:59:01.402Z,1761587941.402 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:01.664Z,1761587941.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:01.669Z,1761587941.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619413,-0.778042,-0.104780],[0.771787,0.579044,0.262781],[-0.143782,-0.243638,0.959149]]
2025-10-27T17:59:01.921Z,1761587941.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:02.070Z,1761587942.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615270,-0.780642,-0.109732],[0.776080,0.575392,0.258117],[-0.138358,-0.243973,0.959862]]
2025-10-27T17:59:02.172Z,1761587942.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:02.424Z,1761587942.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:02.473Z,1761587942.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611500,-0.782931,-0.114399],[0.780158,0.572479,0.252231],[-0.131988,-0.243488,0.960881]]
2025-10-27T17:59:02.676Z,1761587942.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:02.884Z,1761587942.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609094,-0.784256,-0.118100],[0.783155,0.571245,0.245656],[-0.125193,-0.242118,0.962136]]
2025-10-27T17:59:02.928Z,1761587942.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:03.180Z,1761587943.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:03.287Z,1761587943.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608099,-0.784378,-0.122341],[0.785018,0.571204,0.239733],[-0.118159,-0.241821,0.963100]]
2025-10-27T17:59:03.435Z,1761587943.435 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:03.684Z,1761587943.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:03.691Z,1761587943.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608684,-0.783148,-0.127211],[0.785600,0.572449,0.234810],[-0.111069,-0.242862,0.963681]]
2025-10-27T17:59:03.936Z,1761587943.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:04.093Z,1761587944.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610836,-0.780542,-0.132789],[0.784895,0.574933,0.231068],[-0.104013,-0.245370,0.963833]]
2025-10-27T17:59:04.188Z,1761587944.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:04.440Z,1761587944.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:04.500Z,1761587944.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614306,-0.777045,-0.137219],[0.782985,0.578732,0.228045],[-0.097788,-0.247530,0.963933]]
2025-10-27T17:59:04.692Z,1761587944.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:04.944Z,1761587944.944 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:59:04.944Z,1761587944.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:05.196Z,1761587945.196 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:59:05.196Z,1761587945.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:05.305Z,1761587945.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622163,-0.769296,-0.145247],[0.778049,0.586985,0.223805],[-0.086915,-0.252252,0.963750]]
2025-10-27T17:59:05.448Z,1761587945.448 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:59:05.448Z,1761587945.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:05.507Z,1761587945.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:59:05.701Z,1761587945.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:05.716Z,1761587945.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625919,-0.765411,-0.149572],[0.775525,0.590603,0.223045],[-0.082383,-0.255604,0.963265]]
2025-10-27T17:59:05.952Z,1761587945.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:06.114Z,1761587946.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629241,-0.761907,-0.153470],[0.773265,0.593848,0.222277],[-0.078217,-0.258538,0.962829]]
2025-10-27T17:59:06.204Z,1761587946.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:06.456Z,1761587946.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:06.511Z,1761587946.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:59:06.522Z,1761587946.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632391,-0.758322,-0.158205],[0.771074,0.596604,0.222506],[-0.074345,-0.262698,0.962009]]
2025-10-27T17:59:06.709Z,1761587946.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:06.922Z,1761587946.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635169,-0.755073,-0.162559],[0.769133,0.599080,0.222570],[-0.070670,-0.266399,0.961269]]
2025-10-27T17:59:06.960Z,1761587946.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:07.004Z,1761587947.004 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:59:07.004Z,1761587947.004 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateRudder:A] Stopped
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:59:07.005Z,1761587947.005 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateCommandMode] Stopped
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:59:07.006Z,1761587947.006 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:59:07.007Z,1761587947.007 [marl:UpdateSpeed] Stopped
2025-10-27T17:59:07.011Z,1761587947.011 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:59:07.213Z,1761587947.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:07.326Z,1761587947.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637349,-0.752400,-0.166373],[0.767661,0.601205,0.221919],[-0.066948,-0.269158,0.960766]]
2025-10-27T17:59:07.380Z,1761587947.380 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:59:07.381Z,1761587947.381 [marl:UpdateRudder:B] Stopped
2025-10-27T17:59:07.381Z,1761587947.381 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:59:07.381Z,1761587947.381 [marl:UpdateRudder] Stopped
2025-10-27T17:59:07.381Z,1761587947.381 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:59:07.464Z,1761587947.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:07.717Z,1761587947.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:07.745Z,1761587947.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639100,-0.750263,-0.169286],[0.766561,0.603397,0.219764],[-0.062734,-0.270219,0.960753]]
2025-10-27T17:59:07.968Z,1761587947.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:08.135Z,1761587948.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640448,-0.748443,-0.172222],[0.765769,0.605235,0.217461],[-0.058522,-0.271155,0.960755]]
2025-10-27T17:59:08.220Z,1761587948.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:08.472Z,1761587948.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:08.728Z,1761587948.728 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:59:07.9559

2025-10-27T17:59:08.728Z,1761587948.728 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:59:08.729Z,1761587948.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:08.941Z,1761587948.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642497,-0.746182,-0.174384],[0.764614,0.609235,0.210234],[-0.050632,-0.268411,0.961973]]
2025-10-27T17:59:08.976Z,1761587948.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:09.228Z,1761587949.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:09.346Z,1761587949.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642790,-0.745913,-0.174455],[0.764618,0.610852,0.205474],[-0.046699,-0.265468,0.962988]]
2025-10-27T17:59:09.480Z,1761587949.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:09.733Z,1761587949.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:09.760Z,1761587949.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642421,-0.745994,-0.175464],[0.765153,0.611574,0.201291],[-0.042853,-0.263571,0.963688]]
2025-10-27T17:59:09.984Z,1761587949.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:10.153Z,1761587950.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641029,-0.747057,-0.176034],[0.766513,0.611397,0.196601],[-0.039245,-0.260960,0.964552]]
2025-10-27T17:59:10.236Z,1761587950.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:10.488Z,1761587950.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:10.557Z,1761587950.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639152,-0.748142,-0.178236],[0.768257,0.610367,0.192957],[-0.035570,-0.260260,0.964883]]
2025-10-27T17:59:10.742Z,1761587950.742 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:10.962Z,1761587950.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636110,-0.750478,-0.179294],[0.770955,0.608702,0.187375],[-0.031484,-0.257419,0.965787]]
2025-10-27T17:59:10.992Z,1761587950.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:11.244Z,1761587951.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:11.367Z,1761587951.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632603,-0.753193,-0.180317],[0.773991,0.606593,0.181615],[-0.027412,-0.254453,0.966697]]
2025-10-27T17:59:11.496Z,1761587951.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:11.748Z,1761587951.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:11.770Z,1761587951.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629111,-0.755500,-0.182864],[0.776978,0.604262,0.176555],[-0.022889,-0.253154,0.967155]]
2025-10-27T17:59:11.000Z,1761587952.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:12.174Z,1761587952.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625879,-0.757394,-0.186089],[0.779705,0.602040,0.172067],[-0.018290,-0.252788,0.967349]]
2025-10-27T17:59:12.252Z,1761587952.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:12.504Z,1761587952.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:12.580Z,1761587952.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623265,-0.758660,-0.189673],[0.781898,0.600446,0.167632],[-0.013287,-0.252784,0.967431]]
2025-10-27T17:59:12.757Z,1761587952.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:12.983Z,1761587952.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621158,-0.759544,-0.193016],[0.783640,0.599335,0.163420],[-0.008443,-0.252765,0.967491]]
2025-10-27T17:59:13.008Z,1761587953.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:13.261Z,1761587953.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:13.385Z,1761587953.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619610,-0.759968,-0.196295],[0.784898,0.598561,0.160187],[-0.004243,-0.253325,0.967372]]
2025-10-27T17:59:13.512Z,1761587953.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:13.764Z,1761587953.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:13.790Z,1761587953.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618945,-0.759840,-0.198874],[0.785434,0.598636,0.157250],[-0.000432,-0.253532,0.967327]]
2025-10-27T17:59:14.016Z,1761587954.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:14.200Z,1761587954.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618267,-0.759890,-0.200781],[0.785963,0.598668,0.154465],[0.002825,-0.253307,0.967382]]
2025-10-27T17:59:14.268Z,1761587954.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:14.520Z,1761587954.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:14.601Z,1761587954.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616972,-0.760751,-0.201501],[0.786965,0.598219,0.151066],[0.005618,-0.251777,0.967769]]
2025-10-27T17:59:14.772Z,1761587954.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:15.001Z,1761587955.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615171,-0.761832,-0.202920],[0.788355,0.596989,0.148664],[0.007884,-0.251426,0.967844]]
2025-10-27T17:59:15.024Z,1761587955.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:15.276Z,1761587955.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:15.406Z,1761587955.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612278,-0.763967,-0.203644],[0.790577,0.594887,0.145248],[0.010180,-0.249929,0.968211]]
2025-10-27T17:59:15.528Z,1761587955.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:15.780Z,1761587955.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:15.812Z,1761587955.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608276,-0.766739,-0.205213],[0.793623,0.591676,0.141709],[0.012766,-0.249060,0.968404]]
2025-10-27T17:59:16.032Z,1761587956.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:16.227Z,1761587956.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603526,-0.770309,-0.205864],[0.797195,0.587939,0.137143],[0.015393,-0.246883,0.968923]]
2025-10-27T17:59:16.286Z,1761587956.286 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:16.536Z,1761587956.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:16.617Z,1761587956.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598152,-0.774488,-0.205869],[0.801180,0.583714,0.131866],[0.018040,-0.243814,0.969654]]
2025-10-27T17:59:16.789Z,1761587956.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:17.021Z,1761587957.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592373,-0.778615,-0.207009],[0.805388,0.579010,0.126878],[0.021072,-0.241882,0.970077]]
2025-10-27T17:59:17.040Z,1761587957.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:17.292Z,1761587957.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:17.426Z,1761587957.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586591,-0.782755,-0.207859],[0.809504,0.574529,0.120913],[0.024776,-0.239189,0.970657]]
2025-10-27T17:59:17.544Z,1761587957.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:17.796Z,1761587957.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:17.830Z,1761587957.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581143,-0.786588,-0.208692],[0.813285,0.570486,0.114511],[0.028982,-0.236273,0.971254]]
2025-10-27T17:59:18.048Z,1761587958.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:18.235Z,1761587958.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576525,-0.789540,-0.210349],[0.816380,0.567269,0.108304],[0.033814,-0.234165,0.971609]]
2025-10-27T17:59:18.302Z,1761587958.302 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:18.552Z,1761587958.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:18.637Z,1761587958.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573211,-0.791399,-0.212406],[0.818479,0.565330,0.102442],[0.039007,-0.232571,0.971797]]
2025-10-27T17:59:18.806Z,1761587958.806 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:59:18.806Z,1761587958.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:19.042Z,1761587959.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571873,-0.791733,-0.214754],[0.819147,0.565248,0.097425],[0.044255,-0.231630,0.971797]]
2025-10-27T17:59:19.055Z,1761587959.055 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:59:19.056Z,1761587959.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:19.308Z,1761587959.308 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:59:19.308Z,1761587959.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:19.446Z,1761587959.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572301,-0.790628,-0.217666],[0.818534,0.566854,0.093159],[0.049731,-0.231482,0.971567]]
2025-10-27T17:59:19.561Z,1761587959.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:19.812Z,1761587959.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:19.852Z,1761587959.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574206,-0.788593,-0.220018],[0.816862,0.569884,0.089265],[0.054991,-0.230981,0.971403]]
2025-10-27T17:59:19.918Z,1761587959.918 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:59:19.918Z,1761587959.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:59:19.918Z,1761587959.918 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:59:19.919Z,1761587959.919 [marl:UpdateRudder:A] Stopped
2025-10-27T17:59:19.919Z,1761587959.919 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:59:19.919Z,1761587959.919 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:59:19.919Z,1761587959.919 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:59:19.919Z,1761587959.919 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateCommandMode] Stopped
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:59:19.920Z,1761587959.920 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:59:19.921Z,1761587959.921 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:59:19.921Z,1761587959.921 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:59:19.921Z,1761587959.921 [marl:UpdateSpeed] Stopped
2025-10-27T17:59:19.921Z,1761587959.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:59:20.064Z,1761587960.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:20.316Z,1761587960.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:20.385Z,1761587960.385 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:59:20.386Z,1761587960.386 [marl:UpdateRudder:B] Stopped
2025-10-27T17:59:20.386Z,1761587960.386 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:59:20.386Z,1761587960.386 [marl:UpdateRudder] Stopped
2025-10-27T17:59:20.386Z,1761587960.386 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:59:20.570Z,1761587960.570 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:20.658Z,1761587960.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580433,-0.783095,-0.223294],[0.811794,0.577992,0.083161],[0.063939,-0.229538,0.971197]]
2025-10-27T17:59:20.822Z,1761587960.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:21.062Z,1761587961.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584491,-0.779403,-0.225614],[0.808613,0.582539,0.082417],[0.067193,-0.230607,0.970724]]
2025-10-27T17:59:21.072Z,1761587961.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:21.324Z,1761587961.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:21.466Z,1761587961.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588895,-0.775714,-0.226870],[0.805245,0.587165,0.082571],[0.069159,-0.231311,0.970419]]
2025-10-27T17:59:21.576Z,1761587961.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:21.828Z,1761587961.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:21.962Z,1761587961.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598309,-0.768056,-0.228290],[0.798336,0.595754,0.087956],[0.068450,-0.234877,0.969612]]
2025-10-27T17:59:22.080Z,1761587962.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:22.332Z,1761587962.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:22.365Z,1761587962.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602767,-0.764414,-0.228789],[0.795209,0.599103,0.093373],[0.065692,-0.238217,0.968988]]
2025-10-27T17:59:22.586Z,1761587962.586 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:59:21.8559

2025-10-27T17:59:22.586Z,1761587962.586 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:59:22.587Z,1761587962.587 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:22.768Z,1761587962.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606886,-0.761176,-0.228691],[0.792431,0.601644,0.100388],[0.061177,-0.242146,0.968309]]
2025-10-27T17:59:22.841Z,1761587962.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:23.088Z,1761587963.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:23.210Z,1761587963.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609772,-0.759089,-0.227954],[0.790669,0.602548,0.108531],[0.054968,-0.246415,0.967604]]
2025-10-27T17:59:23.340Z,1761587963.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:23.592Z,1761587963.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:23.607Z,1761587963.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609900,-0.759477,-0.226310],[0.791010,0.600797,0.115528],[0.048225,-0.249474,0.967180]]
2025-10-27T17:59:23.844Z,1761587963.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:24.012Z,1761587964.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606684,-0.762777,-0.223844],[0.793825,0.596248,0.119710],[0.042155,-0.250319,0.967245]]
2025-10-27T17:59:24.102Z,1761587964.102 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:24.352Z,1761587964.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:24.414Z,1761587964.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601259,-0.767943,-0.220796],[0.798178,0.590153,0.120962],[0.037412,-0.248964,0.967790]]
2025-10-27T17:59:24.604Z,1761587964.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:24.858Z,1761587964.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:24.866Z,1761587964.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595474,-0.773265,-0.217882],[0.802661,0.584080,0.120773],[0.033871,-0.246802,0.968474]]
2025-10-27T17:59:25.108Z,1761587965.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:25.222Z,1761587965.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589493,-0.778512,-0.215446],[0.807177,0.577965,0.120087],[0.031031,-0.244694,0.969104]]
2025-10-27T17:59:25.361Z,1761587965.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:25.612Z,1761587965.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:25.630Z,1761587965.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583580,-0.783523,-0.213370],[0.811534,0.572128,0.118667],[0.029097,-0.242409,0.969738]]
2025-10-27T17:59:25.864Z,1761587965.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:26.029Z,1761587966.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578118,-0.788118,-0.211305],[0.815477,0.566911,0.116657],[0.027852,-0.239756,0.970434]]
2025-10-27T17:59:26.116Z,1761587966.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:26.368Z,1761587966.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:26.620Z,1761587966.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:26.874Z,1761587966.874 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:26.871Z,1761587966.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572517,-0.793155,-0.207678],[0.819496,0.561459,0.114848],[0.025510,-0.235943,0.971432]]
2025-10-27T17:59:27.128Z,1761587967.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:27.243Z,1761587967.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573100,-0.793018,-0.206589],[0.819132,0.561748,0.116020],[0.024045,-0.235715,0.971525]]
2025-10-27T17:59:27.380Z,1761587967.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:27.632Z,1761587967.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:27.647Z,1761587967.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574968,-0.792025,-0.205202],[0.817872,0.563224,0.117752],[0.022312,-0.235532,0.971610]]
2025-10-27T17:59:27.884Z,1761587967.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:28.137Z,1761587968.137 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:28.388Z,1761587968.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:28.454Z,1761587968.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581386,-0.788662,-0.200008],[0.813422,0.568937,0.121061],[0.018316,-0.233074,0.972287]]
2025-10-27T17:59:28.640Z,1761587968.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:28.878Z,1761587968.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585708,-0.786283,-0.196739],[0.810368,0.572819,0.123215],[0.015814,-0.231599,0.972683]]
2025-10-27T17:59:28.892Z,1761587968.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:29.148Z,1761587969.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:29.261Z,1761587969.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590675,-0.783183,-0.194237],[0.806810,0.577015,0.126927],[0.012671,-0.231684,0.972708]]
2025-10-27T17:59:29.396Z,1761587969.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:29.648Z,1761587969.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:29.674Z,1761587969.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595746,-0.780258,-0.190483],[0.803125,0.581297,0.130707],[0.008742,-0.230850,0.972950]]
2025-10-27T17:59:29.900Z,1761587969.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:30.071Z,1761587970.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599381,-0.778504,-0.186209],[0.800451,0.584240,0.133946],[0.004514,-0.229336,0.973337]]
2025-10-27T17:59:30.154Z,1761587970.154 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:30.404Z,1761587970.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:30.474Z,1761587970.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601076,-0.777992,-0.182854],[0.799192,0.585211,0.137189],[0.000276,-0.228596,0.973521]]
2025-10-27T17:59:30.659Z,1761587970.659 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:30.879Z,1761587970.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601060,-0.778536,-0.180577],[0.799196,0.584514,0.140105],[-0.003527,-0.228528,0.973531]]
2025-10-27T17:59:30.908Z,1761587970.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:31.161Z,1761587971.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:31.283Z,1761587971.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599791,-0.779767,-0.179483],[0.800126,0.582539,0.142989],[-0.006943,-0.229373,0.973314]]
2025-10-27T17:59:31.412Z,1761587971.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:31.665Z,1761587971.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:31.692Z,1761587971.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597479,-0.781453,-0.179864],[0.801826,0.579484,0.145855],[-0.009750,-0.231365,0.972818]]
2025-10-27T17:59:31.916Z,1761587971.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:32.090Z,1761587972.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594473,-0.783560,-0.180653],[0.804030,0.575951,0.147702],[-0.011686,-0.233055,0.972393]]
2025-10-27T17:59:32.169Z,1761587972.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:32.420Z,1761587972.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:32.495Z,1761587972.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590734,-0.786069,-0.182011],[0.806763,0.571829,0.148812],[-0.012898,-0.234748,0.971971]]
2025-10-27T17:59:32.673Z,1761587972.673 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:59:32.673Z,1761587972.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:32.898Z,1761587972.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586506,-0.788671,-0.184414],[0.809835,0.567284,0.149517],[-0.013305,-0.237038,0.971409]]
2025-10-27T17:59:32.924Z,1761587972.924 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:59:32.924Z,1761587972.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateRudder:A] Stopped
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:59:32.978Z,1761587972.978 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateCommandMode] Stopped
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:59:32.983Z,1761587972.983 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:59:32.984Z,1761587972.984 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:59:32.984Z,1761587972.984 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:59:32.984Z,1761587972.984 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:59:32.984Z,1761587972.984 [marl:UpdateSpeed] Stopped
2025-10-27T17:59:32.984Z,1761587972.984 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:59:33.177Z,1761587973.177 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:59:33.178Z,1761587973.178 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:33.301Z,1761587973.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582566,-0.790724,-0.188073],[0.812679,0.562978,0.150362],[-0.013014,-0.240439,0.970577]]
2025-10-27T17:59:33.340Z,1761587973.340 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:59:33.340Z,1761587973.340 [marl:UpdateRudder:B] Stopped
2025-10-27T17:59:33.341Z,1761587973.341 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:59:33.341Z,1761587973.341 [marl:UpdateRudder] Stopped
2025-10-27T17:59:33.341Z,1761587973.341 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:59:33.428Z,1761587973.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:33.681Z,1761587973.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:33.706Z,1761587973.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580529,-0.791488,-0.191136],[0.814148,0.560720,0.150853],[-0.012224,-0.243188,0.969902]]
2025-10-27T17:59:33.932Z,1761587973.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:34.111Z,1761587974.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580336,-0.790977,-0.193819],[0.814295,0.560228,0.151881],[-0.011551,-0.245968,0.969209]]
2025-10-27T17:59:34.185Z,1761587974.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:34.436Z,1761587974.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:34.514Z,1761587974.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581881,-0.789731,-0.194267],[0.813190,0.561551,0.152913],[-0.011669,-0.246953,0.968957]]
2025-10-27T17:59:34.688Z,1761587974.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:34.918Z,1761587974.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584682,-0.787949,-0.193087],[0.811180,0.564435,0.152969],[-0.011546,-0.246067,0.969184]]
2025-10-27T17:59:34.940Z,1761587974.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:35.192Z,1761587975.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:35.322Z,1761587975.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588410,-0.785328,-0.192444],[0.808477,0.567970,0.154191],[-0.011788,-0.246313,0.969119]]
2025-10-27T17:59:35.444Z,1761587975.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:35.696Z,1761587975.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:35.948Z,1761587975.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:36.130Z,1761587976.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598177,-0.778720,-0.189155],[0.801233,0.576917,0.158722],[-0.014473,-0.246501,0.969034]]
2025-10-27T17:59:36.200Z,1761587976.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:36.453Z,1761587976.453 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:59:35.7073

2025-10-27T17:59:36.453Z,1761587976.453 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:59:36.453Z,1761587976.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:36.533Z,1761587976.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603801,-0.775256,-0.185477],[0.796954,0.582133,0.161201],[-0.017000,-0.245150,0.969336]]
2025-10-27T17:59:36.640Z,1761587976.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T17:59:36.704Z,1761587976.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:36.944Z,1761587976.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609056,-0.771992,-0.181878],[0.792869,0.586774,0.164486],[-0.020260,-0.244387,0.969466]]
2025-10-27T17:59:36.956Z,1761587976.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:37.208Z,1761587977.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:37.343Z,1761587977.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612701,-0.770087,-0.177661],[0.789952,0.589938,0.167179],[-0.023933,-0.242775,0.969787]]
2025-10-27T17:59:37.461Z,1761587977.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:37.644Z,1761587977.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T17:59:37.712Z,1761587977.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:37.753Z,1761587977.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614350,-0.769494,-0.174510],[0.788554,0.591063,0.169783],[-0.027501,-0.241916,0.969907]]
2025-10-27T17:59:37.965Z,1761587977.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:38.161Z,1761587978.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613403,-0.770834,-0.171907],[0.789187,0.589894,0.170907],[-0.030334,-0.240501,0.970175]]
2025-10-27T17:59:38.216Z,1761587978.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:38.468Z,1761587978.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:38.554Z,1761587978.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610873,-0.773180,-0.170375],[0.791071,0.587294,0.171152],[-0.032271,-0.239331,0.970402]]
2025-10-27T17:59:38.721Z,1761587978.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:38.964Z,1761587978.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607086,-0.776070,-0.170769],[0.793964,0.583561,0.170524],[-0.032684,-0.239107,0.970443]]
2025-10-27T17:59:38.972Z,1761587978.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:39.224Z,1761587979.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:39.362Z,1761587979.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602842,-0.779065,-0.172159],[0.797239,0.579670,0.168501],[-0.031478,-0.238831,0.970551]]
2025-10-27T17:59:39.477Z,1761587979.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:39.728Z,1761587979.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:39.767Z,1761587979.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598726,-0.781819,-0.174031],[0.800425,0.576137,0.165487],[-0.029115,-0.238381,0.970735]]
2025-10-27T17:59:39.980Z,1761587979.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:40.175Z,1761587980.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595718,-0.783309,-0.177615],[0.802775,0.573524,0.163165],[-0.025942,-0.239785,0.970479]]
2025-10-27T17:59:40.232Z,1761587980.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:40.484Z,1761587980.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:40.575Z,1761587980.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595252,-0.782899,-0.180954],[0.803210,0.573281,0.161872],[-0.022992,-0.241699,0.970079]]
2025-10-27T17:59:40.736Z,1761587980.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:40.978Z,1761587980.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596568,-0.781350,-0.183300],[0.802286,0.574599,0.161783],[-0.021085,-0.243574,0.969653]]
2025-10-27T17:59:40.988Z,1761587980.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:41.240Z,1761587981.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:41.382Z,1761587981.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599346,-0.778502,-0.186332],[0.800242,0.576911,0.163664],[-0.019916,-0.247202,0.968759]]
2025-10-27T17:59:41.492Z,1761587981.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:41.744Z,1761587981.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:41.786Z,1761587981.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602755,-0.775618,-0.187360],[0.797676,0.579832,0.165856],[-0.020004,-0.249423,0.968188]]
2025-10-27T17:59:41.996Z,1761587981.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:42.191Z,1761587982.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605547,-0.773614,-0.186640],[0.795530,0.582229,0.167756],[-0.021111,-0.250062,0.968000]]
2025-10-27T17:59:42.248Z,1761587982.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:42.500Z,1761587982.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:42.594Z,1761587982.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607445,-0.772117,-0.186674],[0.794033,0.583422,0.170678],[-0.022874,-0.251902,0.967482]]
2025-10-27T17:59:42.752Z,1761587982.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:43.001Z,1761587983.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607619,-0.772166,-0.185901],[0.793834,0.583070,0.172790],[-0.025029,-0.252565,0.967256]]
2025-10-27T17:59:43.004Z,1761587983.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:43.256Z,1761587983.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:43.402Z,1761587983.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605788,-0.773879,-0.184747],[0.795165,0.580983,0.173702],[-0.027090,-0.252131,0.967314]]
2025-10-27T17:59:43.508Z,1761587983.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:43.760Z,1761587983.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:44.016Z,1761587984.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:44.209Z,1761587984.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597012,-0.781371,-0.181759],[0.801664,0.572544,0.171841],[-0.030207,-0.248300,0.968212]]
2025-10-27T17:59:44.268Z,1761587984.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:44.520Z,1761587984.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:44.615Z,1761587984.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591219,-0.785850,-0.181383],[0.805940,0.567206,0.169524],[-0.030339,-0.246410,0.968691]]
2025-10-27T17:59:44.772Z,1761587984.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:45.024Z,1761587985.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:45.034Z,1761587985.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585327,-0.790155,-0.181791],[0.810270,0.561965,0.166309],[-0.029249,-0.244645,0.969171]]
2025-10-27T17:59:45.276Z,1761587985.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:45.423Z,1761587985.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579654,-0.794013,-0.183154],[0.814423,0.557130,0.162239],[-0.026779,-0.243207,0.969605]]
2025-10-27T17:59:45.528Z,1761587985.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:45.780Z,1761587985.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:45.826Z,1761587985.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575029,-0.797088,-0.184369],[0.817814,0.553729,0.156730],[-0.022837,-0.240904,0.970280]]
2025-10-27T17:59:46.032Z,1761587986.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:46.230Z,1761587986.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571804,-0.798947,-0.186344],[0.820194,0.551756,0.151154],[-0.017948,-0.239268,0.970788]]
2025-10-27T17:59:46.254Z,1761587986.254 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:59:46.255Z,1761587986.255 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:59:46.255Z,1761587986.255 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:59:46.271Z,1761587986.271 [marl:UpdateRudder:A] Stopped
2025-10-27T17:59:46.271Z,1761587986.271 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:59:46.271Z,1761587986.271 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:59:46.271Z,1761587986.271 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateCommandMode] Stopped
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:59:46.272Z,1761587986.272 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:59:46.273Z,1761587986.273 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:59:46.273Z,1761587986.273 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:59:46.273Z,1761587986.273 [marl:UpdateSpeed] Stopped
2025-10-27T17:59:46.273Z,1761587986.273 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:59:46.284Z,1761587986.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:46.536Z,1761587986.536 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T17:59:46.536Z,1761587986.536 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T17:59:46.536Z,1761587986.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:46.649Z,1761587986.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570987,-0.798869,-0.189161],[0.820866,0.552104,0.146151],[-0.012319,-0.238726,0.971009]]
2025-10-27T17:59:46.706Z,1761587986.706 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:59:46.706Z,1761587986.706 [marl:UpdateRudder:B] Stopped
2025-10-27T17:59:46.706Z,1761587986.706 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:59:46.706Z,1761587986.706 [marl:UpdateRudder] Stopped
2025-10-27T17:59:46.706Z,1761587986.706 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:59:46.787Z,1761587986.787 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T17:59:46.788Z,1761587986.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:47.040Z,1761587987.040 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T17:59:47.040Z,1761587987.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:47.045Z,1761587987.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572381,-0.797408,-0.191104],[0.819961,0.554726,0.141217],[-0.006598,-0.237528,0.971358]]
2025-10-27T17:59:47.292Z,1761587987.292 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T17:59:47.292Z,1761587987.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:47.442Z,1761587987.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575971,-0.794156,-0.193839],[0.817469,0.559129,0.138273],[-0.001429,-0.238098,0.971240]]
2025-10-27T17:59:47.544Z,1761587987.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:47.796Z,1761587987.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:47.848Z,1761587987.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581276,-0.789496,-0.197016],[0.813701,0.564874,0.137143],[0.003015,-0.240030,0.970761]]
2025-10-27T17:59:48.048Z,1761587988.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:48.250Z,1761587988.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587328,-0.784045,-0.200798],[0.809322,0.570986,0.137744],[0.006656,-0.243411,0.969900]]
2025-10-27T17:59:48.300Z,1761587988.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:48.552Z,1761587988.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:48.658Z,1761587988.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593585,-0.778848,-0.202613],[0.804720,0.577281,0.138467],[0.009120,-0.245239,0.969420]]
2025-10-27T17:59:48.806Z,1761587988.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:49.056Z,1761587989.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:49.059Z,1761587989.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599732,-0.773512,-0.204943],[0.800137,0.582930,0.141327],[0.010149,-0.248741,0.968517]]
2025-10-27T17:59:49.308Z,1761587989.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:49.463Z,1761587989.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605084,-0.768710,-0.207263],[0.796100,0.587411,0.145509],[0.009894,-0.253047,0.967403]]
2025-10-27T17:59:49.560Z,1761587989.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:49.812Z,1761587989.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:49.866Z,1761587989.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609376,-0.764600,-0.209873],[0.792837,0.590415,0.151065],[0.008408,-0.258450,0.965988]]
2025-10-27T17:59:50.074Z,1761587990.074 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:50.328Z,1761587990.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:50.580Z,1761587990.580 [DAT](INFO): DAT read: Forwarding Delay UpTx time:17:59:49.8059

2025-10-27T17:59:50.581Z,1761587990.581 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T17:59:50.581Z,1761587990.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:50.674Z,1761587990.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611214,-0.762910,-0.210679],[0.791448,0.590926,0.156259],[0.005284,-0.262249,0.964986]]
2025-10-27T17:59:50.834Z,1761587990.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:51.084Z,1761587991.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:51.086Z,1761587991.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607273,-0.766108,-0.210471],[0.794475,0.587323,0.154468],[0.005275,-0.261019,0.965319]]
2025-10-27T17:59:51.336Z,1761587991.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:51.482Z,1761587991.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600932,-0.770535,-0.212500],[0.799271,0.581568,0.151475],[0.006866,-0.260871,0.965349]]
2025-10-27T17:59:51.588Z,1761587991.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:51.840Z,1761587991.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:51.886Z,1761587991.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593750,-0.775552,-0.214429],[0.804593,0.575385,0.146838],[0.009499,-0.259713,0.965639]]
2025-10-27T17:59:52.092Z,1761587992.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:52.290Z,1761587992.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586333,-0.780972,-0.215163],[0.809963,0.569512,0.140056],[0.013158,-0.256394,0.966483]]
2025-10-27T17:59:52.344Z,1761587992.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:52.596Z,1761587992.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:52.696Z,1761587992.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578971,-0.786103,-0.216413],[0.815153,0.563882,0.132526],[0.017852,-0.253139,0.967265]]
2025-10-27T17:59:52.850Z,1761587992.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:53.098Z,1761587993.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572447,-0.790618,-0.217318],[0.819593,0.559468,0.123542],[0.023908,-0.248834,0.968251]]
2025-10-27T17:59:53.100Z,1761587993.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:53.187Z,1761587993.187 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T17:59:53.327Z,1761587993.327 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T17:59:53.327Z,1761587993.327 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T17:59:53.352Z,1761587993.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:53.502Z,1761587993.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567252,-0.793914,-0.218918],[0.822968,0.556400,0.114640],[0.030792,-0.245192,0.968985]]
2025-10-27T17:59:53.604Z,1761587993.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:53.856Z,1761587993.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:53.906Z,1761587993.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564419,-0.795565,-0.220244],[0.824645,0.555461,0.106881],[0.037306,-0.241949,0.969572]]
2025-10-27T17:59:54.109Z,1761587994.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:54.310Z,1761587994.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564495,-0.795437,-0.220511],[0.824338,0.557034,0.100901],[0.042572,-0.238734,0.970151]]
2025-10-27T17:59:54.360Z,1761587994.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:54.613Z,1761587994.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:54.714Z,1761587994.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566312,-0.794088,-0.220714],[0.822877,0.559874,0.097031],[0.046521,-0.236570,0.970500]]
2025-10-27T17:59:54.864Z,1761587994.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:55.116Z,1761587995.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:55.135Z,1761587995.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568138,-0.792832,-0.220538],[0.821453,0.562436,0.094234],[0.049327,-0.234700,0.970816]]
2025-10-27T17:59:55.368Z,1761587995.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:55.522Z,1761587995.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570089,-0.791239,-0.221222],[0.819965,0.564844,0.092788],[0.051538,-0.234292,0.970799]]
2025-10-27T17:59:55.621Z,1761587995.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:55.872Z,1761587995.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:55.928Z,1761587995.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571331,-0.790306,-0.221352],[0.819024,0.566351,0.091902],[0.052732,-0.233799,0.970854]]
2025-10-27T17:59:56.126Z,1761587996.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:56.329Z,1761587996.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571687,-0.789937,-0.221752],[0.818748,0.566767,0.091801],[0.053165,-0.234040,0.970772]]
2025-10-27T17:59:56.378Z,1761587996.378 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:56.629Z,1761587996.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:56.741Z,1761587996.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570635,-0.790504,-0.222440],[0.819477,0.565702,0.091859],[0.053220,-0.234703,0.970609]]
2025-10-27T17:59:56.883Z,1761587996.883 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:57.132Z,1761587997.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:57.146Z,1761587997.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568837,-0.791246,-0.224395],[0.820701,0.563877,0.092155],[0.053614,-0.236582,0.970131]]
2025-10-27T17:59:57.384Z,1761587997.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:57.543Z,1761587997.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566009,-0.792357,-0.227605],[0.822582,0.561132,0.092139],[0.054710,-0.239376,0.969384]]
2025-10-27T17:59:57.638Z,1761587997.638 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:57.892Z,1761587997.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:57.945Z,1761587997.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562950,-0.793433,-0.231412],[0.824591,0.558165,0.092204],[0.056008,-0.242727,0.968477]]
2025-10-27T17:59:58.144Z,1761587998.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:58.350Z,1761587998.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559938,-0.794604,-0.234678],[0.826525,0.555420,0.091461],[0.057670,-0.245180,0.967761]]
2025-10-27T17:59:58.396Z,1761587998.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:58.648Z,1761587998.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:58.761Z,1761587998.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557599,-0.795456,-0.237346],[0.827995,0.553358,0.090658],[0.059223,-0.247073,0.967186]]
2025-10-27T17:59:58.901Z,1761587998.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:59.152Z,1761587999.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:59.159Z,1761587999.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555457,-0.796583,-0.238586],[0.829310,0.551696,0.088748],[0.060932,-0.247157,0.967058]]
2025-10-27T17:59:59.240Z,1761587999.240 [marl:UpdateRudder] Running Loop=1
2025-10-27T17:59:59.240Z,1761587999.240 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T17:59:59.240Z,1761587999.240 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateRudder:A] Stopped
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T17:59:59.241Z,1761587999.241 [marl:UpdateCommandMode:A] Stopped
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateCommandMode] Stopped
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateSpeed] Running Loop=1
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateSpeed:A] Stopped
2025-10-27T17:59:59.242Z,1761587999.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T17:59:59.243Z,1761587999.243 [marl:UpdateSpeed] Stopped
2025-10-27T17:59:59.243Z,1761587999.243 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T17:59:59.404Z,1761587999.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:59.562Z,1761587999.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553878,-0.797619,-0.238794],[0.830217,0.550767,0.086003],[0.062923,-0.245886,0.967254]]
2025-10-27T17:59:59.656Z,1761587999.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:59.661Z,1761587999.661 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T17:59:59.661Z,1761587999.661 [marl:UpdateRudder:B] Stopped
2025-10-27T17:59:59.661Z,1761587999.661 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T17:59:59.661Z,1761587999.661 [marl:UpdateRudder] Stopped
2025-10-27T17:59:59.661Z,1761587999.661 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T17:59:59.912Z,1761587999.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T17:59:59.974Z,1761587999.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552832,-0.798552,-0.238101],[0.830732,0.550539,0.082408],[0.065277,-0.243356,0.967738]]
2025-10-27T18:00:00.161Z,1761588000.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:00.383Z,1761588000.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552549,-0.799206,-0.236557],[0.830715,0.551170,0.078256],[0.067841,-0.239751,0.968461]]
2025-10-27T18:00:00.412Z,1761588000.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:00.668Z,1761588000.668 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:00:00.668Z,1761588000.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:00.916Z,1761588000.916 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:00:00.916Z,1761588000.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:01.168Z,1761588001.168 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:00:01.168Z,1761588001.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:01.225Z,1761588001.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557060,-0.797656,-0.231146],[0.827220,0.557562,0.069515],[0.073429,-0.229933,0.970432]]
2025-10-27T18:00:01.420Z,1761588001.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:01.630Z,1761588001.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560049,-0.795806,-0.230299],[0.825117,0.560750,0.068856],[0.074344,-0.228587,0.970681]]
2025-10-27T18:00:01.672Z,1761588001.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:01.924Z,1761588001.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:02.030Z,1761588002.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563553,-0.793413,-0.230009],[0.822659,0.564338,0.068950],[0.075097,-0.228076,0.970743]]
2025-10-27T18:00:02.176Z,1761588002.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:02.428Z,1761588002.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:02.438Z,1761588002.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567626,-0.790582,-0.229741],[0.819821,0.568360,0.069717],[0.075458,-0.227920,0.970752]]
2025-10-27T18:00:02.680Z,1761588002.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:02.866Z,1761588002.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571728,-0.787687,-0.229512],[0.816940,0.572381,0.070629],[0.075735,-0.227878,0.970740]]
2025-10-27T18:00:02.932Z,1761588002.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:03.186Z,1761588003.186 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:03.242Z,1761588003.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576340,-0.783969,-0.230705],[0.813726,0.576580,0.073522],[0.075381,-0.230104,0.970242]]
2025-10-27T18:00:03.436Z,1761588003.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:03.645Z,1761588003.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580874,-0.779990,-0.232812],[0.810595,0.580394,0.077968],[0.074308,-0.234006,0.969391]]
2025-10-27T18:00:03.688Z,1761588003.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:03.940Z,1761588003.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:04.051Z,1761588004.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584304,-0.776979,-0.234292],[0.808278,0.583016,0.082330],[0.072628,-0.237479,0.968674]]
2025-10-27T18:00:04.193Z,1761588004.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:04.444Z,1761588004.444 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:00:03.7059

2025-10-27T18:00:04.445Z,1761588004.445 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:00:04.445Z,1761588004.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:04.456Z,1761588004.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586349,-0.775049,-0.235570],[0.806976,0.584217,0.086485],[0.070594,-0.240810,0.968002]]
2025-10-27T18:00:04.698Z,1761588004.698 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:04.870Z,1761588004.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586836,-0.774898,-0.234854],[0.806858,0.583941,0.089408],[0.067859,-0.241962,0.967910]]
2025-10-27T18:00:04.948Z,1761588004.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:05.200Z,1761588005.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:05.261Z,1761588005.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585841,-0.775944,-0.233883],[0.807853,0.582113,0.092294],[0.064531,-0.243013,0.967874]]
2025-10-27T18:00:05.452Z,1761588005.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:05.704Z,1761588005.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:05.956Z,1761588005.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:06.070Z,1761588006.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580875,-0.780904,-0.229724],[0.812068,0.575342,0.097611],[0.055946,-0.243251,0.968349]]
2025-10-27T18:00:06.210Z,1761588006.210 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:06.460Z,1761588006.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:06.712Z,1761588006.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:06.878Z,1761588006.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572647,-0.788819,-0.223250],[0.818438,0.565793,0.100190],[0.047282,-0.240090,0.969599]]
2025-10-27T18:00:06.964Z,1761588006.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:07.216Z,1761588007.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:07.283Z,1761588007.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567564,-0.793350,-0.220152],[0.822160,0.560367,0.100208],[0.043866,-0.237875,0.970305]]
2025-10-27T18:00:07.468Z,1761588007.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:07.685Z,1761588007.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562199,-0.797940,-0.217312],[0.825954,0.554978,0.098990],[0.041615,-0.235141,0.971070]]
2025-10-27T18:00:07.720Z,1761588007.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:07.764Z,1761588007.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:00:07.972Z,1761588007.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:08.109Z,1761588008.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556657,-0.802501,-0.214766],[0.829745,0.549754,0.096407],[0.040702,-0.231867,0.971896]]
2025-10-27T18:00:08.224Z,1761588008.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:08.476Z,1761588008.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:08.497Z,1761588008.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552067,-0.806312,-0.212328],[0.832799,0.545700,0.093046],[0.040843,-0.228194,0.972759]]
2025-10-27T18:00:08.728Z,1761588008.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:08.767Z,1761588008.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:00:08.898Z,1761588008.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548961,-0.808917,-0.210464],[0.834815,0.543130,0.089961],[0.041538,-0.225084,0.973454]]
2025-10-27T18:00:08.982Z,1761588008.982 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:09.232Z,1761588009.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:09.302Z,1761588009.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548378,-0.809575,-0.209450],[0.835163,0.542875,0.088261],[0.042251,-0.223325,0.973828]]
2025-10-27T18:00:09.484Z,1761588009.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:09.744Z,1761588009.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:09.996Z,1761588009.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:10.125Z,1761588010.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554640,-0.805970,-0.206848],[0.831024,0.549123,0.088674],[0.042116,-0.221078,0.974346]]
2025-10-27T18:00:10.248Z,1761588010.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:10.500Z,1761588010.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:10.529Z,1761588010.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560114,-0.802497,-0.205601],[0.827401,0.554207,0.090900],[0.040999,-0.221028,0.974405]]
2025-10-27T18:00:10.752Z,1761588010.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:10.929Z,1761588010.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566472,-0.798396,-0.204139],[0.823158,0.559921,0.094334],[0.038986,-0.221477,0.974386]]
2025-10-27T18:00:11.004Z,1761588011.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:11.256Z,1761588011.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:11.333Z,1761588011.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573193,-0.793744,-0.203520],[0.818627,0.565626,0.099591],[0.036066,-0.223691,0.973993]]
2025-10-27T18:00:11.510Z,1761588011.510 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:11.745Z,1761588011.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580147,-0.789140,-0.201710],[0.813881,0.571384,0.105442],[0.032046,-0.225339,0.973753]]
2025-10-27T18:00:11.760Z,1761588011.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:12.012Z,1761588012.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:12.147Z,1761588012.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586653,-0.784489,-0.201033],[0.809370,0.576402,0.112609],[0.027535,-0.228773,0.973090]]
2025-10-27T18:00:12.171Z,1761588012.171 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:00:12.172Z,1761588012.172 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:00:12.172Z,1761588012.172 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:00:12.172Z,1761588012.172 [marl:UpdateRudder:A] Stopped
2025-10-27T18:00:12.172Z,1761588012.172 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:00:12.172Z,1761588012.172 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode] Stopped
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:00:12.173Z,1761588012.173 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed] Stopped
2025-10-27T18:00:12.174Z,1761588012.174 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:00:12.264Z,1761588012.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:12.516Z,1761588012.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:12.545Z,1761588012.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591534,-0.781381,-0.198826],[0.805950,0.580089,0.118075],[0.023075,-0.230089,0.972896]]
2025-10-27T18:00:12.602Z,1761588012.602 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:00:12.602Z,1761588012.602 [marl:UpdateRudder:B] Stopped
2025-10-27T18:00:12.602Z,1761588012.602 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:00:12.602Z,1761588012.602 [marl:UpdateRudder] Stopped
2025-10-27T18:00:12.602Z,1761588012.602 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:00:12.769Z,1761588012.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:12.949Z,1761588012.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593950,-0.779939,-0.197279],[0.804276,0.581471,0.122603],[0.019089,-0.231487,0.972651]]
2025-10-27T18:00:13.023Z,1761588013.023 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:13.272Z,1761588013.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:13.356Z,1761588013.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594608,-0.779585,-0.196692],[0.803853,0.581341,0.125948],[0.016158,-0.233001,0.972342]]
2025-10-27T18:00:13.524Z,1761588013.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:13.771Z,1761588013.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594270,-0.780350,-0.194669],[0.804159,0.580460,0.128041],[0.013081,-0.232636,0.972476]]
2025-10-27T18:00:13.776Z,1761588013.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:14.028Z,1761588014.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:14.189Z,1761588014.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592832,-0.781784,-0.193299],[0.805258,0.578571,0.129673],[0.010460,-0.232530,0.972533]]
2025-10-27T18:00:14.282Z,1761588014.282 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:14.532Z,1761588014.532 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:00:14.532Z,1761588014.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:14.604Z,1761588014.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591335,-0.783449,-0.191132],[0.806388,0.576767,0.130684],[0.007855,-0.231405,0.972826]]
2025-10-27T18:00:14.784Z,1761588014.784 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:00:14.785Z,1761588014.785 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:14.990Z,1761588014.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589881,-0.784728,-0.190374],[0.807471,0.574851,0.132426],[0.005519,-0.231837,0.972739]]
2025-10-27T18:00:15.036Z,1761588015.036 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:00:15.036Z,1761588015.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:15.288Z,1761588015.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:15.395Z,1761588015.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589994,-0.784345,-0.191598],[0.807398,0.574278,0.135325],[0.003889,-0.234537,0.972099]]
2025-10-27T18:00:15.540Z,1761588015.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:15.792Z,1761588015.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:15.802Z,1761588015.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593189,-0.780205,-0.198511],[0.805057,0.575823,0.142516],[0.003115,-0.244352,0.969682]]
2025-10-27T18:00:16.047Z,1761588016.047 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:16.202Z,1761588016.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599873,-0.771026,-0.213708],[0.800089,0.579153,0.156333],[0.003233,-0.264765,0.964307]]
2025-10-27T18:00:16.296Z,1761588016.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:16.548Z,1761588016.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:16.606Z,1761588016.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609616,-0.758129,-0.231537],[0.792687,0.584514,0.173180],[0.004044,-0.289110,0.957287]]
2025-10-27T18:00:16.802Z,1761588016.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:17.010Z,1761588017.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621281,-0.742917,-0.249167],[0.783569,0.591233,0.190954],[0.005453,-0.313875,0.949449]]
2025-10-27T18:00:17.052Z,1761588017.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:17.304Z,1761588017.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:17.557Z,1761588017.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:17.808Z,1761588017.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:17.843Z,1761588017.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647945,-0.708801,-0.278872],[0.761620,0.607776,0.224819],[0.010140,-0.358064,0.933642]]
2025-10-27T18:00:18.061Z,1761588018.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:18.246Z,1761588018.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662305,-0.691849,-0.287572],[0.749129,0.617931,0.238677],[0.012572,-0.373505,0.927543]]
2025-10-27T18:00:18.315Z,1761588018.315 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:00:17.5558

2025-10-27T18:00:18.315Z,1761588018.315 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:00:18.316Z,1761588018.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:18.565Z,1761588018.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:18.646Z,1761588018.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676861,-0.675007,-0.293640],[0.735956,0.628722,0.251154],[0.015088,-0.386103,0.922332]]
2025-10-27T18:00:18.818Z,1761588018.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:19.050Z,1761588019.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691524,-0.658900,-0.296048],[0.722147,0.640385,0.261554],[0.017246,-0.394661,0.918665]]
2025-10-27T18:00:19.068Z,1761588019.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:19.320Z,1761588019.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:19.461Z,1761588019.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706116,-0.643756,-0.294920],[0.707845,0.652806,0.269814],[0.018831,-0.399278,0.916637]]
2025-10-27T18:00:19.574Z,1761588019.574 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:19.824Z,1761588019.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:19.864Z,1761588019.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720044,-0.629447,-0.292119],[0.693639,0.665018,0.276797],[0.020036,-0.401931,0.915451]]
2025-10-27T18:00:20.077Z,1761588020.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:20.266Z,1761588020.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733067,-0.616709,-0.286850],[0.679858,0.676876,0.282191],[0.020132,-0.401882,0.915470]]
2025-10-27T18:00:20.328Z,1761588020.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:20.581Z,1761588020.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:20.670Z,1761588020.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744404,-0.605633,-0.281196],[0.667433,0.687424,0.286323],[0.019894,-0.400819,0.915941]]
2025-10-27T18:00:20.834Z,1761588020.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:21.082Z,1761588021.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754236,-0.596162,-0.275171],[0.656313,0.696964,0.288955],[0.019520,-0.398539,0.916944]]
2025-10-27T18:00:21.084Z,1761588021.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:21.336Z,1761588021.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:21.480Z,1761588021.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762592,-0.588358,-0.268865],[0.646612,0.705277,0.290649],[0.018619,-0.395498,0.918278]]
2025-10-27T18:00:21.588Z,1761588021.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:21.840Z,1761588021.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:21.882Z,1761588021.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769918,-0.581230,-0.263437],[0.637895,0.712506,0.292276],[0.017821,-0.393073,0.919334]]
2025-10-27T18:00:22.092Z,1761588022.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:22.286Z,1761588022.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776278,-0.574762,-0.258924],[0.630145,0.718960,0.293281],[0.017589,-0.390827,0.920296]]
2025-10-27T18:00:22.344Z,1761588022.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:22.597Z,1761588022.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:22.691Z,1761588022.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782102,-0.568480,-0.255238],[0.622899,0.724834,0.294301],[0.017701,-0.389161,0.921000]]
2025-10-27T18:00:22.850Z,1761588022.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:23.100Z,1761588023.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:23.141Z,1761588023.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787683,-0.561888,-0.252660],[0.615791,0.730635,0.294914],[0.018894,-0.387884,0.921514]]
2025-10-27T18:00:23.352Z,1761588023.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:23.543Z,1761588023.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793473,-0.554891,-0.249992],[0.608248,0.737103,0.294472],[0.020870,-0.385712,0.922383]]
2025-10-27T18:00:23.607Z,1761588023.607 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:23.856Z,1761588023.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:23.947Z,1761588023.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799954,-0.546199,-0.248475],[0.599601,0.743796,0.295374],[0.023482,-0.385272,0.922504]]
2025-10-27T18:00:24.108Z,1761588024.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:24.349Z,1761588024.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807414,-0.536316,-0.245862],[0.589390,0.751937,0.295312],[0.026492,-0.383348,0.923224]]
2025-10-27T18:00:24.360Z,1761588024.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:24.613Z,1761588024.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:24.760Z,1761588024.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815789,-0.524886,-0.242863],[0.577596,0.760834,0.295828],[0.029502,-0.381610,0.923852]]
2025-10-27T18:00:24.864Z,1761588024.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:25.117Z,1761588025.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:25.222Z,1761588025.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835028,-0.497303,-0.235409],[0.549054,0.780845,0.298029],[0.035608,-0.378115,0.925074]]
2025-10-27T18:00:25.271Z,1761588025.271 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:00:25.271Z,1761588025.271 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:00:25.271Z,1761588025.271 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateRudder:A] Stopped
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode] Stopped
2025-10-27T18:00:25.272Z,1761588025.272 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed] Stopped
2025-10-27T18:00:25.273Z,1761588025.273 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:00:25.368Z,1761588025.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:25.620Z,1761588025.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:25.630Z,1761588025.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845360,-0.481651,-0.231037],[0.532793,0.791531,0.299349],[0.038692,-0.376153,0.925749]]
2025-10-27T18:00:25.687Z,1761588025.687 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:00:25.687Z,1761588025.687 [marl:UpdateRudder:B] Stopped
2025-10-27T18:00:25.687Z,1761588025.687 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:00:25.687Z,1761588025.687 [marl:UpdateRudder] Stopped
2025-10-27T18:00:25.687Z,1761588025.687 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:00:25.872Z,1761588025.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:26.124Z,1761588026.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:26.155Z,1761588026.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856068,-0.464730,-0.226218],[0.515198,0.802344,0.301355],[0.041456,-0.374527,0.926289]]
2025-10-27T18:00:26.376Z,1761588026.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:26.571Z,1761588026.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866610,-0.447647,-0.220453],[0.497062,0.813218,0.302666],[0.043789,-0.371872,0.927251]]
2025-10-27T18:00:26.628Z,1761588026.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:26.880Z,1761588026.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:27.109Z,1761588027.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877631,-0.428744,-0.214339],[0.477212,0.823569,0.306599],[0.045071,-0.371366,0.927392]]
2025-10-27T18:00:27.132Z,1761588027.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:27.384Z,1761588027.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:27.554Z,1761588027.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888105,-0.410109,-0.207558],[0.457394,0.833123,0.310961],[0.045393,-0.371102,0.927482]]
2025-10-27T18:00:27.636Z,1761588027.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:27.889Z,1761588027.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:28.141Z,1761588028.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:28.392Z,1761588028.392 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:00:28.392Z,1761588028.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:28.421Z,1761588028.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915446,-0.356938,-0.185887],[0.400318,0.855035,0.329636],[0.041281,-0.376178,0.925627]]
2025-10-27T18:00:28.644Z,1761588028.644 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:00:28.644Z,1761588028.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:28.874Z,1761588028.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922110,-0.343082,-0.178909],[0.384937,0.860264,0.334319],[0.039210,-0.377147,0.925323]]
2025-10-27T18:00:28.896Z,1761588028.896 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:00:28.896Z,1761588028.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:29.148Z,1761588029.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:29.290Z,1761588029.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927626,-0.331120,-0.172828],[0.371654,0.864335,0.338819],[0.037191,-0.378529,0.924842]]
2025-10-27T18:00:29.400Z,1761588029.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:29.652Z,1761588029.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:29.795Z,1761588029.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932299,-0.320852,-0.166949],[0.359960,0.868154,0.341669],[0.035312,-0.378633,0.924873]]
2025-10-27T18:00:29.904Z,1761588029.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:30.156Z,1761588030.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:30.198Z,1761588030.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936337,-0.311600,-0.161798],[0.349479,0.871409,0.344252],[0.033723,-0.378881,0.924831]]
2025-10-27T18:00:30.415Z,1761588030.415 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:30.660Z,1761588030.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:30.680Z,1761588030.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940148,-0.302640,-0.156624],[0.339275,0.874268,0.347201],[0.031855,-0.379559,0.924619]]
2025-10-27T18:00:30.912Z,1761588030.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:31.152Z,1761588031.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943867,-0.294022,-0.150554],[0.328994,0.877640,0.348585],[0.029641,-0.378549,0.925106]]
2025-10-27T18:00:31.164Z,1761588031.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:31.417Z,1761588031.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:31.564Z,1761588031.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947506,-0.285021,-0.144901],[0.318533,0.880758,0.350432],[0.027742,-0.378192,0.925311]]
2025-10-27T18:00:31.668Z,1761588031.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:31.920Z,1761588031.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:31.957Z,1761588031.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951398,-0.274585,-0.139447],[0.306838,0.883877,0.353004],[0.026324,-0.378634,0.925172]]
2025-10-27T18:00:32.172Z,1761588032.172 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:00:31.4058

2025-10-27T18:00:32.173Z,1761588032.173 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:00:32.173Z,1761588032.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:32.362Z,1761588032.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955408,-0.263234,-0.133801],[0.294225,0.887034,0.355811],[0.025025,-0.379313,0.924930]]
2025-10-27T18:00:32.424Z,1761588032.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:32.676Z,1761588032.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:32.928Z,1761588032.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:33.183Z,1761588033.183 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:33.313Z,1761588033.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968348,-0.222048,-0.114003],[0.248629,0.898407,0.362006],[0.022039,-0.378892,0.925178]]
2025-10-27T18:00:33.432Z,1761588033.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:33.684Z,1761588033.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:33.714Z,1761588033.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972663,-0.206490,-0.106250],[0.231289,0.902371,0.363636],[0.020789,-0.378270,0.925462]]
2025-10-27T18:00:33.936Z,1761588033.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:34.120Z,1761588034.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976853,-0.190239,-0.097815],[0.213032,0.906623,0.364213],[0.019394,-0.376621,0.926165]]
2025-10-27T18:00:34.188Z,1761588034.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:34.440Z,1761588034.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:34.530Z,1761588034.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980827,-0.173207,-0.089313],[0.194049,0.910285,0.365685],[0.017961,-0.376005,0.926443]]
2025-10-27T18:00:34.692Z,1761588034.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:34.925Z,1761588034.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984602,-0.155263,-0.080327],[0.174041,0.913729,0.367165],[0.016390,-0.375491,0.926681]]
2025-10-27T18:00:34.944Z,1761588034.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:35.196Z,1761588035.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:35.361Z,1761588035.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988032,-0.136986,-0.070910],[0.153566,0.916836,0.368549],[0.014527,-0.375028,0.926900]]
2025-10-27T18:00:35.448Z,1761588035.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:35.700Z,1761588035.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:35.763Z,1761588035.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991080,-0.118522,-0.060928],[0.132703,0.919678,0.369570],[0.012232,-0.374358,0.927203]]
2025-10-27T18:00:35.952Z,1761588035.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:36.162Z,1761588036.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993681,-0.100117,-0.050733],[0.111799,0.922826,0.368636],[0.009911,-0.371979,0.928188]]
2025-10-27T18:00:36.204Z,1761588036.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:36.456Z,1761588036.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:36.568Z,1761588036.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995711,-0.082837,-0.041199],[0.092202,0.925210,0.368082],[0.007627,-0.370302,0.928880]]
2025-10-27T18:00:36.708Z,1761588036.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:36.960Z,1761588036.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:36.972Z,1761588036.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997268,-0.066511,-0.032129],[0.073665,0.927495,0.366506],[0.005423,-0.367871,0.929861]]
2025-10-27T18:00:37.212Z,1761588037.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:37.374Z,1761588037.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998382,-0.051577,-0.023945],[0.056756,0.929810,0.363638],[0.003509,-0.364409,0.931232]]
2025-10-27T18:00:37.465Z,1761588037.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:37.716Z,1761588037.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:37.778Z,1761588037.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999100,-0.038856,-0.017008],[0.042377,0.931509,0.361241],[0.001807,-0.361636,0.932318]]
2025-10-27T18:00:37.968Z,1761588037.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:38.185Z,1761588038.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999538,-0.028142,-0.011455],[0.030378,0.932813,0.359079],[0.000580,-0.359262,0.933237]]
2025-10-27T18:00:38.220Z,1761588038.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:38.474Z,1761588038.474 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:38.586Z,1761588038.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999810,-0.018314,-0.006622],[0.019471,0.933597,0.357797],[-0.000371,-0.357858,0.933776]]
2025-10-27T18:00:38.724Z,1761588038.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:38.892Z,1761588038.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:00:38.976Z,1761588038.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:39.084Z,1761588039.084 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:00:39.084Z,1761588039.084 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:00:39.084Z,1761588039.084 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:00:39.084Z,1761588039.084 [marl:UpdateRudder:A] Stopped
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode] Stopped
2025-10-27T18:00:39.085Z,1761588039.085 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed] Stopped
2025-10-27T18:00:39.086Z,1761588039.086 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:00:39.228Z,1761588039.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:39.400Z,1761588039.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999994,0.001970,0.002916],[-0.002894,0.931818,0.362915],[-0.002002,-0.362921,0.931818]]
2025-10-27T18:00:39.440Z,1761588039.440 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:00:39.440Z,1761588039.440 [marl:UpdateRudder:B] Stopped
2025-10-27T18:00:39.440Z,1761588039.440 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:00:39.440Z,1761588039.440 [marl:UpdateRudder] Stopped
2025-10-27T18:00:39.441Z,1761588039.441 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:00:39.481Z,1761588039.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:39.732Z,1761588039.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:39.798Z,1761588039.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999870,0.013591,0.008641],[-0.015812,0.930296,0.366469],[-0.003058,-0.366559,0.930390]]
2025-10-27T18:00:39.897Z,1761588039.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:00:39.984Z,1761588039.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:40.202Z,1761588040.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999495,0.027668,0.015627],[-0.031493,0.928058,0.371103],[-0.004235,-0.371408,0.928460]]
2025-10-27T18:00:40.240Z,1761588040.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:40.492Z,1761588040.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:40.606Z,1761588040.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998739,0.044000,0.024195],[-0.049863,0.925892,0.374483],[-0.005924,-0.375217,0.926918]]
2025-10-27T18:00:40.744Z,1761588040.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:40.996Z,1761588040.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:41.037Z,1761588041.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997630,0.059920,0.033830],[-0.068237,0.924857,0.374144],[-0.008869,-0.375566,0.926753]]
2025-10-27T18:00:41.248Z,1761588041.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:41.414Z,1761588041.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996415,0.072793,0.043109],[-0.083535,0.927157,0.365242],[-0.013382,-0.367533,0.929914]]
2025-10-27T18:00:41.500Z,1761588041.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:41.752Z,1761588041.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:41.819Z,1761588041.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995272,0.082494,0.051266],[-0.095183,0.933474,0.345783],[-0.019331,-0.349028,0.936913]]
2025-10-27T18:00:42.006Z,1761588042.006 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:42.224Z,1761588042.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994234,0.090073,0.058181],[-0.104112,0.940755,0.322708],[-0.025667,-0.326905,0.944709]]
2025-10-27T18:00:42.256Z,1761588042.256 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:00:42.256Z,1761588042.256 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:00:42.256Z,1761588042.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:42.509Z,1761588042.509 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:00:42.509Z,1761588042.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:42.627Z,1761588042.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993232,0.096585,0.064504],[-0.111596,0.947518,0.299592],[-0.032182,-0.304763,0.951885]]
2025-10-27T18:00:42.760Z,1761588042.760 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:00:42.760Z,1761588042.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:43.012Z,1761588043.012 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:00:43.012Z,1761588043.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:43.055Z,1761588043.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992247,0.102345,0.070506],[-0.118073,0.953358,0.277789],[-0.038787,-0.283960,0.958051]]
2025-10-27T18:00:43.264Z,1761588043.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:43.434Z,1761588043.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991296,0.107461,0.076060],[-0.123697,0.958034,0.258592],[-0.045079,-0.265750,0.962987]]
2025-10-27T18:00:43.517Z,1761588043.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:43.768Z,1761588043.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:44.021Z,1761588044.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:44.272Z,1761588044.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:44.525Z,1761588044.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:44.665Z,1761588044.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989308,0.114068,0.090875],[-0.131256,0.968008,0.213852],[-0.063574,-0.223493,0.972630]]
2025-10-27T18:00:44.776Z,1761588044.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:45.028Z,1761588045.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:45.053Z,1761588045.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988996,0.112546,0.096018],[-0.130308,0.970006,0.205202],[-0.070043,-0.215456,0.973998]]
2025-10-27T18:00:45.280Z,1761588045.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:45.454Z,1761588045.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988729,0.110346,0.101182],[-0.128864,0.971290,0.199975],[-0.076211,-0.210760,0.974562]]
2025-10-27T18:00:45.533Z,1761588045.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:45.784Z,1761588045.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:45.861Z,1761588045.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988523,0.107653,0.105981],[-0.126918,0.972326,0.196146],[-0.081933,-0.207346,0.974831]]
2025-10-27T18:00:46.036Z,1761588046.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:46.266Z,1761588046.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988363,0.104018,0.110992],[-0.124282,0.972910,0.194935],[-0.087708,-0.206461,0.974516]]
2025-10-27T18:00:46.288Z,1761588046.288 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:00:45.5558

2025-10-27T18:00:46.289Z,1761588046.289 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:00:46.289Z,1761588046.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:46.540Z,1761588046.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:46.792Z,1761588046.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:47.044Z,1761588047.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:47.264Z,1761588047.264 [CTD_Seabird](ERROR): Failed to parse device response: 15.93,12.953.57
2025-10-27T18:00:47.296Z,1761588047.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:47.487Z,1761588047.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988227,0.090219,0.123566],[-0.113860,0.973141,0.200082],[-0.102196,-0.211796,0.971956]]
2025-10-27T18:00:47.548Z,1761588047.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:47.800Z,1761588047.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:48.052Z,1761588048.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:48.294Z,1761588048.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988187,0.080317,0.130518],[-0.106964,0.971377,0.212097],[-0.109747,-0.223552,0.968494]]
2025-10-27T18:00:48.304Z,1761588048.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:48.557Z,1761588048.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:48.812Z,1761588048.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:49.060Z,1761588049.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:49.312Z,1761588049.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:49.522Z,1761588049.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987704,0.070459,0.139562],[-0.102132,0.966668,0.234779],[-0.118367,-0.246146,0.961978]]
2025-10-27T18:00:49.564Z,1761588049.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:49.816Z,1761588049.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:50.068Z,1761588050.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:50.320Z,1761588050.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:50.572Z,1761588050.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:50.719Z,1761588050.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985081,0.079621,0.152567],[-0.115730,0.962625,0.244866],[-0.127369,-0.258870,0.957478]]
2025-10-27T18:00:50.827Z,1761588050.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:51.076Z,1761588051.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:51.328Z,1761588051.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:51.528Z,1761588051.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982461,0.090995,0.162758],[-0.128568,0.962764,0.237814],[-0.135058,-0.254568,0.957577]]
2025-10-27T18:00:51.580Z,1761588051.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:51.832Z,1761588051.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:51.930Z,1761588051.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981102,0.097212,0.167298],[-0.134771,0.963729,0.230353],[-0.138837,-0.248546,0.958618]]
2025-10-27T18:00:51.974Z,1761588051.974 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:00:51.974Z,1761588051.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:00:51.975Z,1761588051.975 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:00:51.979Z,1761588051.979 [marl:UpdateRudder:A] Stopped
2025-10-27T18:00:51.979Z,1761588051.979 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:00:51.980Z,1761588051.980 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:00:51.980Z,1761588051.980 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:00:51.980Z,1761588051.980 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:00:51.981Z,1761588051.981 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:00:51.981Z,1761588051.981 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:00:51.982Z,1761588051.982 [marl:UpdateCommandMode] Stopped
2025-10-27T18:00:51.982Z,1761588051.982 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:00:51.982Z,1761588051.982 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:00:51.982Z,1761588051.982 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:00:51.987Z,1761588051.987 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:00:51.988Z,1761588051.988 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:00:51.988Z,1761588051.988 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:00:51.988Z,1761588051.988 [marl:UpdateSpeed] Stopped
2025-10-27T18:00:51.989Z,1761588051.989 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:00:52.084Z,1761588052.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:52.336Z,1761588052.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:52.338Z,1761588052.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979795,0.103734,0.170999],[-0.140749,0.965058,0.221026],[-0.142096,-0.240628,0.960160]]
2025-10-27T18:00:52.394Z,1761588052.394 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:00:52.395Z,1761588052.395 [marl:UpdateRudder:B] Stopped
2025-10-27T18:00:52.399Z,1761588052.399 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:00:52.399Z,1761588052.399 [marl:UpdateRudder] Stopped
2025-10-27T18:00:52.399Z,1761588052.399 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:00:52.588Z,1761588052.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:52.746Z,1761588052.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978491,0.110689,0.174080],[-0.147074,0.966044,0.212432],[-0.144655,-0.233465,0.961545]]
2025-10-27T18:00:52.842Z,1761588052.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:53.093Z,1761588053.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:53.181Z,1761588053.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977217,0.117625,0.176664],[-0.153487,0.966553,0.205469],[-0.146587,-0.227904,0.962586]]
2025-10-27T18:00:53.265Z,1761588053.265 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:00:53.344Z,1761588053.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:53.353Z,1761588053.353 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:00:53.354Z,1761588053.354 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:00:53.570Z,1761588053.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975865,0.125152,0.178954],[-0.160570,0.966633,0.199596],[-0.148003,-0.223514,0.963399]]
2025-10-27T18:00:53.596Z,1761588053.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:53.848Z,1761588053.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:54.027Z,1761588054.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974510,0.132405,0.181104],[-0.167482,0.966474,0.194622],[-0.149264,-0.219993,0.964014]]
2025-10-27T18:00:54.100Z,1761588054.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:54.352Z,1761588054.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:54.414Z,1761588054.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973137,0.139274,0.183323],[-0.174450,0.965689,0.192383],[-0.150240,-0.219196,0.964044]]
2025-10-27T18:00:54.607Z,1761588054.607 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:54.858Z,1761588054.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:55.108Z,1761588055.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:55.360Z,1761588055.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:55.612Z,1761588055.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:55.702Z,1761588055.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971289,0.152121,0.182912],[-0.189037,0.960296,0.205174],[-0.144438,-0.233860,0.961482]]
2025-10-27T18:00:55.864Z,1761588055.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:56.109Z,1761588056.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971037,0.154386,0.182353],[-0.194075,0.954815,0.225083],[-0.139364,-0.253954,0.957124]]
2025-10-27T18:00:56.116Z,1761588056.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:56.368Z,1761588056.368 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:00:56.368Z,1761588056.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:56.518Z,1761588056.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970514,0.157918,0.182109],[-0.201116,0.946959,0.250641],[-0.132869,-0.279876,0.950797]]
2025-10-27T18:00:56.620Z,1761588056.620 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:00:56.620Z,1761588056.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:56.872Z,1761588056.872 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:00:56.872Z,1761588056.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:57.124Z,1761588057.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:57.376Z,1761588057.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:57.609Z,1761588057.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968261,0.171367,0.181947],[-0.221023,0.926955,0.303156],[-0.116705,-0.333748,0.935410]]
2025-10-27T18:00:57.628Z,1761588057.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:57.880Z,1761588057.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:58.102Z,1761588058.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964223,0.190137,0.184722],[-0.246006,0.901415,0.356274],[-0.098771,-0.388970,0.915940]]
2025-10-27T18:00:58.132Z,1761588058.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:58.384Z,1761588058.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:58.508Z,1761588058.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961661,0.200325,0.187291],[-0.258858,0.888579,0.378707],[-0.090558,-0.412670,0.906368]]
2025-10-27T18:00:58.636Z,1761588058.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:58.888Z,1761588058.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:58.911Z,1761588058.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958910,0.210632,0.190066],[-0.271207,0.877229,0.396127],[-0.083294,-0.431397,0.898309]]
2025-10-27T18:00:59.141Z,1761588059.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:59.337Z,1761588059.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955929,0.221542,0.192664],[-0.283355,0.867979,0.407827],[-0.076877,-0.444446,0.892501]]
2025-10-27T18:00:59.392Z,1761588059.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:59.646Z,1761588059.646 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:00:59.745Z,1761588059.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952504,0.233585,0.195381],[-0.296076,0.860427,0.414735],[-0.071235,-0.452884,0.888719]]
2025-10-27T18:00:59.896Z,1761588059.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:00.145Z,1761588060.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948077,0.248991,0.197872],[-0.311183,0.854733,0.415447],[-0.065685,-0.455450,0.887835]]
2025-10-27T18:01:00.148Z,1761588060.148 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:00:59.4057

2025-10-27T18:01:00.149Z,1761588060.149 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:01:00.149Z,1761588060.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:00.400Z,1761588060.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:00.545Z,1761588060.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942917,0.266714,0.199428],[-0.327483,0.851410,0.409703],[-0.060522,-0.451625,0.890153]]
2025-10-27T18:01:00.653Z,1761588060.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:00.904Z,1761588060.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:01.156Z,1761588061.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:01.354Z,1761588061.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931469,0.304810,0.198638],[-0.360161,0.849790,0.384890],[-0.051482,-0.430055,0.901334]]
2025-10-27T18:01:01.408Z,1761588061.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:01.660Z,1761588061.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:01.805Z,1761588061.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925587,0.323805,0.196061],[-0.375589,0.850100,0.369137],[-0.047143,-0.415307,0.908459]]
2025-10-27T18:01:01.912Z,1761588061.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:02.168Z,1761588062.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:02.353Z,1761588062.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919657,0.342433,0.192279],[-0.390395,0.850370,0.352793],[-0.042700,-0.399513,0.915733]]
2025-10-27T18:01:02.416Z,1761588062.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:02.668Z,1761588062.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:02.920Z,1761588062.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:02.924Z,1761588062.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907306,0.378113,0.183920],[-0.419148,0.848015,0.324324],[-0.033336,-0.371351,0.927894]]
2025-10-27T18:01:03.172Z,1761588063.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:03.424Z,1761588063.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:03.493Z,1761588063.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900556,0.395949,0.179511],[-0.433873,0.844643,0.313580],[-0.027461,-0.360281,0.932439]]
2025-10-27T18:01:03.676Z,1761588063.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:03.877Z,1761588063.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893491,0.413390,0.175449],[-0.448621,0.839312,0.307073],[-0.020316,-0.353077,0.935374]]
2025-10-27T18:01:03.928Z,1761588063.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:04.181Z,1761588064.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:04.432Z,1761588064.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:04.684Z,1761588064.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:04.697Z,1761588064.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880502,0.442562,0.169868],[-0.474026,0.825008,0.307670],[-0.003979,-0.351426,0.936207]]
2025-10-27T18:01:04.936Z,1761588064.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:05.188Z,1761588065.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:05.440Z,1761588065.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:05.692Z,1761588065.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:05.905Z,1761588065.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864786,0.470491,0.175451],[-0.501770,0.796251,0.337951],[0.019300,-0.380292,0.924665]]
2025-10-27T18:01:05.944Z,1761588065.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:06.014Z,1761588066.014 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:01:06.014Z,1761588066.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:01:06.014Z,1761588066.014 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:01:06.014Z,1761588066.014 [marl:UpdateRudder:A] Stopped
2025-10-27T18:01:06.014Z,1761588066.014 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:01:06.015Z,1761588066.015 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:01:06.015Z,1761588066.015 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:01:06.015Z,1761588066.015 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:01:06.015Z,1761588066.015 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateCommandMode] Stopped
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:01:06.016Z,1761588066.016 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:01:06.017Z,1761588066.017 [marl:UpdateSpeed] Stopped
2025-10-27T18:01:06.017Z,1761588066.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:01:06.197Z,1761588066.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:06.420Z,1761588066.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858791,0.478494,0.183087],[-0.511704,0.783514,0.352512],[0.025224,-0.396421,0.917722]]
2025-10-27T18:01:06.452Z,1761588066.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:06.492Z,1761588066.492 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:01:06.492Z,1761588066.492 [marl:UpdateRudder:B] Stopped
2025-10-27T18:01:06.492Z,1761588066.492 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:01:06.492Z,1761588066.492 [marl:UpdateRudder] Stopped
2025-10-27T18:01:06.493Z,1761588066.493 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:01:06.700Z,1761588066.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:06.953Z,1761588066.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:07.204Z,1761588067.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:07.420Z,1761588067.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838419,0.503396,0.208917],[-0.544073,0.750358,0.375429],[0.032227,-0.428433,0.902999]]
2025-10-27T18:01:07.458Z,1761588067.458 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:07.708Z,1761588067.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:07.932Z,1761588067.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828834,0.516126,0.215979],[-0.558545,0.740821,0.373112],[0.032571,-0.429882,0.902297]]
2025-10-27T18:01:07.961Z,1761588067.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:08.212Z,1761588068.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:08.333Z,1761588068.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818441,0.531102,0.219284],[-0.573677,0.733767,0.363979],[0.032406,-0.423693,0.905226]]
2025-10-27T18:01:08.464Z,1761588068.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:08.717Z,1761588068.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:08.750Z,1761588068.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808050,0.546365,0.220318],[-0.588251,0.728093,0.351911],[0.031860,-0.413964,0.909736]]
2025-10-27T18:01:08.969Z,1761588068.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:09.211Z,1761588069.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797890,0.561940,0.218163],[-0.601969,0.723740,0.337392],[0.031701,-0.400529,0.915735]]
2025-10-27T18:01:09.220Z,1761588069.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:09.474Z,1761588069.474 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:09.605Z,1761588069.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787698,0.577843,0.213610],[-0.615190,0.719360,0.322587],[0.032742,-0.385512,0.922122]]
2025-10-27T18:01:09.724Z,1761588069.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:09.976Z,1761588069.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:10.015Z,1761588070.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:01:10.228Z,1761588070.228 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:01:10.228Z,1761588070.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:10.422Z,1761588070.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765747,0.609485,0.205329],[-0.641936,0.704767,0.302030],[0.039374,-0.363087,0.930923]]
2025-10-27T18:01:10.479Z,1761588070.479 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:01:10.480Z,1761588070.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:10.732Z,1761588070.732 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:01:10.732Z,1761588070.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:10.861Z,1761588070.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753421,0.625661,0.202250],[-0.655960,0.693873,0.297081],[0.045537,-0.356495,0.933187]]
2025-10-27T18:01:10.984Z,1761588070.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:11.020Z,1761588071.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:01:11.236Z,1761588071.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:11.488Z,1761588071.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:11.629Z,1761588071.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728713,0.654310,0.202129],[-0.682145,0.667470,0.298600],[0.060462,-0.355474,0.932728]]
2025-10-27T18:01:11.740Z,1761588071.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:11.992Z,1761588071.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:12.131Z,1761588072.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712034,0.670772,0.207539],[-0.698439,0.646300,0.307374],[0.072046,-0.363814,0.928681]]
2025-10-27T18:01:12.244Z,1761588072.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:12.496Z,1761588072.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:12.530Z,1761588072.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704018,0.676832,0.215073],[-0.706031,0.634340,0.314854],[0.076673,-0.373511,0.924452]]
2025-10-27T18:01:12.748Z,1761588072.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:12.000Z,1761588073.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:13.252Z,1761588073.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:13.432Z,1761588073.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687225,0.687187,0.235578],[-0.721979,0.610184,0.326223],[0.080430,-0.394271,0.915468]]
2025-10-27T18:01:13.504Z,1761588073.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:13.756Z,1761588073.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:13.844Z,1761588073.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678707,0.691877,0.246297],[-0.730186,0.599811,0.327193],[0.078645,-0.401911,0.912295]]
2025-10-27T18:01:14.008Z,1761588074.008 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:01:13.2557

2025-10-27T18:01:14.008Z,1761588074.008 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:01:14.009Z,1761588074.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:14.242Z,1761588074.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670058,0.696255,0.257394],[-0.738565,0.590536,0.325252],[0.074458,-0.408040,0.909923]]
2025-10-27T18:01:14.260Z,1761588074.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:14.512Z,1761588074.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:14.647Z,1761588074.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659941,0.702497,0.266413],[-0.748119,0.581747,0.319200],[0.069252,-0.409961,0.909470]]
2025-10-27T18:01:14.764Z,1761588074.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:15.016Z,1761588075.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:15.051Z,1761588075.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647382,0.711695,0.272741],[-0.759429,0.572039,0.309903],[0.064538,-0.407753,0.910809]]
2025-10-27T18:01:15.268Z,1761588075.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:15.464Z,1761588075.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632914,0.722690,0.277740],[-0.771861,0.560989,0.299201],[0.060420,-0.403746,0.912874]]
2025-10-27T18:01:15.520Z,1761588075.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:15.773Z,1761588075.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:15.858Z,1761588075.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617428,0.735195,0.279770],[-0.784592,0.549995,0.286219],[0.056555,-0.396225,0.916410]]
2025-10-27T18:01:16.024Z,1761588076.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:16.276Z,1761588076.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:16.280Z,1761588076.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601516,0.748143,0.280109],[-0.797087,0.538727,0.272809],[0.053198,-0.387370,0.920388]]
2025-10-27T18:01:16.528Z,1761588076.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:16.680Z,1761588076.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585210,0.760836,0.280459],[-0.809332,0.526672,0.259995],[0.050104,-0.379136,0.923983]]
2025-10-27T18:01:16.782Z,1761588076.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:17.032Z,1761588077.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:17.284Z,1761588077.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:17.525Z,1761588077.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550403,0.785961,0.281641],[-0.833718,0.499471,0.235465],[0.044395,-0.364410,0.930180]]
2025-10-27T18:01:17.536Z,1761588077.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:17.788Z,1761588077.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:17.938Z,1761588077.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531990,0.797968,0.283256],[-0.845712,0.484166,0.224397],[0.041918,-0.358930,0.932423]]
2025-10-27T18:01:18.041Z,1761588078.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:18.292Z,1761588078.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:18.333Z,1761588078.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513338,0.809271,0.285595],[-0.857283,0.468305,0.213906],[0.039363,-0.354642,0.934173]]
2025-10-27T18:01:18.544Z,1761588078.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:18.745Z,1761588078.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494341,0.820111,0.288176],[-0.868473,0.451785,0.204068],[0.037165,-0.351153,0.935580]]
2025-10-27T18:01:18.798Z,1761588078.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:19.048Z,1761588079.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:19.300Z,1761588079.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:19.552Z,1761588079.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:19.590Z,1761588079.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456410,0.839061,0.296087],[-0.889146,0.417637,0.187080],[0.033314,-0.348649,0.936661]]
2025-10-27T18:01:19.628Z,1761588079.628 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:01:19.628Z,1761588079.628 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateRudder:A] Stopped
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:01:19.629Z,1761588079.629 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateCommandMode] Stopped
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:01:19.630Z,1761588079.630 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:01:19.631Z,1761588079.631 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:01:19.631Z,1761588079.631 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:01:19.631Z,1761588079.631 [marl:UpdateSpeed] Stopped
2025-10-27T18:01:19.631Z,1761588079.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:01:19.804Z,1761588079.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:20.054Z,1761588080.054 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:01:20.054Z,1761588080.054 [marl:UpdateRudder:B] Stopped
2025-10-27T18:01:20.054Z,1761588080.054 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:01:20.054Z,1761588080.054 [marl:UpdateRudder] Stopped
2025-10-27T18:01:20.054Z,1761588080.054 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:01:20.056Z,1761588080.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:20.308Z,1761588080.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:20.403Z,1761588080.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420758,0.854903,0.303487],[-0.906673,0.385187,0.171976],[0.030124,-0.347524,0.937187]]
2025-10-27T18:01:20.560Z,1761588080.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:20.814Z,1761588080.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:20.865Z,1761588080.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404912,0.861255,0.307061],[-0.913911,0.370743,0.165274],[0.028502,-0.347548,0.937229]]
2025-10-27T18:01:21.064Z,1761588081.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:21.206Z,1761588081.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389999,0.866358,0.311969],[-0.920403,0.356629,0.160232],[0.027561,-0.349628,0.936483]]
2025-10-27T18:01:21.320Z,1761588081.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:21.572Z,1761588081.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:21.824Z,1761588081.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:22.013Z,1761588082.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366982,0.874080,0.318289],[-0.929861,0.335085,0.151911],[0.026128,-0.351713,0.935743]]
2025-10-27T18:01:22.076Z,1761588082.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:22.328Z,1761588082.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:22.435Z,1761588082.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361780,0.878196,0.312868],[-0.931935,0.331763,0.146394],[0.024765,-0.344535,0.938447]]
2025-10-27T18:01:22.580Z,1761588082.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:22.834Z,1761588082.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:22.881Z,1761588082.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361538,0.884330,0.295383],[-0.932165,0.336405,0.133794],[0.018950,-0.323717,0.945964]]
2025-10-27T18:01:23.084Z,1761588083.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:23.337Z,1761588083.337 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:23.588Z,1761588083.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:23.630Z,1761588083.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364554,0.886358,0.285430],[-0.931081,0.342441,0.125789],[0.013751,-0.311615,0.950109]]
2025-10-27T18:01:23.840Z,1761588083.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:24.035Z,1761588084.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368500,0.888245,0.274277],[-0.929607,0.350115,0.115108],[0.006215,-0.297387,0.954737]]
2025-10-27T18:01:24.092Z,1761588084.092 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:01:24.093Z,1761588084.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:24.344Z,1761588084.344 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:01:24.344Z,1761588084.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:24.450Z,1761588084.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372865,0.889077,0.265543],[-0.927878,0.358428,0.102820],[-0.003763,-0.284730,0.958600]]
2025-10-27T18:01:24.596Z,1761588084.596 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:01:24.596Z,1761588084.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:24.850Z,1761588084.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:24.886Z,1761588084.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378298,0.891421,0.249517],[-0.925276,0.372134,0.073353],[-0.027466,-0.258622,0.965588]]
2025-10-27T18:01:25.100Z,1761588085.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:25.352Z,1761588085.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:25.604Z,1761588085.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:25.652Z,1761588085.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376823,0.894263,0.241450],[-0.925515,0.374123,0.058774],[-0.037772,-0.245613,0.968632]]
2025-10-27T18:01:25.856Z,1761588085.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:26.053Z,1761588086.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372109,0.898248,0.233849],[-0.927039,0.372199,0.045465],[-0.046200,-0.233705,0.971209]]
2025-10-27T18:01:26.108Z,1761588086.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:26.360Z,1761588086.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:26.457Z,1761588086.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365626,0.902868,0.226158],[-0.929247,0.367948,0.033377],[-0.053080,-0.222360,0.973519]]
2025-10-27T18:01:26.613Z,1761588086.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:26.864Z,1761588086.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:26.883Z,1761588086.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350964,0.910523,0.218570],[-0.934315,0.356040,0.017059],[-0.062287,-0.210200,0.975672]]
2025-10-27T18:01:27.116Z,1761588087.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:27.284Z,1761588087.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346506,0.912509,0.217396],[-0.935708,0.352590,0.011441],[-0.066211,-0.207384,0.976016]]
2025-10-27T18:01:27.368Z,1761588087.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:27.620Z,1761588087.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:27.688Z,1761588087.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345233,0.912826,0.218089],[-0.935881,0.352242,0.007157],[-0.070286,-0.206576,0.975903]]
2025-10-27T18:01:27.873Z,1761588087.873 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:01:27.1057

2025-10-27T18:01:27.873Z,1761588087.873 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:01:27.873Z,1761588087.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:28.090Z,1761588088.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345303,0.912599,0.218926],[-0.935567,0.353130,0.003603],[-0.074021,-0.206065,0.975735]]
2025-10-27T18:01:28.124Z,1761588088.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:28.376Z,1761588088.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:28.491Z,1761588088.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346699,0.911337,0.221955],[-0.934746,0.355314,0.001194],[-0.077775,-0.207886,0.975056]]
2025-10-27T18:01:28.628Z,1761588088.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:28.880Z,1761588088.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:28.903Z,1761588088.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348959,0.909694,0.225132],[-0.933574,0.358383,-0.001067],[-0.081654,-0.209806,0.974328]]
2025-10-27T18:01:29.132Z,1761588089.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:29.302Z,1761588089.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351939,0.907519,0.229234],[-0.932054,0.362303,-0.003364],[-0.086105,-0.212474,0.973366]]
2025-10-27T18:01:29.386Z,1761588089.386 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:29.636Z,1761588089.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:29.889Z,1761588089.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:30.106Z,1761588090.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353663,0.905694,0.233752],[-0.930647,0.365801,-0.009278],[-0.093909,-0.214260,0.972252]]
2025-10-27T18:01:30.140Z,1761588090.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:30.392Z,1761588090.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:30.509Z,1761588090.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351528,0.906085,0.235453],[-0.931178,0.364369,-0.011950],[-0.096619,-0.215048,0.971812]]
2025-10-27T18:01:30.644Z,1761588090.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:30.897Z,1761588090.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:30.936Z,1761588090.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347892,0.906992,0.237355],[-0.932286,0.361425,-0.014642],[-0.099066,-0.216189,0.971313]]
2025-10-27T18:01:31.148Z,1761588091.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:31.319Z,1761588091.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343017,0.908423,0.238969],[-0.933863,0.357206,-0.017422],[-0.101188,-0.217188,0.970871]]
2025-10-27T18:01:31.401Z,1761588091.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:31.652Z,1761588091.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:31.905Z,1761588091.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:32.126Z,1761588092.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330957,0.912764,0.239435],[-0.937942,0.346046,-0.022720],[-0.103593,-0.217057,0.970647]]
2025-10-27T18:01:32.156Z,1761588092.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:32.411Z,1761588092.411 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:32.529Z,1761588092.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325115,0.914659,0.240206],[-0.939952,0.340451,-0.024162],[-0.103878,-0.217927,0.970421]]
2025-10-27T18:01:32.554Z,1761588092.554 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:01:32.554Z,1761588092.554 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:01:32.554Z,1761588092.554 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:01:32.554Z,1761588092.554 [marl:UpdateRudder:A] Stopped
2025-10-27T18:01:32.554Z,1761588092.554 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:01:32.555Z,1761588092.555 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:01:32.555Z,1761588092.555 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:01:32.555Z,1761588092.555 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:01:32.555Z,1761588092.555 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:01:32.555Z,1761588092.555 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateCommandMode] Stopped
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:01:32.556Z,1761588092.556 [marl:UpdateSpeed] Stopped
2025-10-27T18:01:32.557Z,1761588092.557 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:01:32.664Z,1761588092.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:32.917Z,1761588092.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:32.942Z,1761588092.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320999,0.916193,0.239894],[-0.941370,0.336430,-0.025243],[-0.103835,-0.217726,0.970471]]
2025-10-27T18:01:33.006Z,1761588093.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:01:33.006Z,1761588093.006 [marl:UpdateRudder:B] Stopped
2025-10-27T18:01:33.006Z,1761588093.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:01:33.006Z,1761588093.006 [marl:UpdateRudder] Stopped
2025-10-27T18:01:33.006Z,1761588093.006 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:01:33.170Z,1761588093.170 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:33.337Z,1761588093.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318609,0.916915,0.240325],[-0.942228,0.334019,-0.025237],[-0.103413,-0.218400,0.970364]]
2025-10-27T18:01:33.421Z,1761588093.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:33.672Z,1761588093.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:33.749Z,1761588093.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317888,0.916933,0.241207],[-0.942565,0.333144,-0.024213],[-0.102558,-0.219656,0.970172]]
2025-10-27T18:01:33.924Z,1761588093.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:34.145Z,1761588094.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318624,0.916035,0.243637],[-0.942431,0.333672,-0.022057],[-0.101500,-0.222583,0.969616]]
2025-10-27T18:01:34.176Z,1761588094.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:34.431Z,1761588094.431 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:34.681Z,1761588094.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:34.932Z,1761588094.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:34.950Z,1761588094.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323280,0.912910,0.249171],[-0.941156,0.337602,-0.015825],[-0.098568,-0.229393,0.968330]]
2025-10-27T18:01:35.184Z,1761588095.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:35.354Z,1761588095.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326502,0.910525,0.253656],[-0.940249,0.340302,-0.011274],[-0.096585,-0.234818,0.967229]]
2025-10-27T18:01:35.436Z,1761588095.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:35.688Z,1761588095.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:35.764Z,1761588095.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328048,0.907768,0.261422],[-0.939950,0.341268,-0.005522],[-0.094228,-0.243912,0.965209]]
2025-10-27T18:01:35.940Z,1761588095.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:36.171Z,1761588096.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326474,0.903627,0.277259],[-0.940777,0.339013,0.002879],[-0.091393,-0.261778,0.960791]]
2025-10-27T18:01:36.192Z,1761588096.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:36.444Z,1761588096.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:36.570Z,1761588096.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321413,0.898673,0.298464],[-0.942876,0.332888,0.013051],[-0.087627,-0.285609,0.954332]]
2025-10-27T18:01:36.696Z,1761588096.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:36.948Z,1761588096.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:37.085Z,1761588097.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312533,0.893806,0.321611],[-0.946318,0.322368,0.023697],[-0.082496,-0.311753,0.946575]]
2025-10-27T18:01:37.200Z,1761588097.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:37.452Z,1761588097.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:37.628Z,1761588097.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300193,0.890433,0.342073],[-0.950836,0.307952,0.032811],[-0.076126,-0.335105,0.939100]]
2025-10-27T18:01:37.705Z,1761588097.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:37.956Z,1761588097.956 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:01:37.956Z,1761588097.956 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:01:37.956Z,1761588097.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:38.029Z,1761588098.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285227,0.887295,0.362425],[-0.955963,0.290639,0.040792],[-0.069141,-0.358100,0.931120]]
2025-10-27T18:01:38.208Z,1761588098.208 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:01:38.208Z,1761588098.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:38.430Z,1761588098.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268863,0.886523,0.376549],[-0.961162,0.272231,0.045363],[-0.062293,-0.374122,0.925285]]
2025-10-27T18:01:38.459Z,1761588098.459 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:01:38.460Z,1761588098.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:38.715Z,1761588098.715 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:01:38.717Z,1761588098.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:38.872Z,1761588098.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250816,0.888443,0.384396],[-0.966444,0.252573,0.046834],[-0.055478,-0.383244,0.921979]]
2025-10-27T18:01:38.964Z,1761588098.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:39.216Z,1761588099.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:39.280Z,1761588099.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231632,0.891342,0.389687],[-0.971586,0.232002,0.046850],[-0.048648,-0.389466,0.919755]]
2025-10-27T18:01:39.468Z,1761588099.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:39.720Z,1761588099.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:39.972Z,1761588099.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:40.096Z,1761588100.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169832,0.904539,0.391109],[-0.985087,0.166927,0.041695],[-0.027572,-0.392358,0.919399]]
2025-10-27T18:01:40.224Z,1761588100.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:40.485Z,1761588100.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:40.511Z,1761588100.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149921,0.908995,0.388911],[-0.988479,0.146089,0.039598],[-0.020822,-0.390367,0.920424]]
2025-10-27T18:01:40.736Z,1761588100.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:40.908Z,1761588100.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131614,0.912879,0.386432],[-0.991198,0.126815,0.038011],[-0.014306,-0.388034,0.921534]]
2025-10-27T18:01:40.988Z,1761588100.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:41.151Z,1761588101.151 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:01:41.240Z,1761588101.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:41.315Z,1761588101.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115145,0.915631,0.385177],[-0.993317,0.109213,0.037326],[-0.007890,-0.386901,0.922087]]
2025-10-27T18:01:41.492Z,1761588101.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:41.718Z,1761588101.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100883,0.917896,0.383782],[-0.994896,0.093810,0.037158],[-0.001895,-0.385572,0.922676]]
2025-10-27T18:01:41.745Z,1761588101.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:41.996Z,1761588101.996 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:01:41.2556

2025-10-27T18:01:41.996Z,1761588101.996 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:01:41.997Z,1761588101.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:42.125Z,1761588102.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088482,0.919347,0.383370],[-0.996069,0.080050,0.037929],[0.004181,-0.385219,0.922816]]
2025-10-27T18:01:42.155Z,1761588102.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:01:42.248Z,1761588102.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:42.502Z,1761588102.502 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:42.598Z,1761588102.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077953,0.919738,0.384713],[-0.996906,0.068023,0.039376],[0.010046,-0.386593,0.922196]]
2025-10-27T18:01:42.752Z,1761588102.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:43.004Z,1761588103.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:43.115Z,1761588103.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068458,0.919708,0.386588],[-0.997536,0.057153,0.040679],[0.015318,-0.388421,0.921355]]
2025-10-27T18:01:43.257Z,1761588103.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:43.508Z,1761588103.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:43.605Z,1761588103.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059373,0.918947,0.389886],[-0.998042,0.046957,0.041309],[0.019653,-0.391575,0.919936]]
2025-10-27T18:01:43.760Z,1761588103.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:44.010Z,1761588104.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049104,0.919248,0.390604],[-0.998518,0.035992,0.040824],[0.023469,-0.392030,0.919653]]
2025-10-27T18:01:44.012Z,1761588104.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:44.267Z,1761588104.267 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:44.417Z,1761588104.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037212,0.920330,0.389369],[-0.998963,0.024029,0.038675],[0.026237,-0.390404,0.920270]]
2025-10-27T18:01:44.516Z,1761588104.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:44.768Z,1761588104.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:44.861Z,1761588104.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022380,0.921493,0.387749],[-0.999334,0.009434,0.035259],[0.028833,-0.388280,0.921090]]
2025-10-27T18:01:45.020Z,1761588105.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:45.220Z,1761588105.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004740,0.923366,0.383891],[-0.999492,-0.007725,0.030922],[0.031518,-0.383842,0.922861]]
2025-10-27T18:01:45.273Z,1761588105.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:45.524Z,1761588105.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:45.623Z,1761588105.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014911,0.924797,0.380169],[-0.999301,-0.026822,0.026051],[0.034289,-0.379515,0.924550]]
2025-10-27T18:01:45.776Z,1761588105.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:46.028Z,1761588106.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:46.099Z,1761588106.099 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:01:46.099Z,1761588106.099 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateRudder:A] Stopped
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:01:46.100Z,1761588106.100 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateCommandMode] Stopped
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:01:46.101Z,1761588106.101 [marl:UpdateSpeed] Stopped
2025-10-27T18:01:46.102Z,1761588106.102 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:01:46.282Z,1761588106.282 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:46.532Z,1761588106.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:46.554Z,1761588106.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080428,0.925580,0.369908],[-0.995757,-0.091260,0.011845],[0.044722,-0.367386,0.928993]]
2025-10-27T18:01:46.613Z,1761588106.613 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:01:46.613Z,1761588106.613 [marl:UpdateRudder:B] Stopped
2025-10-27T18:01:46.613Z,1761588106.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:01:46.613Z,1761588106.613 [marl:UpdateRudder] Stopped
2025-10-27T18:01:46.613Z,1761588106.613 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:01:46.784Z,1761588106.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:46.962Z,1761588106.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100863,0.923201,0.370845],[-0.993710,-0.111714,0.007835],[0.048662,-0.367722,0.928662]]
2025-10-27T18:01:47.036Z,1761588107.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:47.288Z,1761588107.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:47.494Z,1761588107.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118489,0.918910,0.376252],[-0.991556,-0.129608,0.004278],[0.052697,-0.372568,0.926508]]
2025-10-27T18:01:47.540Z,1761588107.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:47.796Z,1761588107.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:47.912Z,1761588107.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133093,0.914291,0.382569],[-0.989485,-0.144630,0.001413],[0.056623,-0.378358,0.923926]]
2025-10-27T18:01:48.044Z,1761588108.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:48.296Z,1761588108.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:48.316Z,1761588108.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145059,0.909667,0.389183],[-0.987580,-0.157113,-0.000864],[0.060360,-0.384475,0.921160]]
2025-10-27T18:01:48.548Z,1761588108.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:48.718Z,1761588108.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155055,0.905324,0.395408],[-0.985848,-0.167621,-0.002805],[0.063740,-0.390246,0.918501]]
2025-10-27T18:01:48.802Z,1761588108.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:49.052Z,1761588109.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:49.305Z,1761588109.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:49.530Z,1761588109.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172278,0.900080,0.400220],[-0.982661,-0.185305,-0.006250],[0.068537,-0.394357,0.916398]]
2025-10-27T18:01:49.556Z,1761588109.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:49.808Z,1761588109.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:50.057Z,1761588110.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181728,0.899311,0.397763],[-0.980907,-0.194274,-0.008913],[0.069259,-0.391788,0.917445]]
2025-10-27T18:01:50.060Z,1761588110.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:50.312Z,1761588110.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:50.564Z,1761588110.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:50.818Z,1761588110.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:51.024Z,1761588111.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231134,0.898180,0.373964],[-0.970468,-0.240121,-0.023094],[0.069054,-0.368258,0.927156]]
2025-10-27T18:01:51.068Z,1761588111.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:51.321Z,1761588111.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:51.421Z,1761588111.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253770,0.895457,0.365730],[-0.964848,-0.261052,-0.030319],[0.068325,-0.360568,0.930227]]
2025-10-27T18:01:51.572Z,1761588111.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:51.824Z,1761588111.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:51.827Z,1761588111.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277796,0.890456,0.360441],[-0.958221,-0.283461,-0.038232],[0.068127,-0.356003,0.931998]]
2025-10-27T18:01:52.079Z,1761588112.079 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:01:52.100Z,1761588112.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:52.232Z,1761588112.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301731,0.883497,0.358319],[-0.950896,-0.306064,-0.046071],[0.068964,-0.354625,0.932462]]
2025-10-27T18:01:52.328Z,1761588112.328 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:01:52.329Z,1761588112.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:52.585Z,1761588112.585 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:01:52.585Z,1761588112.585 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:52.645Z,1761588112.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323241,0.875087,0.360191],[-0.943691,-0.326416,-0.053854],[0.070445,-0.357316,0.931323]]
2025-10-27T18:01:52.838Z,1761588112.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:53.037Z,1761588113.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340762,0.866667,0.364375],[-0.937390,-0.342882,-0.061097],[0.071986,-0.362381,0.929246]]
2025-10-27T18:01:53.088Z,1761588113.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:53.340Z,1761588113.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:53.439Z,1761588113.439 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:01:53.439Z,1761588113.439 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:01:53.550Z,1761588113.550 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:01:53.593Z,1761588113.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:53.844Z,1761588113.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:53.896Z,1761588113.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363929,0.851746,0.376940],[-0.928419,-0.364219,-0.073370],[0.074796,-0.376660,0.923327]]
2025-10-27T18:01:54.096Z,1761588114.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:54.294Z,1761588114.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373041,0.845641,0.381748],[-0.924744,-0.372326,-0.078884],[0.075427,-0.382446,0.920894]]
2025-10-27T18:01:54.349Z,1761588114.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:54.600Z,1761588114.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:54.729Z,1761588114.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380516,0.841136,0.384314],[-0.921732,-0.378642,-0.083901],[0.074945,-0.386161,0.919382]]
2025-10-27T18:01:54.859Z,1761588114.859 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:55.102Z,1761588115.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387673,0.838422,0.383091],[-0.918867,-0.384599,-0.088136],[0.073442,-0.386177,0.919496]]
2025-10-27T18:01:55.108Z,1761588115.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:55.361Z,1761588115.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:55.560Z,1761588115.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395826,0.836835,0.378192],[-0.915530,-0.391712,-0.091467],[0.071599,-0.382452,0.921197]]
2025-10-27T18:01:55.612Z,1761588115.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:55.868Z,1761588115.868 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:01:55.1056

2025-10-27T18:01:55.868Z,1761588115.868 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:01:55.868Z,1761588115.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:55.949Z,1761588115.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407488,0.834026,0.371960],[-0.910541,-0.402188,-0.095708],[0.069775,-0.377685,0.923301]]
2025-10-27T18:01:56.116Z,1761588116.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:56.369Z,1761588116.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:56.465Z,1761588116.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423106,0.830869,0.361440],[-0.903556,-0.416658,-0.099911],[0.067584,-0.368854,0.927027]]
2025-10-27T18:01:56.620Z,1761588116.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:56.873Z,1761588116.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:56.964Z,1761588116.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460821,0.819675,0.340261],[-0.885328,-0.451331,-0.111777],[0.061949,-0.352752,0.933664]]
2025-10-27T18:01:57.124Z,1761588117.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:57.372Z,1761588117.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481417,0.811770,0.330555],[-0.874489,-0.470330,-0.118572],[0.059217,-0.346150,0.936309]]
2025-10-27T18:01:57.382Z,1761588117.382 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:57.628Z,1761588117.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:57.768Z,1761588117.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502906,0.801309,0.324020],[-0.862462,-0.489925,-0.127016],[0.056967,-0.343332,0.937485]]
2025-10-27T18:01:57.880Z,1761588117.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:58.132Z,1761588118.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:58.384Z,1761588118.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:58.586Z,1761588118.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546555,0.774701,0.317987],[-0.835718,-0.528806,-0.148118],[0.053406,-0.346703,0.936453]]
2025-10-27T18:01:58.636Z,1761588118.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:58.888Z,1761588118.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:59.008Z,1761588119.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567871,0.759898,0.316350],[-0.821488,-0.547388,-0.159760],[0.051765,-0.350601,0.935093]]
2025-10-27T18:01:59.140Z,1761588119.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:59.386Z,1761588119.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587476,0.744715,0.316657],[-0.807715,-0.563637,-0.172945],[0.049685,-0.357369,0.932641]]
2025-10-27T18:01:59.392Z,1761588119.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:59.645Z,1761588119.645 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:01:59.853Z,1761588119.853 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:01:59.853Z,1761588119.853 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:01:59.854Z,1761588119.854 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:01:59.854Z,1761588119.854 [marl:UpdateRudder:A] Stopped
2025-10-27T18:01:59.854Z,1761588119.854 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:01:59.855Z,1761588119.855 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:01:59.855Z,1761588119.855 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:01:59.856Z,1761588119.856 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:01:59.856Z,1761588119.856 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:01:59.856Z,1761588119.856 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:01:59.856Z,1761588119.856 [marl:UpdateCommandMode] Stopped
2025-10-27T18:01:59.856Z,1761588119.856 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:01:59.857Z,1761588119.857 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:01:59.857Z,1761588119.857 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:01:59.857Z,1761588119.857 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:01:59.857Z,1761588119.857 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:01:59.857Z,1761588119.857 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:01:59.858Z,1761588119.858 [marl:UpdateSpeed] Stopped
2025-10-27T18:01:59.858Z,1761588119.858 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:01:59.896Z,1761588119.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:00.148Z,1761588120.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:00.202Z,1761588120.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618632,0.718298,0.318343],[-0.784401,-0.587773,-0.198085],[0.044829,-0.372250,0.927049]]
2025-10-27T18:02:00.229Z,1761588120.229 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:02:00.229Z,1761588120.229 [marl:UpdateRudder:B] Stopped
2025-10-27T18:02:00.229Z,1761588120.229 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:02:00.229Z,1761588120.229 [marl:UpdateRudder] Stopped
2025-10-27T18:02:00.229Z,1761588120.229 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:02:00.400Z,1761588120.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:00.597Z,1761588120.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630866,0.707630,0.318228],[-0.774730,-0.596937,-0.208468],[0.042444,-0.378056,0.924809]]
2025-10-27T18:02:00.652Z,1761588120.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:00.904Z,1761588120.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:01.002Z,1761588121.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641335,0.698430,0.317623],[-0.766215,-0.604611,-0.217624],[0.040043,-0.382937,0.922906]]
2025-10-27T18:02:01.157Z,1761588121.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:01.408Z,1761588121.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:01.660Z,1761588121.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:01.818Z,1761588121.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658576,0.684773,0.312032],[-0.751691,-0.618031,-0.230216],[0.035200,-0.386166,0.921757]]
2025-10-27T18:02:01.912Z,1761588121.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:02.164Z,1761588122.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:02.214Z,1761588122.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665789,0.679854,0.307447],[-0.745416,-0.624201,-0.233940],[0.032864,-0.384931,0.922360]]
2025-10-27T18:02:02.416Z,1761588122.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:02.613Z,1761588122.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672779,0.675620,0.301506],[-0.739211,-0.630697,-0.236195],[0.030581,-0.381784,0.923745]]
2025-10-27T18:02:02.671Z,1761588122.671 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:02.920Z,1761588122.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:03.018Z,1761588123.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680891,0.670355,0.294977],[-0.731830,-0.638418,-0.238425],[0.028489,-0.378214,0.925279]]
2025-10-27T18:02:03.172Z,1761588123.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:03.424Z,1761588123.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:03.425Z,1761588123.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690938,0.663329,0.287401],[-0.722416,-0.648304,-0.240451],[0.026825,-0.373760,0.927137]]
2025-10-27T18:02:03.677Z,1761588123.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:03.829Z,1761588123.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702440,0.654593,0.279439],[-0.711289,-0.659655,-0.242742],[0.025436,-0.369274,0.928973]]
2025-10-27T18:02:03.928Z,1761588123.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:04.180Z,1761588124.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:04.230Z,1761588124.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714912,0.644378,0.271437],[-0.698800,-0.671827,-0.245617],[0.024088,-0.365275,0.930588]]
2025-10-27T18:02:04.432Z,1761588124.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:04.634Z,1761588124.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727665,0.633092,0.264004],[-0.685561,-0.683909,-0.249548],[0.022568,-0.362579,0.931680]]
2025-10-27T18:02:04.684Z,1761588124.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:04.940Z,1761588124.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:05.057Z,1761588125.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739002,0.621805,0.259295],[-0.673379,-0.693691,-0.255644],[0.020910,-0.363526,0.931350]]
2025-10-27T18:02:05.189Z,1761588125.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:05.440Z,1761588125.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:05.470Z,1761588125.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749352,0.610807,0.255707],[-0.661895,-0.702101,-0.262581],[0.019146,-0.366017,0.930411]]
2025-10-27T18:02:05.692Z,1761588125.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:05.865Z,1761588125.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758453,0.600714,0.252768],[-0.651494,-0.709218,-0.269380],[0.017447,-0.368989,0.929270]]
2025-10-27T18:02:05.944Z,1761588125.944 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:02:05.945Z,1761588125.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:06.196Z,1761588126.196 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:02:06.196Z,1761588126.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:06.267Z,1761588126.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766557,0.591632,0.249726],[-0.641987,-0.715464,-0.275615],[0.015607,-0.371595,0.928264]]
2025-10-27T18:02:06.448Z,1761588126.448 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:02:06.448Z,1761588126.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:06.670Z,1761588126.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773941,0.583228,0.246699],[-0.633107,-0.721123,-0.281349],[0.013809,-0.373934,0.927352]]
2025-10-27T18:02:06.700Z,1761588126.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:06.952Z,1761588126.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:07.082Z,1761588127.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781057,0.575188,0.243124],[-0.624344,-0.726811,-0.286253],[0.012056,-0.375373,0.926795]]
2025-10-27T18:02:07.204Z,1761588127.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:07.456Z,1761588127.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:07.478Z,1761588127.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788775,0.566981,0.237416],[-0.614596,-0.733922,-0.289188],[0.010281,-0.374019,0.927364]]
2025-10-27T18:02:07.708Z,1761588127.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:07.881Z,1761588127.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797602,0.557457,0.230373],[-0.603121,-0.742562,-0.291286],[0.008687,-0.371274,0.928483]]
2025-10-27T18:02:07.960Z,1761588127.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:08.213Z,1761588128.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:08.293Z,1761588128.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807429,0.546745,0.221650],[-0.589922,-0.752748,-0.292169],[0.007105,-0.366661,0.930327]]
2025-10-27T18:02:08.464Z,1761588128.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:08.697Z,1761588128.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818205,0.534490,0.211806],[-0.574901,-0.764132,-0.292561],[0.005477,-0.361142,0.932495]]
2025-10-27T18:02:08.716Z,1761588128.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:08.968Z,1761588128.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:09.097Z,1761588129.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829669,0.520533,0.201730],[-0.558245,-0.775870,-0.293919],[0.003521,-0.356470,0.934300]]
2025-10-27T18:02:09.220Z,1761588129.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:09.472Z,1761588129.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:09.725Z,1761588129.725 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:02:08.9556

2025-10-27T18:02:09.725Z,1761588129.725 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:02:09.726Z,1761588129.726 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:09.906Z,1761588129.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853576,0.487840,0.182814],[-0.520969,-0.799224,-0.299721],[-0.000106,-0.351075,0.936347]]
2025-10-27T18:02:09.976Z,1761588129.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:10.228Z,1761588130.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:10.480Z,1761588130.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:10.714Z,1761588130.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877839,0.448800,0.167262],[-0.478949,-0.820752,-0.311407],[-0.002479,-0.353476,0.935440]]
2025-10-27T18:02:10.732Z,1761588130.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:10.984Z,1761588130.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:11.124Z,1761588131.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889553,0.427765,0.160352],[-0.456822,-0.830606,-0.318444],[-0.003030,-0.356525,0.934281]]
2025-10-27T18:02:11.236Z,1761588131.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:11.490Z,1761588131.490 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:11.526Z,1761588131.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900816,0.406228,0.153329],[-0.434184,-0.839648,-0.326305],[-0.003812,-0.360514,0.932746]]
2025-10-27T18:02:11.740Z,1761588131.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:11.930Z,1761588131.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911005,0.385460,0.146596],[-0.412368,-0.847386,-0.334499],[-0.004712,-0.365181,0.930924]]
2025-10-27T18:02:11.992Z,1761588131.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:12.244Z,1761588132.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:12.285Z,1761588132.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:02:12.344Z,1761588132.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919924,0.366378,0.139667],[-0.392050,-0.854024,-0.341964],[-0.006009,-0.369338,0.929276]]
2025-10-27T18:02:12.496Z,1761588132.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:12.750Z,1761588132.750 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:12.790Z,1761588132.790 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:02:12.790Z,1761588132.790 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:02:12.791Z,1761588132.791 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:02:12.791Z,1761588132.791 [marl:UpdateRudder:A] Stopped
2025-10-27T18:02:12.791Z,1761588132.791 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:02:12.791Z,1761588132.791 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:02:12.792Z,1761588132.792 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:02:12.792Z,1761588132.792 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:02:12.792Z,1761588132.792 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:02:12.793Z,1761588132.793 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:02:12.793Z,1761588132.793 [marl:UpdateCommandMode] Stopped
2025-10-27T18:02:12.793Z,1761588132.793 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:02:12.794Z,1761588132.794 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:02:12.794Z,1761588132.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:02:12.794Z,1761588132.794 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:02:12.796Z,1761588132.796 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:02:12.797Z,1761588132.797 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:02:12.797Z,1761588132.797 [marl:UpdateSpeed] Stopped
2025-10-27T18:02:12.797Z,1761588132.797 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:02:13.004Z,1761588133.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:13.165Z,1761588133.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933254,0.336048,0.126921],[-0.359094,-0.863494,-0.354161],[-0.009420,-0.376098,0.926532]]
2025-10-27T18:02:13.215Z,1761588133.215 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:02:13.215Z,1761588133.215 [marl:UpdateRudder:B] Stopped
2025-10-27T18:02:13.216Z,1761588133.216 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:02:13.216Z,1761588133.216 [marl:UpdateRudder] Stopped
2025-10-27T18:02:13.216Z,1761588133.216 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:02:13.256Z,1761588133.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:13.284Z,1761588133.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:02:13.508Z,1761588133.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:13.566Z,1761588133.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938046,0.324726,0.120921],[-0.346319,-0.867030,-0.358219],[-0.011481,-0.377904,0.925774]]
2025-10-27T18:02:13.760Z,1761588133.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:13.971Z,1761588133.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942124,0.315162,0.114345],[-0.334984,-0.870978,-0.359419],[-0.013684,-0.376921,0.926144]]
2025-10-27T18:02:14.012Z,1761588134.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:14.264Z,1761588134.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:14.376Z,1761588134.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945570,0.307085,0.107689],[-0.325013,-0.874640,-0.359682],[-0.016264,-0.375105,0.926840]]
2025-10-27T18:02:14.516Z,1761588134.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:14.768Z,1761588134.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:14.833Z,1761588134.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948222,0.301243,0.100638],[-0.317012,-0.878260,-0.357999],[-0.019459,-0.371366,0.928283]]
2025-10-27T18:02:15.020Z,1761588135.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:15.182Z,1761588135.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949746,0.299248,0.091830],[-0.312110,-0.882951,-0.350693],[-0.023863,-0.361730,0.931977]]
2025-10-27T18:02:15.272Z,1761588135.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:15.524Z,1761588135.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:15.586Z,1761588135.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950074,0.301515,0.080297],[-0.310623,-0.889586,-0.334888],[-0.029543,-0.343111,0.938830]]
2025-10-27T18:02:15.776Z,1761588135.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:15.999Z,1761588135.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949677,0.305893,0.067397],[-0.311181,-0.896797,-0.314517],[-0.035767,-0.319662,0.946856]]
2025-10-27T18:02:16.028Z,1761588136.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:16.280Z,1761588136.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:16.394Z,1761588136.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948770,0.311154,0.054944],[-0.313168,-0.902940,-0.294320],[-0.041967,-0.296449,0.954126]]
2025-10-27T18:02:16.534Z,1761588136.534 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:16.784Z,1761588136.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:16.864Z,1761588136.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947631,0.316297,0.044190],[-0.315789,-0.907340,-0.277510],[-0.047680,-0.276931,0.959706]]
2025-10-27T18:02:17.038Z,1761588137.038 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:17.202Z,1761588137.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946423,0.321054,0.034753],[-0.318609,-0.910794,-0.262568],[-0.052646,-0.259573,0.964288]]
2025-10-27T18:02:17.288Z,1761588137.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:17.540Z,1761588137.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:17.608Z,1761588137.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945216,0.325300,0.027331],[-0.321502,-0.913116,-0.250710],[-0.056600,-0.245762,0.967676]]
2025-10-27T18:02:17.792Z,1761588137.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:18.010Z,1761588138.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944130,0.328850,0.021818],[-0.324170,-0.914677,-0.241411],[-0.059432,-0.234996,0.970178]]
2025-10-27T18:02:18.044Z,1761588138.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:18.297Z,1761588138.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:18.414Z,1761588138.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943313,0.331411,0.018089],[-0.326162,-0.915519,-0.235464],[-0.061474,-0.228017,0.971715]]
2025-10-27T18:02:18.548Z,1761588138.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:18.803Z,1761588138.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:18.874Z,1761588138.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943112,0.332134,0.015059],[-0.326409,-0.916339,-0.231905],[-0.063224,-0.223628,0.972622]]
2025-10-27T18:02:19.053Z,1761588139.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:19.224Z,1761588139.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943775,0.330390,0.011453],[-0.324095,-0.917851,-0.229154],[-0.065198,-0.219982,0.973323]]
2025-10-27T18:02:19.315Z,1761588139.315 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:19.564Z,1761588139.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:19.626Z,1761588139.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944825,0.327487,0.007678],[-0.320474,-0.919229,-0.228723],[-0.067846,-0.218564,0.973461]]
2025-10-27T18:02:19.816Z,1761588139.816 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:02:19.817Z,1761588139.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:20.067Z,1761588140.067 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:02:20.068Z,1761588140.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:20.321Z,1761588140.321 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:02:20.323Z,1761588140.323 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:20.435Z,1761588140.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947642,0.319332,-0.001499],[-0.310421,-0.922279,-0.230304],[-0.074926,-0.217780,0.973118]]
2025-10-27T18:02:20.572Z,1761588140.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:20.826Z,1761588140.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:20.877Z,1761588140.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949282,0.314344,-0.007134],[-0.304208,-0.923935,-0.231954],[-0.079505,-0.218019,0.972701]]
2025-10-27T18:02:21.076Z,1761588141.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:21.246Z,1761588141.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950888,0.309230,-0.013774],[-0.297636,-0.925644,-0.233660],[-0.085005,-0.218085,0.972221]]
2025-10-27T18:02:21.331Z,1761588141.331 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:21.580Z,1761588141.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:21.650Z,1761588141.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952438,0.304016,-0.020886],[-0.290776,-0.927186,-0.236169],[-0.091164,-0.218863,0.971488]]
2025-10-27T18:02:21.832Z,1761588141.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:22.056Z,1761588142.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954039,0.298341,-0.028342],[-0.283363,-0.928822,-0.238739],[-0.097550,-0.219735,0.970670]]
2025-10-27T18:02:22.084Z,1761588142.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:22.336Z,1761588142.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:22.458Z,1761588142.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955546,0.292681,-0.035627],[-0.275854,-0.930122,-0.242439],[-0.104095,-0.221834,0.969512]]
2025-10-27T18:02:22.588Z,1761588142.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:22.856Z,1761588142.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:22.874Z,1761588142.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956848,0.287395,-0.042977],[-0.268795,-0.931544,-0.244898],[-0.110417,-0.222778,0.968596]]
2025-10-27T18:02:23.104Z,1761588143.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:23.267Z,1761588143.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957669,0.283619,-0.049303],[-0.263349,-0.932313,-0.247871],[-0.116267,-0.224394,0.967538]]
2025-10-27T18:02:23.356Z,1761588143.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:23.608Z,1761588143.608 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:02:22.8555

2025-10-27T18:02:23.609Z,1761588143.609 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:02:23.609Z,1761588143.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:23.676Z,1761588143.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957804,0.282334,-0.053841],[-0.260584,-0.932037,-0.251798],[-0.121273,-0.227143,0.966281]]
2025-10-27T18:02:23.860Z,1761588143.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:24.074Z,1761588144.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957274,0.283518,-0.056951],[-0.260648,-0.931223,-0.254726],[-0.125254,-0.228999,0.965335]]
2025-10-27T18:02:24.112Z,1761588144.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:24.364Z,1761588144.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:24.478Z,1761588144.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956297,0.286492,-0.058467],[-0.262746,-0.929705,-0.258096],[-0.128300,-0.231454,0.964349]]
2025-10-27T18:02:24.616Z,1761588144.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:24.868Z,1761588144.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:24.894Z,1761588144.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955065,0.290272,-0.059940],[-0.266030,-0.928672,-0.258451],[-0.130686,-0.230891,0.964163]]
2025-10-27T18:02:25.120Z,1761588145.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:25.291Z,1761588145.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953643,0.294594,-0.061472],[-0.270054,-0.927865,-0.257174],[-0.132799,-0.228651,0.964408]]
2025-10-27T18:02:25.372Z,1761588145.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:25.625Z,1761588145.625 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:25.690Z,1761588145.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952107,0.299321,-0.062440],[-0.274752,-0.927121,-0.254870],[-0.134177,-0.225508,0.964957]]
2025-10-27T18:02:25.742Z,1761588145.742 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:02:25.742Z,1761588145.742 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:02:25.743Z,1761588145.743 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:02:25.743Z,1761588145.743 [marl:UpdateRudder:A] Stopped
2025-10-27T18:02:25.743Z,1761588145.743 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:02:25.744Z,1761588145.744 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:02:25.744Z,1761588145.744 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:02:25.744Z,1761588145.744 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:02:25.744Z,1761588145.744 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateCommandMode] Stopped
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:02:25.745Z,1761588145.745 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:02:25.746Z,1761588145.746 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:02:25.746Z,1761588145.746 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:02:25.746Z,1761588145.746 [marl:UpdateSpeed] Stopped
2025-10-27T18:02:25.746Z,1761588145.746 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:02:25.876Z,1761588145.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:26.090Z,1761588146.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950752,0.303476,-0.063036],[-0.279196,-0.926834,-0.251053],[-0.134613,-0.221090,0.965919]]
2025-10-27T18:02:26.128Z,1761588146.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:26.151Z,1761588146.151 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:02:26.151Z,1761588146.151 [marl:UpdateRudder:B] Stopped
2025-10-27T18:02:26.152Z,1761588146.152 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:02:26.152Z,1761588146.152 [marl:UpdateRudder] Stopped
2025-10-27T18:02:26.152Z,1761588146.152 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:02:26.380Z,1761588146.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:26.497Z,1761588146.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949813,0.306205,-0.063982],[-0.282448,-0.927383,-0.245323],[-0.134454,-0.214939,0.967328]]
2025-10-27T18:02:26.632Z,1761588146.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:26.884Z,1761588146.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:26.914Z,1761588146.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949587,0.306724,-0.064850],[-0.283564,-0.928542,-0.239587],[-0.133703,-0.209120,0.968707]]
2025-10-27T18:02:27.136Z,1761588147.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:27.311Z,1761588147.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949730,0.306158,-0.065422],[-0.283769,-0.930107,-0.233187],[-0.132242,-0.202900,0.970229]]
2025-10-27T18:02:27.388Z,1761588147.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:27.640Z,1761588147.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:27.706Z,1761588147.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950299,0.304338,-0.065655],[-0.282540,-0.931582,-0.228749],[-0.130780,-0.198830,0.971269]]
2025-10-27T18:02:27.892Z,1761588147.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:28.111Z,1761588148.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950848,0.302770,-0.064945],[-0.281511,-0.932564,-0.226000],[-0.128991,-0.196609,0.971960]]
2025-10-27T18:02:28.144Z,1761588148.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:28.396Z,1761588148.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:28.514Z,1761588148.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951529,0.300886,-0.063720],[-0.280241,-0.933561,-0.223447],[-0.126718,-0.194760,0.972631]]
2025-10-27T18:02:28.649Z,1761588148.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:28.900Z,1761588148.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:28.918Z,1761588148.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951833,0.300445,-0.061211],[-0.280277,-0.933503,-0.223643],[-0.124333,-0.195714,0.972747]]
2025-10-27T18:02:29.152Z,1761588149.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:29.322Z,1761588149.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951973,0.300656,-0.057902],[-0.280967,-0.932967,-0.225012],[-0.121672,-0.197937,0.972634]]
2025-10-27T18:02:29.417Z,1761588149.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:29.668Z,1761588149.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:29.920Z,1761588149.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:30.172Z,1761588150.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:30.424Z,1761588150.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:30.534Z,1761588150.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952142,0.302092,-0.046539],[-0.284099,-0.930838,-0.229847],[-0.112755,-0.205625,0.972113]]
2025-10-27T18:02:30.676Z,1761588150.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:30.928Z,1761588150.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:30.950Z,1761588150.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953425,0.298865,-0.040756],[-0.282167,-0.931473,-0.229654],[-0.106598,-0.207458,0.972419]]
2025-10-27T18:02:31.180Z,1761588151.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:31.349Z,1761588151.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954347,0.296250,-0.038168],[-0.280083,-0.931938,-0.230314],[-0.103801,-0.209109,0.972368]]
2025-10-27T18:02:31.432Z,1761588151.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:31.684Z,1761588151.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:31.936Z,1761588151.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:32.154Z,1761588152.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956731,0.288867,-0.034944],[-0.273584,-0.933938,-0.230024],[-0.099082,-0.210511,0.972557]]
2025-10-27T18:02:32.188Z,1761588152.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:32.440Z,1761588152.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:32.560Z,1761588152.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958126,0.284327,-0.033963],[-0.269324,-0.935087,-0.230383],[-0.097262,-0.211589,0.972507]]
2025-10-27T18:02:32.692Z,1761588152.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:32.946Z,1761588152.946 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:32.974Z,1761588152.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959516,0.279675,-0.033335],[-0.264853,-0.936202,-0.231038],[-0.095824,-0.212855,0.972374]]
2025-10-27T18:02:33.196Z,1761588153.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:33.367Z,1761588153.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960923,0.274887,-0.032629],[-0.260276,-0.937342,-0.231616],[-0.094253,-0.214072,0.972260]]
2025-10-27T18:02:33.448Z,1761588153.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:33.700Z,1761588153.700 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:02:33.700Z,1761588153.700 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:02:33.700Z,1761588153.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:33.786Z,1761588153.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962097,0.270799,-0.032197],[-0.256316,-0.938262,-0.232306],[-0.093117,-0.215249,0.972110]]
2025-10-27T18:02:33.962Z,1761588153.962 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:02:33.962Z,1761588153.962 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:34.174Z,1761588154.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963240,0.266732,-0.031988],[-0.252507,-0.939586,-0.231123],[-0.091704,-0.214549,0.972399]]
2025-10-27T18:02:34.216Z,1761588154.216 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:02:34.216Z,1761588154.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:34.468Z,1761588154.468 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:02:34.468Z,1761588154.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:34.579Z,1761588154.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964172,0.263435,-0.031210],[-0.249363,-0.940172,-0.232151],[-0.090499,-0.216051,0.972179]]
2025-10-27T18:02:34.720Z,1761588154.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:34.972Z,1761588154.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:34.996Z,1761588154.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964835,0.261095,-0.030367],[-0.247226,-0.940635,-0.232560],[-0.089285,-0.216875,0.972108]]
2025-10-27T18:02:35.224Z,1761588155.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:35.386Z,1761588155.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965227,0.259904,-0.028049],[-0.246394,-0.940366,-0.234524],[-0.087331,-0.219458,0.971705]]
2025-10-27T18:02:35.476Z,1761588155.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:35.728Z,1761588155.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:35.797Z,1761588155.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965154,0.260520,-0.024641],[-0.247506,-0.939383,-0.237279],[-0.084963,-0.222912,0.971129]]
2025-10-27T18:02:35.980Z,1761588155.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:36.195Z,1761588156.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964729,0.262450,-0.020425],[-0.250140,-0.938120,-0.239499],[-0.082018,-0.225943,0.970682]]
2025-10-27T18:02:36.248Z,1761588156.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:36.500Z,1761588156.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:36.600Z,1761588156.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963932,0.265686,-0.015710],[-0.254222,-0.936598,-0.241154],[-0.078785,-0.228462,0.970360]]
2025-10-27T18:02:36.752Z,1761588156.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:37.002Z,1761588157.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962921,0.269573,-0.010666],[-0.259116,-0.935130,-0.241643],[-0.075115,-0.229920,0.970307]]
2025-10-27T18:02:37.004Z,1761588157.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:37.257Z,1761588157.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:37.408Z,1761588157.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961839,0.273564,-0.005386],[-0.264214,-0.933721,-0.241572],[-0.071114,-0.230930,0.970368]]
2025-10-27T18:02:37.509Z,1761588157.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:37.762Z,1761588157.762 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:02:37.0055

2025-10-27T18:02:37.762Z,1761588157.762 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:02:37.763Z,1761588157.763 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:37.821Z,1761588157.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960814,0.277192,-0.000348],[-0.269028,-0.932817,-0.239744],[-0.066780,-0.230256,0.970836]]
2025-10-27T18:02:38.012Z,1761588158.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:38.216Z,1761588158.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960022,0.279886,0.004604],[-0.273002,-0.932522,-0.236373],[-0.061864,-0.228180,0.971651]]
2025-10-27T18:02:38.277Z,1761588158.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:38.528Z,1761588158.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:38.657Z,1761588158.657 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:02:38.657Z,1761588158.657 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:02:38.657Z,1761588158.657 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:02:38.657Z,1761588158.657 [marl:UpdateRudder:A] Stopped
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode] Stopped
2025-10-27T18:02:38.658Z,1761588158.658 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:02:38.659Z,1761588158.659 [marl:UpdateSpeed] Stopped
2025-10-27T18:02:38.660Z,1761588158.660 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:02:38.782Z,1761588158.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:39.022Z,1761588159.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959221,0.282272,0.014737],[-0.277918,-0.932353,-0.231257],[-0.051537,-0.225922,0.972781]]
2025-10-27T18:02:39.032Z,1761588159.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:39.078Z,1761588159.078 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:02:39.078Z,1761588159.078 [marl:UpdateRudder:B] Stopped
2025-10-27T18:02:39.078Z,1761588159.078 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:02:39.078Z,1761588159.078 [marl:UpdateRudder] Stopped
2025-10-27T18:02:39.078Z,1761588159.078 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:02:39.284Z,1761588159.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:39.428Z,1761588159.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959375,0.281491,0.019013],[-0.278335,-0.933293,-0.226920],[-0.046131,-0.222994,0.973728]]
2025-10-27T18:02:39.536Z,1761588159.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:39.788Z,1761588159.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:40.040Z,1761588160.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:40.234Z,1761588160.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960514,0.276873,0.027468],[-0.275874,-0.934894,-0.223310],[-0.036149,-0.222070,0.974360]]
2025-10-27T18:02:40.292Z,1761588160.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:40.544Z,1761588160.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:40.638Z,1761588160.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961484,0.273068,0.031355],[-0.273079,-0.936035,-0.221962],[-0.031262,-0.221975,0.974551]]
2025-10-27T18:02:40.801Z,1761588160.801 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:41.048Z,1761588161.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:41.051Z,1761588161.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962818,0.267885,0.034915],[-0.268855,-0.937515,-0.220869],[-0.026434,-0.222044,0.974678]]
2025-10-27T18:02:41.300Z,1761588161.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:41.446Z,1761588161.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964283,0.262090,0.038313],[-0.263983,-0.939065,-0.220160],[-0.021723,-0.222410,0.974711]]
2025-10-27T18:02:41.553Z,1761588161.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:41.804Z,1761588161.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:41.850Z,1761588161.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965839,0.255778,0.041613],[-0.258583,-0.940719,-0.219504],[-0.016999,-0.222766,0.974724]]
2025-10-27T18:02:42.056Z,1761588162.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:42.266Z,1761588162.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967216,0.249874,0.045343],[-0.253644,-0.941673,-0.221171],[-0.012567,-0.225421,0.974180]]
2025-10-27T18:02:42.308Z,1761588162.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:42.560Z,1761588162.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:42.658Z,1761588162.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968379,0.244629,0.048969],[-0.249340,-0.942366,-0.223107],[-0.008432,-0.228262,0.973563]]
2025-10-27T18:02:42.815Z,1761588162.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:43.062Z,1761588163.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969051,0.240991,0.053504],[-0.246823,-0.942166,-0.226721],[-0.004229,-0.232910,0.972489]]
2025-10-27T18:02:43.064Z,1761588163.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:43.316Z,1761588163.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:43.423Z,1761588163.423 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:02:43.466Z,1761588163.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969108,0.239536,0.058759],[-0.246638,-0.940981,-0.231787],[-0.000230,-0.239119,0.970990]]
2025-10-27T18:02:43.568Z,1761588163.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:43.820Z,1761588163.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:43.870Z,1761588163.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968769,0.239619,0.063793],[-0.247938,-0.939919,-0.234690],[0.003724,-0.243177,0.969975]]
2025-10-27T18:02:44.072Z,1761588164.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:44.280Z,1761588164.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968108,0.241014,0.068404],[-0.250424,-0.938957,-0.235898],[0.007373,-0.245505,0.969367]]
2025-10-27T18:02:44.324Z,1761588164.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:44.428Z,1761588164.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:02:44.576Z,1761588164.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:44.830Z,1761588164.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:45.080Z,1761588165.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:45.086Z,1761588165.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966587,0.245037,0.075271],[-0.255964,-0.938472,-0.231845],[0.013829,-0.243365,0.969836]]
2025-10-27T18:02:45.332Z,1761588165.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:45.487Z,1761588165.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966292,0.245528,0.077439],[-0.256883,-0.939467,-0.226745],[0.017080,-0.238995,0.970871]]
2025-10-27T18:02:45.584Z,1761588165.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:45.836Z,1761588165.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:45.893Z,1761588165.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966531,0.244257,0.078467],[-0.255751,-0.941481,-0.219554],[0.020248,-0.232274,0.972440]]
2025-10-27T18:02:46.088Z,1761588166.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:46.294Z,1761588166.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967113,0.241808,0.078874],[-0.253276,-0.943985,-0.211528],[0.023307,-0.224548,0.974184]]
2025-10-27T18:02:46.340Z,1761588166.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:46.592Z,1761588166.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:46.698Z,1761588166.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968017,0.238115,0.079018],[-0.249508,-0.946655,-0.203936],[0.026243,-0.217129,0.975790]]
2025-10-27T18:02:46.847Z,1761588166.847 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:47.096Z,1761588167.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:47.104Z,1761588167.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969088,0.233454,0.079798],[-0.244995,-0.948735,-0.199701],[0.029086,-0.213078,0.976602]]
2025-10-27T18:02:47.348Z,1761588167.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:47.508Z,1761588167.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970149,0.228542,0.081113],[-0.240403,-0.950320,-0.197734],[0.031893,-0.211331,0.976894]]
2025-10-27T18:02:47.604Z,1761588167.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:47.856Z,1761588167.856 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:02:47.856Z,1761588167.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:47.910Z,1761588167.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971047,0.224014,0.082981],[-0.236351,-0.951412,-0.197366],[0.034737,-0.211264,0.976812]]
2025-10-27T18:02:48.108Z,1761588168.108 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:02:48.108Z,1761588168.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:48.314Z,1761588168.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971475,0.220843,0.086398],[-0.234121,-0.951148,-0.201260],[0.037731,-0.215747,0.975720]]
2025-10-27T18:02:48.360Z,1761588168.360 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:02:48.360Z,1761588168.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:48.612Z,1761588168.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:48.718Z,1761588168.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971378,0.219490,0.090819],[-0.233976,-0.950078,-0.206416],[0.040979,-0.221757,0.974240]]
2025-10-27T18:02:48.864Z,1761588168.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:49.116Z,1761588169.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:49.132Z,1761588169.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970980,0.219256,0.095527],[-0.235092,-0.948391,-0.212806],[0.043938,-0.229088,0.972414]]
2025-10-27T18:02:49.368Z,1761588169.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:49.526Z,1761588169.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970188,0.220309,0.100988],[-0.237659,-0.946474,-0.218416],[0.047464,-0.235906,0.970616]]
2025-10-27T18:02:49.620Z,1761588169.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:49.872Z,1761588169.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:50.127Z,1761588170.127 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:50.334Z,1761588170.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968011,0.224654,0.111739],[-0.244821,-0.943197,-0.224595],[0.054936,-0.244766,0.968025]]
2025-10-27T18:02:50.376Z,1761588170.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:50.628Z,1761588170.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:50.757Z,1761588170.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966718,0.227662,0.116734],[-0.249017,-0.941978,-0.225097],[0.058714,-0.246673,0.967318]]
2025-10-27T18:02:50.881Z,1761588170.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:51.132Z,1761588171.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:51.144Z,1761588171.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965424,0.231081,0.120659],[-0.253191,-0.941367,-0.222985],[0.062057,-0.245825,0.967326]]
2025-10-27T18:02:51.385Z,1761588171.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:51.549Z,1761588171.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964465,0.233442,0.123745],[-0.256128,-0.941041,-0.220997],[0.064859,-0.244839,0.967392]]
2025-10-27T18:02:51.607Z,1761588171.607 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:02:51.607Z,1761588171.607 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:02:51.607Z,1761588171.607 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:02:51.608Z,1761588171.608 [marl:UpdateRudder:A] Stopped
2025-10-27T18:02:51.608Z,1761588171.608 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:02:51.608Z,1761588171.608 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:02:51.608Z,1761588171.608 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:02:51.608Z,1761588171.608 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateCommandMode] Stopped
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:02:51.609Z,1761588171.609 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:02:51.610Z,1761588171.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:02:51.610Z,1761588171.610 [marl:UpdateSpeed] Stopped
2025-10-27T18:02:51.610Z,1761588171.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:02:51.637Z,1761588171.637 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:02:50.9054

2025-10-27T18:02:51.637Z,1761588171.637 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:02:51.638Z,1761588171.638 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:51.888Z,1761588171.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:51.952Z,1761588171.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964218,0.233737,0.125105],[-0.256496,-0.941808,-0.217274],[0.067040,-0.241589,0.968060]]
2025-10-27T18:02:51.977Z,1761588171.977 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:02:51.977Z,1761588171.977 [marl:UpdateRudder:B] Stopped
2025-10-27T18:02:51.977Z,1761588171.977 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:02:51.977Z,1761588171.977 [marl:UpdateRudder] Stopped
2025-10-27T18:02:51.977Z,1761588171.977 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:02:52.140Z,1761588172.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:52.354Z,1761588172.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964910,0.231321,0.124259],[-0.253405,-0.944338,-0.209788],[0.068814,-0.233915,0.969819]]
2025-10-27T18:02:52.392Z,1761588172.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:52.644Z,1761588172.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:52.764Z,1761588172.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966076,0.227298,0.122609],[-0.248549,-0.947250,-0.202341],[0.070150,-0.225951,0.971610]]
2025-10-27T18:02:52.896Z,1761588172.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:53.148Z,1761588173.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:53.164Z,1761588173.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967438,0.222294,0.121036],[-0.242903,-0.949818,-0.197089],[0.071150,-0.220072,0.972885]]
2025-10-27T18:02:53.400Z,1761588173.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:53.551Z,1761588173.551 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:02:53.551Z,1761588173.551 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:02:53.599Z,1761588173.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968790,0.217157,0.119538],[-0.237393,-0.951591,-0.195242],[0.071353,-0.217526,0.973443]]
2025-10-27T18:02:53.652Z,1761588173.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:53.667Z,1761588173.667 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:02:53.904Z,1761588173.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:53.976Z,1761588173.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970352,0.210826,0.118194],[-0.230895,-0.953144,-0.195461],[0.071447,-0.216956,0.973563]]
2025-10-27T18:02:54.156Z,1761588174.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:54.378Z,1761588174.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971589,0.205497,0.117414],[-0.225623,-0.954036,-0.197256],[0.071481,-0.218143,0.973295]]
2025-10-27T18:02:54.408Z,1761588174.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:54.660Z,1761588174.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:54.787Z,1761588174.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971499,0.206131,0.117048],[-0.225991,-0.954436,-0.194886],[0.071542,-0.215784,0.973817]]
2025-10-27T18:02:54.912Z,1761588174.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:55.164Z,1761588175.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:55.189Z,1761588175.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969418,0.216601,0.115381],[-0.234996,-0.954811,-0.181973],[0.070751,-0.203521,0.976511]]
2025-10-27T18:02:55.416Z,1761588175.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:55.592Z,1761588175.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965469,0.235474,0.111455],[-0.251038,-0.955262,-0.156380],[0.069645,-0.178959,0.981388]]
2025-10-27T18:02:55.668Z,1761588175.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:55.920Z,1761588175.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:55.994Z,1761588175.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960111,0.258730,0.106046],[-0.271112,-0.954194,-0.126540],[0.068449,-0.150242,0.986277]]
2025-10-27T18:02:56.172Z,1761588176.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:56.399Z,1761588176.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953719,0.283905,0.099086],[-0.293066,-0.951371,-0.094901],[0.067324,-0.119548,0.990543]]
2025-10-27T18:02:56.424Z,1761588176.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:56.676Z,1761588176.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:56.865Z,1761588176.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946677,0.308979,0.091298],[-0.315163,-0.946925,-0.063287],[0.066898,-0.088686,0.993811]]
2025-10-27T18:02:56.928Z,1761588176.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:57.180Z,1761588177.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:57.432Z,1761588177.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:57.610Z,1761588177.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932523,0.353050,0.075874],[-0.354725,-0.934923,-0.009410],[0.067614,-0.035690,0.997073]]
2025-10-27T18:02:57.684Z,1761588177.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:57.936Z,1761588177.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:58.014Z,1761588178.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926500,0.369748,0.069881],[-0.369994,-0.928982,0.009865],[0.068565,-0.016716,0.997507]]
2025-10-27T18:02:58.188Z,1761588178.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:58.418Z,1761588178.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921157,0.383714,0.065061],[-0.382921,-0.923449,0.024759],[0.069581,-0.002106,0.997574]]
2025-10-27T18:02:58.440Z,1761588178.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:58.692Z,1761588178.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:58.868Z,1761588178.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916392,0.395568,0.061246],[-0.393978,-0.918388,0.036684],[0.070758,0.009487,0.997448]]
2025-10-27T18:02:58.944Z,1761588178.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:59.196Z,1761588179.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:59.259Z,1761588179.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911920,0.406126,0.058848],[-0.404050,-0.913667,0.044221],[0.071727,0.016549,0.997287]]
2025-10-27T18:02:59.448Z,1761588179.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:59.667Z,1761588179.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907588,0.415949,0.057180],[-0.413619,-0.909161,0.048430],[0.072130,0.020304,0.997189]]
2025-10-27T18:02:59.700Z,1761588179.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:02:59.952Z,1761588179.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:00.208Z,1761588180.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:00.456Z,1761588180.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:00.471Z,1761588180.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898715,0.434868,0.056568],[-0.432525,-0.900277,0.049238],[0.072339,0.019784,0.997184]]
2025-10-27T18:03:00.711Z,1761588180.711 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:00.878Z,1761588180.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893619,0.445222,0.056760],[-0.443037,-0.895257,0.047254],[0.071854,0.017080,0.997269]]
2025-10-27T18:03:00.960Z,1761588180.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:01.213Z,1761588181.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:01.277Z,1761588181.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887834,0.456580,0.057314],[-0.454557,-0.889571,0.045176],[0.071612,0.014057,0.997334]]
2025-10-27T18:03:01.464Z,1761588181.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:01.681Z,1761588181.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881260,0.469171,0.057091],[-0.467207,-0.883016,0.044730],[0.071399,0.012746,0.997366]]
2025-10-27T18:03:01.716Z,1761588181.716 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:03:01.716Z,1761588181.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:01.968Z,1761588181.968 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:03:01.968Z,1761588181.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:02.086Z,1761588182.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873812,0.482961,0.056580],[-0.481041,-0.875563,0.044607],[0.071083,0.011761,0.997401]]
2025-10-27T18:03:02.221Z,1761588182.221 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:03:02.222Z,1761588182.222 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:02.472Z,1761588182.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:02.493Z,1761588182.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865282,0.498021,0.057126],[-0.496181,-0.867112,0.043830],[0.071363,0.009580,0.997404]]
2025-10-27T18:03:02.725Z,1761588182.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:02.894Z,1761588182.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855883,0.513931,0.057786],[-0.512134,-0.857797,0.043624],[0.071989,0.007743,0.997375]]
2025-10-27T18:03:02.978Z,1761588182.978 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:03.230Z,1761588183.230 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:03.480Z,1761588183.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:03.712Z,1761588183.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834124,0.548425,0.058892],[-0.546702,-0.836189,0.043633],[0.073174,0.004199,0.997310]]
2025-10-27T18:03:03.732Z,1761588183.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:03.985Z,1761588183.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:04.107Z,1761588184.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821727,0.566882,0.058387],[-0.565081,-0.823788,0.045349],[0.073806,0.004271,0.997263]]
2025-10-27T18:03:04.240Z,1761588184.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:04.488Z,1761588184.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:04.510Z,1761588184.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808428,0.585835,0.056929],[-0.583956,-0.810416,0.047142],[0.073754,0.004867,0.997265]]
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateRudder:A] Stopped
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:03:04.557Z,1761588184.557 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateCommandMode] Stopped
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:03:04.558Z,1761588184.558 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:03:04.559Z,1761588184.559 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:03:04.559Z,1761588184.559 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:03:04.559Z,1761588184.559 [marl:UpdateSpeed] Stopped
2025-10-27T18:03:04.559Z,1761588184.559 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:03:04.740Z,1761588184.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:04.913Z,1761588184.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794821,0.604439,0.053970],[-0.602376,-0.796615,0.050467],[0.073498,0.007601,0.997266]]
2025-10-27T18:03:04.992Z,1761588184.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:05.057Z,1761588185.057 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:03:05.058Z,1761588185.058 [marl:UpdateRudder:B] Stopped
2025-10-27T18:03:05.058Z,1761588185.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:03:05.058Z,1761588185.058 [marl:UpdateRudder] Stopped
2025-10-27T18:03:05.058Z,1761588185.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:03:05.244Z,1761588185.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:05.320Z,1761588185.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781975,0.621289,0.050146],[-0.619031,-0.783500,0.054106],[0.072905,0.011268,0.997275]]
2025-10-27T18:03:05.497Z,1761588185.497 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:03:04.7553

2025-10-27T18:03:05.498Z,1761588185.498 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:03:05.498Z,1761588185.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:05.742Z,1761588185.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770584,0.635682,0.045925],[-0.633215,-0.771791,0.058112],[0.072385,0.015700,0.997253]]
2025-10-27T18:03:05.748Z,1761588185.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:05.000Z,1761588186.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:06.125Z,1761588186.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760951,0.647431,0.042259],[-0.644841,-0.761884,0.060930],[0.071645,0.019114,0.997247]]
2025-10-27T18:03:06.252Z,1761588186.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:06.504Z,1761588186.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:06.530Z,1761588186.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752625,0.657287,0.039118],[-0.654569,-0.753308,0.063775],[0.071387,0.022394,0.997197]]
2025-10-27T18:03:06.756Z,1761588186.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:07.008Z,1761588187.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:07.260Z,1761588187.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:07.339Z,1761588187.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738583,0.673026,0.039136],[-0.670284,-0.739314,0.064295],[0.072206,0.021255,0.997163]]
2025-10-27T18:03:07.512Z,1761588187.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:07.748Z,1761588187.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730830,0.681350,0.040604],[-0.678715,-0.731732,0.062555],[0.072334,0.018159,0.997215]]
2025-10-27T18:03:07.764Z,1761588187.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:08.016Z,1761588188.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:08.146Z,1761588188.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721868,0.690803,0.041206],[-0.688292,-0.722875,0.060875],[0.071840,0.015582,0.997294]]
2025-10-27T18:03:08.269Z,1761588188.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:08.520Z,1761588188.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:08.550Z,1761588188.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711114,0.701853,0.041473],[-0.699495,-0.712206,0.058905],[0.070880,0.012879,0.997402]]
2025-10-27T18:03:08.772Z,1761588188.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:08.955Z,1761588188.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699003,0.713903,0.041679],[-0.711720,-0.700174,0.056664],[0.069635,0.009944,0.997523]]
2025-10-27T18:03:09.024Z,1761588189.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:09.276Z,1761588189.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:09.357Z,1761588189.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686016,0.726417,0.041229],[-0.724409,-0.687213,0.054488],[0.067914,0.007513,0.997663]]
2025-10-27T18:03:09.528Z,1761588189.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:09.785Z,1761588189.785 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:10.036Z,1761588190.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:10.166Z,1761588190.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659172,0.751148,0.035627],[-0.749318,-0.660083,0.053038],[0.063356,0.008265,0.997957]]
2025-10-27T18:03:10.290Z,1761588190.290 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:10.540Z,1761588190.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:10.570Z,1761588190.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646687,0.762142,0.030599],[-0.760347,-0.647311,0.053476],[0.060564,0.011317,0.998100]]
2025-10-27T18:03:10.794Z,1761588190.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:10.973Z,1761588190.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635309,0.771842,0.025340],[-0.770092,-0.635641,0.054025],[0.057806,0.014809,0.998218]]
2025-10-27T18:03:11.060Z,1761588191.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:11.312Z,1761588191.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:11.377Z,1761588191.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625172,0.780243,0.019511],[-0.778534,-0.625180,0.055080],[0.055174,0.019245,0.998291]]
2025-10-27T18:03:11.564Z,1761588191.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:11.794Z,1761588191.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607285,0.794396,0.011827],[-0.792926,-0.606959,0.053570],[0.049734,0.023155,0.998494]]
2025-10-27T18:03:11.816Z,1761588191.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:12.068Z,1761588192.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:12.203Z,1761588192.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599668,0.800190,0.009690],[-0.798877,-0.599306,0.051261],[0.046826,0.022998,0.998638]]
2025-10-27T18:03:12.320Z,1761588192.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:12.572Z,1761588192.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:12.594Z,1761588192.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592725,0.805341,0.010155],[-0.804205,-0.592483,0.047103],[0.043950,0.019752,0.998838]]
2025-10-27T18:03:12.826Z,1761588192.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:12.998Z,1761588192.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586541,0.809838,0.011467],[-0.808842,-0.586432,0.043257],[0.041756,0.016097,0.998998]]
2025-10-27T18:03:13.076Z,1761588193.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:13.328Z,1761588193.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:13.405Z,1761588193.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580677,0.814043,0.012214],[-0.813163,-0.580651,0.040116],[0.039749,0.013362,0.999120]]
2025-10-27T18:03:13.580Z,1761588193.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:13.804Z,1761588193.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574459,0.818437,0.012548],[-0.817641,-0.574481,0.037876],[0.038208,0.011499,0.999204]]
2025-10-27T18:03:13.832Z,1761588193.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:14.084Z,1761588194.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:14.212Z,1761588194.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567011,0.823613,0.012703],[-0.822881,-0.567064,0.036132],[0.036962,0.010034,0.999266]]
2025-10-27T18:03:14.336Z,1761588194.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:14.547Z,1761588194.547 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:03:14.590Z,1761588194.590 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:14.612Z,1761588194.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558026,0.829708,0.013839],[-0.829050,-0.558148,0.033853],[0.035812,0.007418,0.999331]]
2025-10-27T18:03:14.842Z,1761588194.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:15.013Z,1761588195.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546682,0.837206,0.014994],[-0.836629,-0.546868,0.031429],[0.034512,0.004637,0.999394]]
2025-10-27T18:03:15.093Z,1761588195.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:15.344Z,1761588195.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:15.418Z,1761588195.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533530,0.845617,0.016695],[-0.845113,-0.533789,0.029216],[0.033617,0.001478,0.999434]]
2025-10-27T18:03:15.551Z,1761588195.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:03:15.596Z,1761588195.596 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:03:15.596Z,1761588195.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:15.822Z,1761588195.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518651,0.854831,0.016301],[-0.854339,-0.518905,0.029022],[0.033268,0.001126,0.999446]]
2025-10-27T18:03:15.848Z,1761588195.848 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:03:15.848Z,1761588195.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:16.100Z,1761588196.100 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:03:16.101Z,1761588196.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:16.227Z,1761588196.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502039,0.864698,0.015931],[-0.864202,-0.502290,0.029315],[0.033351,0.000950,0.999443]]
2025-10-27T18:03:16.352Z,1761588196.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:16.604Z,1761588196.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:16.630Z,1761588196.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483841,0.875013,0.015815],[-0.874503,-0.484099,0.029871],[0.033793,0.000622,0.999429]]
2025-10-27T18:03:16.858Z,1761588196.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:17.108Z,1761588197.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:17.360Z,1761588197.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:17.439Z,1761588197.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443303,0.896303,0.011074],[-0.895685,-0.443413,0.033674],[0.035092,0.005009,0.999372]]
2025-10-27T18:03:17.482Z,1761588197.482 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:03:17.482Z,1761588197.482 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:03:17.482Z,1761588197.482 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:03:17.482Z,1761588197.482 [marl:UpdateRudder:A] Stopped
2025-10-27T18:03:17.483Z,1761588197.483 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:03:17.483Z,1761588197.483 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:03:17.483Z,1761588197.483 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:03:17.483Z,1761588197.483 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:03:17.483Z,1761588197.483 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateCommandMode] Stopped
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:03:17.484Z,1761588197.484 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:03:17.485Z,1761588197.485 [marl:UpdateSpeed] Stopped
2025-10-27T18:03:17.485Z,1761588197.485 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:03:17.612Z,1761588197.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:17.842Z,1761588197.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420994,0.907039,0.006599],[-0.906404,-0.420955,0.035062],[0.034581,0.008780,0.999363]]
2025-10-27T18:03:17.864Z,1761588197.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:17.890Z,1761588197.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:03:17.890Z,1761588197.890 [marl:UpdateRudder:B] Stopped
2025-10-27T18:03:17.891Z,1761588197.891 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:03:17.891Z,1761588197.891 [marl:UpdateRudder] Stopped
2025-10-27T18:03:17.895Z,1761588197.895 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:03:18.116Z,1761588198.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:18.245Z,1761588198.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397746,0.917496,0.000397],[-0.916915,-0.397509,0.035411],[0.032647,0.013721,0.999373]]
2025-10-27T18:03:18.368Z,1761588198.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:18.620Z,1761588198.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:18.652Z,1761588198.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373903,0.927442,-0.006915],[-0.927006,-0.373471,0.034340],[0.029266,0.019250,0.999386]]
2025-10-27T18:03:18.872Z,1761588198.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:19.055Z,1761588199.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350370,0.936503,-0.014238],[-0.936288,-0.349809,0.031602],[0.024614,0.024404,0.999399]]
2025-10-27T18:03:19.124Z,1761588199.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:19.376Z,1761588199.376 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:03:18.6567

2025-10-27T18:03:19.377Z,1761588199.377 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:03:19.377Z,1761588199.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:19.628Z,1761588199.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:19.862Z,1761588199.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308272,0.950906,-0.027315],[-0.951205,-0.307713,0.022848],[0.013321,0.033026,0.999366]]
2025-10-27T18:03:19.880Z,1761588199.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:20.132Z,1761588200.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:20.266Z,1761588200.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291848,0.955959,-0.031106],[-0.956433,-0.291421,0.017588],[0.007749,0.034884,0.999361]]
2025-10-27T18:03:20.384Z,1761588200.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:20.636Z,1761588200.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:20.685Z,1761588200.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279072,0.959743,-0.031829],[-0.960267,-0.278827,0.011965],[0.002609,0.033904,0.999422]]
2025-10-27T18:03:20.888Z,1761588200.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:21.074Z,1761588201.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269115,0.962598,-0.031343],[-0.963106,-0.269033,0.006898],[-0.001793,0.032043,0.999485]]
2025-10-27T18:03:21.140Z,1761588201.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:21.398Z,1761588201.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:21.478Z,1761588201.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261251,0.964825,-0.029336],[-0.965257,-0.261291,0.002536],[-0.005218,0.028980,0.999566]]
2025-10-27T18:03:21.644Z,1761588201.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:21.888Z,1761588201.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254624,0.966703,-0.025534],[-0.967006,-0.254747,-0.001638],[-0.008088,0.024275,0.999673]]
2025-10-27T18:03:21.896Z,1761588201.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:22.148Z,1761588202.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:22.288Z,1761588202.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248676,0.968355,-0.021172],[-0.968539,-0.248822,-0.004510],[-0.009635,0.019384,0.999766]]
2025-10-27T18:03:22.401Z,1761588202.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:22.652Z,1761588202.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:22.696Z,1761588202.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243068,0.969882,-0.015711],[-0.969958,-0.243190,-0.006377],[-0.010006,0.013689,0.999856]]
2025-10-27T18:03:22.904Z,1761588202.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:23.093Z,1761588203.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238034,0.971169,-0.013065],[-0.971215,-0.238127,-0.006064],[-0.009000,0.011246,0.999896]]
2025-10-27T18:03:23.157Z,1761588203.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:23.408Z,1761588203.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:23.662Z,1761588203.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:23.912Z,1761588203.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:24.164Z,1761588204.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:24.306Z,1761588204.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213553,0.976888,-0.009215],[-0.976924,-0.213579,-0.001904],[-0.003828,0.008596,0.999956]]
2025-10-27T18:03:24.416Z,1761588204.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:24.668Z,1761588204.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:24.920Z,1761588204.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:25.115Z,1761588205.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179611,0.983707,-0.007802],[-0.983726,-0.179641,-0.003418],[-0.004764,0.007061,0.999964]]
2025-10-27T18:03:25.124Z,1761588205.124 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA,643.99, 652.18
2025-10-27T18:03:25.174Z,1761588205.174 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:25.424Z,1761588205.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:25.517Z,1761588205.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160957,0.986938,-0.006840],[-0.986944,-0.160991,-0.004750],[-0.005789,0.005987,0.999965]]
2025-10-27T18:03:25.681Z,1761588205.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:25.925Z,1761588205.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141325,0.989938,-0.007005],[-0.989938,-0.141368,-0.006149],[-0.007078,0.006066,0.999957]]
2025-10-27T18:03:25.928Z,1761588205.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:26.180Z,1761588206.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:26.325Z,1761588206.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120813,0.992650,-0.007142],[-0.992637,-0.120869,-0.007882],[-0.008688,0.006137,0.999943]]
2025-10-27T18:03:26.432Z,1761588206.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:26.684Z,1761588206.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:26.936Z,1761588206.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:27.134Z,1761588207.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080557,0.996695,-0.010431],[-0.996669,-0.080680,-0.011919],[-0.012721,0.009436,0.999875]]
2025-10-27T18:03:27.196Z,1761588207.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:27.449Z,1761588207.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:27.538Z,1761588207.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061666,0.998022,-0.012212],[-0.997987,-0.061836,-0.014070],[-0.014798,0.011319,0.999826]]
2025-10-27T18:03:27.700Z,1761588207.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:27.942Z,1761588207.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043251,0.998964,-0.014128],[-0.998923,-0.043478,-0.016204],[-0.016802,0.013412,0.999769]]
2025-10-27T18:03:27.952Z,1761588207.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:28.205Z,1761588208.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:28.346Z,1761588208.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025171,0.999577,-0.014558],[-0.999515,-0.025431,-0.017948],[-0.018310,0.014099,0.999733]]
2025-10-27T18:03:28.456Z,1761588208.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:28.708Z,1761588208.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:28.756Z,1761588208.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006678,0.999872,-0.014512],[-0.999786,-0.006960,-0.019466],[-0.019564,0.014379,0.999705]]
2025-10-27T18:03:28.960Z,1761588208.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:29.165Z,1761588209.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012592,0.999814,-0.014638],[-0.999707,0.012286,-0.020836],[-0.020653,0.014896,0.999676]]
2025-10-27T18:03:29.212Z,1761588209.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:29.464Z,1761588209.464 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:03:29.464Z,1761588209.464 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:03:29.464Z,1761588209.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:29.558Z,1761588209.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032691,0.999361,-0.014436],[-0.999237,0.032372,-0.021865],[-0.021383,0.015139,0.999657]]
2025-10-27T18:03:29.717Z,1761588209.717 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:03:29.717Z,1761588209.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:29.968Z,1761588209.968 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:03:29.968Z,1761588209.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:30.221Z,1761588210.221 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:03:30.221Z,1761588210.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:30.366Z,1761588210.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075130,0.997083,-0.013439],[-0.996920,0.074800,-0.023569],[-0.022495,0.015168,0.999632]]
2025-10-27T18:03:30.401Z,1761588210.401 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:03:30.401Z,1761588210.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:03:30.401Z,1761588210.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateRudder:A] Stopped
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:03:30.402Z,1761588210.402 [marl:UpdateCommandMode] Stopped
2025-10-27T18:03:30.403Z,1761588210.403 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:03:30.403Z,1761588210.403 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed] Stopped
2025-10-27T18:03:30.408Z,1761588210.408 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:03:30.474Z,1761588210.474 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:30.724Z,1761588210.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:30.771Z,1761588210.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095651,0.995330,-0.013021],[-0.995149,0.095315,-0.024372],[-0.023018,0.015289,0.999618]]
2025-10-27T18:03:30.869Z,1761588210.869 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:03:30.869Z,1761588210.869 [marl:UpdateRudder:B] Stopped
2025-10-27T18:03:30.869Z,1761588210.869 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:03:30.870Z,1761588210.870 [marl:UpdateRudder] Stopped
2025-10-27T18:03:30.870Z,1761588210.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:03:30.981Z,1761588210.981 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:31.179Z,1761588211.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115342,0.993214,-0.014881],[-0.993033,0.114931,-0.026018],[-0.024131,0.017778,0.999551]]
2025-10-27T18:03:31.228Z,1761588211.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:31.480Z,1761588211.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:31.578Z,1761588211.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133182,0.990967,-0.015725],[-0.990761,0.132711,-0.027947],[-0.025608,0.019302,0.999486]]
2025-10-27T18:03:31.732Z,1761588211.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:31.984Z,1761588211.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:32.236Z,1761588212.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:32.386Z,1761588212.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162600,0.986596,-0.013750],[-0.986219,0.162075,-0.033225],[-0.030551,0.018963,0.999353]]
2025-10-27T18:03:32.488Z,1761588212.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:32.740Z,1761588212.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:32.810Z,1761588212.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174364,0.984630,-0.010064],[-0.984105,0.173903,-0.035999],[-0.033695,0.016180,0.999301]]
2025-10-27T18:03:32.994Z,1761588212.994 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:33.194Z,1761588213.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184847,0.982749,-0.006058],[-0.982085,0.184486,-0.038405],[-0.036625,0.013048,0.999244]]
2025-10-27T18:03:33.248Z,1761588213.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:33.501Z,1761588213.501 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:03:32.7552

2025-10-27T18:03:33.501Z,1761588213.501 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:03:33.502Z,1761588213.502 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:33.598Z,1761588213.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194348,0.980931,-0.002054],[-0.980154,0.194110,-0.040245],[-0.039079,0.009835,0.999188]]
2025-10-27T18:03:33.752Z,1761588213.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:34.001Z,1761588214.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202754,0.979226,0.002549],[-0.978382,0.202686,-0.041073],[-0.040737,0.005834,0.999153]]
2025-10-27T18:03:34.004Z,1761588214.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:34.256Z,1761588214.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:34.407Z,1761588214.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210748,0.977524,0.005577],[-0.976646,0.210796,-0.041576],[-0.041817,0.003315,0.999120]]
2025-10-27T18:03:34.508Z,1761588214.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:34.760Z,1761588214.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:34.869Z,1761588214.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218552,0.975804,0.006464],[-0.974919,0.218630,-0.041647],[-0.042052,0.002800,0.999111]]
2025-10-27T18:03:34.893Z,1761588214.893 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00, 644.24, 616.79
2025-10-27T18:03:35.013Z,1761588215.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:35.213Z,1761588215.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226763,0.973924,0.007131],[-0.973075,0.226863,-0.040723],[-0.041278,0.002296,0.999145]]
2025-10-27T18:03:35.264Z,1761588215.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:35.516Z,1761588215.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:35.617Z,1761588215.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236272,0.971665,0.006513],[-0.970872,0.236343,-0.039379],[-0.039802,0.002981,0.999203]]
2025-10-27T18:03:35.768Z,1761588215.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:36.020Z,1761588216.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:36.272Z,1761588216.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:36.425Z,1761588216.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262526,0.964925,0.000180],[-0.964302,0.262363,-0.035880],[-0.034668,0.009246,0.999356]]
2025-10-27T18:03:36.526Z,1761588216.526 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:36.777Z,1761588216.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:36.885Z,1761588216.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280533,0.959839,-0.003262],[-0.959308,0.280261,-0.034380],[-0.032085,0.012774,0.999404]]
2025-10-27T18:03:37.028Z,1761588217.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:37.280Z,1761588217.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:37.532Z,1761588217.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:37.652Z,1761588217.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321216,0.946954,-0.009935],[-0.946664,0.320801,-0.030245],[-0.025453,0.019120,0.999493]]
2025-10-27T18:03:37.784Z,1761588217.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:38.036Z,1761588218.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:38.043Z,1761588218.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341997,0.939625,-0.011943],[-0.939454,0.341588,-0.027262],[-0.021537,0.020543,0.999557]]
2025-10-27T18:03:38.288Z,1761588218.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:38.447Z,1761588218.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362329,0.931958,-0.013099],[-0.931881,0.361960,-0.024133],[-0.017749,0.020950,0.999623]]
2025-10-27T18:03:38.540Z,1761588218.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:38.794Z,1761588218.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:38.868Z,1761588218.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381576,0.924278,-0.010462],[-0.924216,0.381318,-0.020539],[-0.014994,0.017507,0.999734]]
2025-10-27T18:03:39.044Z,1761588219.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:39.253Z,1761588219.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400823,0.916133,-0.006435],[-0.916049,0.400659,-0.018057],[-0.013965,0.013133,0.999816]]
2025-10-27T18:03:39.296Z,1761588219.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:39.548Z,1761588219.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:39.662Z,1761588219.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419249,0.907871,-0.000444],[-0.907748,0.419184,-0.016703],[-0.014978,0.007406,0.999860]]
2025-10-27T18:03:39.800Z,1761588219.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:40.052Z,1761588220.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:40.067Z,1761588220.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436794,0.899535,0.006954],[-0.899383,0.436848,-0.016562],[-0.017936,0.000980,0.999839]]
2025-10-27T18:03:40.304Z,1761588220.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:40.466Z,1761588220.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451931,0.891940,0.014192],[-0.891785,0.452128,-0.017312],[-0.021858,-0.004832,0.999749]]
2025-10-27T18:03:40.556Z,1761588220.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:40.810Z,1761588220.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:40.873Z,1761588220.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464791,0.885197,0.019897],[-0.885032,0.465135,-0.019173],[-0.026227,-0.008698,0.999618]]
2025-10-27T18:03:41.061Z,1761588221.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:41.275Z,1761588221.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475975,0.879089,0.025497],[-0.878922,0.476498,-0.021124],[-0.030719,-0.012355,0.999452]]
2025-10-27T18:03:41.312Z,1761588221.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:41.564Z,1761588221.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:41.678Z,1761588221.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486342,0.873279,0.029234],[-0.873064,0.487021,-0.023873],[-0.035086,-0.013913,0.999287]]
2025-10-27T18:03:41.820Z,1761588221.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:42.068Z,1761588222.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:42.083Z,1761588222.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496129,0.867769,0.028865],[-0.867382,0.496845,-0.028167],[-0.038784,-0.011062,0.999186]]
2025-10-27T18:03:42.320Z,1761588222.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:42.486Z,1761588222.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505435,0.862467,0.026170],[-0.861897,0.506072,-0.032009],[-0.040851,-0.006377,0.999145]]
2025-10-27T18:03:42.573Z,1761588222.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:42.826Z,1761588222.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:43.076Z,1761588223.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:43.293Z,1761588223.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523248,0.851981,0.018413],[-0.851318,0.523568,-0.033677],[-0.038333,0.001946,0.999263]]
2025-10-27T18:03:43.329Z,1761588223.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:43.343Z,1761588223.343 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:03:43.344Z,1761588223.344 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:03:43.344Z,1761588223.344 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:03:43.344Z,1761588223.344 [marl:UpdateRudder:A] Stopped
2025-10-27T18:03:43.344Z,1761588223.344 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:03:43.344Z,1761588223.344 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode] Stopped
2025-10-27T18:03:43.345Z,1761588223.345 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:03:43.580Z,1761588223.580 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:03:43.580Z,1761588223.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:43.697Z,1761588223.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533615,0.845639,0.012263],[-0.845019,0.533705,-0.033184],[-0.034607,0.007345,0.999374]]
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateRudder:B] Stopped
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateRudder] Stopped
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:03:43.769Z,1761588223.769 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:03:43.770Z,1761588223.770 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:03:43.770Z,1761588223.770 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:03:43.770Z,1761588223.770 [marl:UpdateSpeed] Stopped
2025-10-27T18:03:43.770Z,1761588223.770 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:03:43.834Z,1761588223.834 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:03:43.834Z,1761588223.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:44.084Z,1761588224.084 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:03:44.084Z,1761588224.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:44.125Z,1761588224.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547110,0.837015,0.008797],[-0.836477,0.547091,-0.031584],[-0.031249,0.009921,0.999462]]
2025-10-27T18:03:44.336Z,1761588224.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:44.505Z,1761588224.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563128,0.826356,0.004802],[-0.825872,0.562980,-0.031455],[-0.028696,0.013747,0.999494]]
2025-10-27T18:03:44.588Z,1761588224.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:44.845Z,1761588224.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:44.909Z,1761588224.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580469,0.814279,0.002443],[-0.813824,0.580240,-0.031834],[-0.027339,0.016490,0.999490]]
2025-10-27T18:03:44.933Z,1761588224.933 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -135.99,   10+31.28,  20.00,  0.00
2025-10-27T18:03:45.096Z,1761588225.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:45.317Z,1761588225.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597818,0.801626,0.003130],[-0.801174,0.597604,-0.031448],[-0.027080,0.016293,0.999500]]
2025-10-27T18:03:45.348Z,1761588225.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:45.600Z,1761588225.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:45.683Z,1761588225.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:03:45.718Z,1761588225.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614133,0.789185,0.005280],[-0.788719,0.613977,-0.030885],[-0.027616,0.014803,0.999509]]
2025-10-27T18:03:45.853Z,1761588225.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:46.105Z,1761588226.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:46.133Z,1761588226.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628241,0.777969,0.008790],[-0.777497,0.628194,-0.029526],[-0.028492,0.011715,0.999525]]
2025-10-27T18:03:46.356Z,1761588226.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:46.526Z,1761588226.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639069,0.768983,0.016027],[-0.768590,0.639260,-0.024840],[-0.029347,0.003557,0.999563]]
2025-10-27T18:03:46.613Z,1761588226.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:46.688Z,1761588226.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:03:46.864Z,1761588226.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:47.117Z,1761588227.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:47.334Z,1761588227.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647420,0.760861,0.044022],[-0.761550,0.648103,-0.001660],[-0.029794,-0.032450,0.999029]]
2025-10-27T18:03:47.368Z,1761588227.368 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:03:46.6052

2025-10-27T18:03:47.369Z,1761588227.369 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:03:47.369Z,1761588227.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:47.620Z,1761588227.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:47.745Z,1761588227.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647971,0.758815,0.065828],[-0.761096,0.648404,0.017458],[-0.029436,-0.061414,0.997678]]
2025-10-27T18:03:47.872Z,1761588227.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:48.125Z,1761588228.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:48.144Z,1761588228.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648398,0.756178,0.088177],[-0.760784,0.647868,0.038410],[-0.028082,-0.091988,0.995364]]
2025-10-27T18:03:48.376Z,1761588228.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:48.546Z,1761588228.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650164,0.751853,0.109561],[-0.759340,0.647965,0.059525],[-0.026238,-0.121895,0.992196]]
2025-10-27T18:03:48.629Z,1761588228.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:48.880Z,1761588228.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:48.949Z,1761588228.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652557,0.746728,0.128711],[-0.757373,0.648045,0.080147],[-0.023563,-0.149783,0.988438]]
2025-10-27T18:03:49.132Z,1761588229.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:49.353Z,1761588229.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655418,0.741202,0.145073],[-0.754979,0.648266,0.098780],[-0.020830,-0.174269,0.984478]]
2025-10-27T18:03:49.384Z,1761588229.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:49.636Z,1761588229.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:49.762Z,1761588229.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658796,0.735447,0.158445],[-0.752097,0.648970,0.114840],[-0.018367,-0.194822,0.980667]]
2025-10-27T18:03:49.888Z,1761588229.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:50.140Z,1761588230.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:50.392Z,1761588230.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:50.569Z,1761588230.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665919,0.724316,0.178654],[-0.745804,0.652171,0.135829],[-0.018130,-0.223692,0.974491]]
2025-10-27T18:03:50.644Z,1761588230.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:50.896Z,1761588230.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:50.970Z,1761588230.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668670,0.719346,0.188208],[-0.743277,0.653621,0.142543],[-0.020479,-0.235205,0.971730]]
2025-10-27T18:03:51.149Z,1761588231.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:51.375Z,1761588231.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669635,0.716573,0.195221],[-0.742310,0.654165,0.145067],[-0.023756,-0.242056,0.969971]]
2025-10-27T18:03:51.400Z,1761588231.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:51.652Z,1761588231.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:51.778Z,1761588231.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669057,0.715984,0.199323],[-0.742713,0.653929,0.144059],[-0.027200,-0.244424,0.969287]]
2025-10-27T18:03:51.904Z,1761588231.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:52.156Z,1761588232.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:52.181Z,1761588232.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667839,0.717097,0.199405],[-0.743671,0.653940,0.138983],[-0.030735,-0.241110,0.970011]]
2025-10-27T18:03:52.408Z,1761588232.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:52.589Z,1761588232.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666670,0.718990,0.196477],[-0.744559,0.654565,0.131057],[-0.034378,-0.233661,0.971710]]
2025-10-27T18:03:52.660Z,1761588232.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:52.912Z,1761588232.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:52.992Z,1761588232.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665562,0.721420,0.191262],[-0.745401,0.655393,0.121809],[-0.037476,-0.223638,0.973952]]
2025-10-27T18:03:53.164Z,1761588233.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:53.394Z,1761588233.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664519,0.724057,0.184816],[-0.746230,0.656029,0.112985],[-0.039437,-0.212996,0.976257]]
2025-10-27T18:03:53.416Z,1761588233.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:53.583Z,1761588233.583 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:03:53.584Z,1761588233.584 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:03:53.668Z,1761588233.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:53.797Z,1761588233.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663337,0.726847,0.177980],[-0.747249,0.656104,0.105576],[-0.040036,-0.203028,0.978354]]
2025-10-27T18:03:53.850Z,1761588233.850 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:03:53.920Z,1761588233.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:54.172Z,1761588234.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:54.203Z,1761588234.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662014,0.729709,0.171060],[-0.748435,0.655747,0.099205],[-0.039781,-0.193703,0.980253]]
2025-10-27T18:03:54.424Z,1761588234.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:54.620Z,1761588234.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660126,0.732993,0.164178],[-0.750181,0.654459,0.094409],[-0.038246,-0.185485,0.981903]]
2025-10-27T18:03:54.676Z,1761588234.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:54.928Z,1761588234.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:55.010Z,1761588235.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658057,0.736164,0.158187],[-0.752118,0.652628,0.091630],[-0.035783,-0.179273,0.983148]]
2025-10-27T18:03:55.020Z,1761588235.020 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 748.35, 598.20, 683I,    +6, -155,  +149,A
2025-10-27T18:03:55.185Z,1761588235.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:55.414Z,1761588235.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655906,0.739014,0.153771],[-0.754138,0.650351,0.091210],[-0.032600,-0.175790,0.983888]]
2025-10-27T18:03:55.435Z,1761588235.435 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:55.684Z,1761588235.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:55.820Z,1761588235.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655250,0.740072,0.151464],[-0.754831,0.649314,0.092850],[-0.029633,-0.175170,0.984092]]
2025-10-27T18:03:55.936Z,1761588235.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:56.188Z,1761588236.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:56.224Z,1761588236.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656909,0.739176,0.148625],[-0.753492,0.650626,0.094526],[-0.026828,-0.174082,0.984366]]
2025-10-27T18:03:56.265Z,1761588236.265 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:03:56.265Z,1761588236.265 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:03:56.265Z,1761588236.265 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateRudder:A] Stopped
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:03:56.266Z,1761588236.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:03:56.267Z,1761588236.267 [marl:UpdateCommandMode] Stopped
2025-10-27T18:03:56.267Z,1761588236.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:03:56.440Z,1761588236.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:56.627Z,1761588236.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660594,0.736173,0.147189],[-0.750362,0.653695,0.098184],[-0.023936,-0.175305,0.984223]]
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateRudder:B] Stopped
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateRudder] Stopped
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:03:56.668Z,1761588236.668 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:03:56.669Z,1761588236.669 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:03:56.669Z,1761588236.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:03:56.669Z,1761588236.669 [marl:UpdateSpeed] Stopped
2025-10-27T18:03:56.669Z,1761588236.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:03:56.700Z,1761588236.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:56.952Z,1761588236.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:57.030Z,1761588237.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665171,0.732109,0.146844],[-0.746408,0.657352,0.103753],[-0.020570,-0.178619,0.983703]]
2025-10-27T18:03:57.205Z,1761588237.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:57.456Z,1761588237.456 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:03:57.456Z,1761588237.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:57.708Z,1761588237.708 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:03:57.708Z,1761588237.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:57.844Z,1761588237.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681635,0.716509,0.148285],[-0.731643,0.669805,0.126726],[-0.008521,-0.194872,0.980792]]
2025-10-27T18:03:57.960Z,1761588237.960 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:03:57.961Z,1761588237.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:58.212Z,1761588238.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:58.464Z,1761588238.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:58.651Z,1761588238.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693335,0.704183,0.153016],[-0.720611,0.678265,0.143791],[-0.002530,-0.209961,0.977706]]
2025-10-27T18:03:58.717Z,1761588238.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:58.968Z,1761588238.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:59.061Z,1761588239.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699495,0.697769,0.154354],[-0.714636,0.683378,0.149299],[-0.001306,-0.214741,0.976670]]
2025-10-27T18:03:59.220Z,1761588239.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:59.454Z,1761588239.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706927,0.691510,0.148554],[-0.707286,0.691532,0.146734],[-0.001262,-0.208800,0.977957]]
2025-10-27T18:03:59.472Z,1761588239.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:59.724Z,1761588239.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:03:59.976Z,1761588239.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:00.228Z,1761588240.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:00.262Z,1761588240.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728174,0.676474,0.110207],[-0.685391,0.718986,0.115315],[-0.001230,-0.159504,0.987196]]
2025-10-27T18:04:00.480Z,1761588240.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:00.668Z,1761588240.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739721,0.667221,0.087345],[-0.672913,0.733532,0.095491],[-0.000356,-0.129412,0.991591]]
2025-10-27T18:04:00.732Z,1761588240.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:00.984Z,1761588240.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:01.077Z,1761588241.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751613,0.656347,0.065474],[-0.659604,0.747750,0.076110],[0.000996,-0.100392,0.994947]]
2025-10-27T18:04:01.236Z,1761588241.236 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:04:00.5051

2025-10-27T18:04:01.236Z,1761588241.236 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:04:01.237Z,1761588241.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:01.488Z,1761588241.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:01.740Z,1761588241.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:01.878Z,1761588241.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774138,0.632275,0.030630],[-0.632988,0.772733,0.047003],[0.006050,-0.055775,0.998425]]
2025-10-27T18:04:01.992Z,1761588241.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:02.244Z,1761588242.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:02.286Z,1761588242.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784938,0.619326,0.017531],[-0.619509,0.784129,0.036745],[0.009011,-0.039703,0.999171]]
2025-10-27T18:04:02.496Z,1761588242.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:02.686Z,1761588242.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794928,0.606650,0.008056],[-0.606584,0.794438,0.030406],[0.012046,-0.029057,0.999505]]
2025-10-27T18:04:02.748Z,1761588242.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:02.000Z,1761588243.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:03.101Z,1761588243.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804175,0.594391,0.001035],[-0.594198,0.803867,0.026956],[0.015190,-0.022292,0.999636]]
2025-10-27T18:04:03.252Z,1761588243.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:03.494Z,1761588243.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812688,0.582685,-0.003940],[-0.582418,0.812488,0.025545],[0.018086,-0.018465,0.999666]]
2025-10-27T18:04:03.504Z,1761588243.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:03.756Z,1761588243.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:03.899Z,1761588243.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820684,0.571312,-0.008932],[-0.570989,0.820599,0.024265],[0.021192,-0.014814,0.999666]]
2025-10-27T18:04:04.008Z,1761588244.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:04.260Z,1761588244.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:04.301Z,1761588244.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828522,0.559813,-0.012698],[-0.559434,0.828515,0.024427],[0.024195,-0.013135,0.999621]]
2025-10-27T18:04:04.512Z,1761588244.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:04.706Z,1761588244.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835942,0.548609,-0.015151],[-0.548144,0.835965,0.026468],[0.027186,-0.013821,0.999535]]
2025-10-27T18:04:04.764Z,1761588244.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:05.016Z,1761588245.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:05.110Z,1761588245.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843358,0.537058,-0.017792],[-0.536504,0.843424,0.028280],[0.030194,-0.014305,0.999442]]
2025-10-27T18:04:05.136Z,1761588245.136 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   -67,   +6,A
2025-10-27T18:04:05.268Z,1761588245.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:05.520Z,1761588245.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:05.772Z,1761588245.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:05.917Z,1761588245.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858260,0.512619,-0.024728],[-0.511902,0.858514,0.030164],[0.036692,-0.013231,0.999239]]
2025-10-27T18:04:06.024Z,1761588246.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:06.276Z,1761588246.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:06.324Z,1761588246.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866043,0.499167,-0.028301],[-0.498372,0.866414,0.030858],[0.039924,-0.012620,0.999123]]
2025-10-27T18:04:06.528Z,1761588246.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:06.728Z,1761588246.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873397,0.485951,-0.032077],[-0.485060,0.873900,0.031859],[0.043514,-0.012266,0.998977]]
2025-10-27T18:04:06.781Z,1761588246.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:07.032Z,1761588247.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:07.130Z,1761588247.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880726,0.472360,-0.034614],[-0.471308,0.881293,0.034526],[0.046814,-0.014094,0.998804]]
2025-10-27T18:04:07.284Z,1761588247.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:07.536Z,1761588247.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:07.540Z,1761588247.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887794,0.458704,-0.037574],[-0.457502,0.888459,0.036510],[0.050130,-0.015223,0.998627]]
2025-10-27T18:04:07.788Z,1761588247.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:07.939Z,1761588247.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894742,0.444730,-0.040633],[-0.443391,0.895522,0.038019],[0.053296,-0.016002,0.998451]]
2025-10-27T18:04:08.040Z,1761588248.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:08.292Z,1761588248.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:08.342Z,1761588248.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901863,0.429888,-0.042890],[-0.428430,0.902721,0.039265],[0.055597,-0.017036,0.998308]]
2025-10-27T18:04:08.545Z,1761588248.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:08.757Z,1761588248.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908939,0.414493,-0.045006],[-0.412958,0.909884,0.039706],[0.057408,-0.017505,0.998197]]
2025-10-27T18:04:08.799Z,1761588248.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:09.049Z,1761588249.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:09.154Z,1761588249.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916151,0.398028,-0.047338],[-0.396493,0.917221,0.038706],[0.058826,-0.016692,0.998129]]
2025-10-27T18:04:09.220Z,1761588249.220 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:04:09.220Z,1761588249.220 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:04:09.220Z,1761588249.220 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateRudder:A] Stopped
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:04:09.221Z,1761588249.221 [marl:UpdateCommandMode] Stopped
2025-10-27T18:04:09.222Z,1761588249.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:04:09.300Z,1761588249.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:09.552Z,1761588249.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:09.558Z,1761588249.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923347,0.380779,-0.049364],[-0.379254,0.924527,0.037627],[0.059966,-0.016022,0.998072]]
2025-10-27T18:04:09.608Z,1761588249.608 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:04:09.608Z,1761588249.608 [marl:UpdateRudder:B] Stopped
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateRudder] Stopped
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:04:09.609Z,1761588249.609 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:04:09.610Z,1761588249.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:04:09.610Z,1761588249.610 [marl:UpdateSpeed] Stopped
2025-10-27T18:04:09.610Z,1761588249.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:04:09.804Z,1761588249.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:09.957Z,1761588249.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930633,0.362318,-0.051458],[-0.360864,0.931942,0.035510],[0.060822,-0.014478,0.998044]]
2025-10-27T18:04:10.057Z,1761588250.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:10.308Z,1761588250.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:10.362Z,1761588250.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937813,0.343067,-0.053020],[-0.341642,0.939207,0.034212],[0.061534,-0.013970,0.998007]]
2025-10-27T18:04:10.561Z,1761588250.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:10.772Z,1761588250.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944721,0.323198,-0.055180],[-0.321910,0.946261,0.031063],[0.062254,-0.011583,0.997993]]
2025-10-27T18:04:10.814Z,1761588250.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:11.064Z,1761588251.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:11.169Z,1761588251.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951304,0.303056,-0.056375],[-0.301799,0.952905,0.029820],[0.062757,-0.011354,0.997964]]
2025-10-27T18:04:11.316Z,1761588251.316 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:04:11.316Z,1761588251.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:11.568Z,1761588251.568 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:04:11.569Z,1761588251.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:11.585Z,1761588251.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957458,0.282748,-0.057687],[-0.281544,0.959134,0.028193],[0.063301,-0.010753,0.997937]]
2025-10-27T18:04:11.820Z,1761588251.820 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:04:11.820Z,1761588251.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:11.979Z,1761588251.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963033,0.262901,-0.058741],[-0.261640,0.964749,0.028360],[0.064126,-0.011943,0.997870]]
2025-10-27T18:04:12.078Z,1761588252.078 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:12.328Z,1761588252.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:12.580Z,1761588252.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:12.803Z,1761588252.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972632,0.224328,-0.060531],[-0.222944,0.974405,0.028813],[0.065445,-0.014529,0.997750]]
2025-10-27T18:04:12.834Z,1761588252.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:13.084Z,1761588253.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:13.336Z,1761588253.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:13.588Z,1761588253.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:13.601Z,1761588253.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980077,0.188226,-0.063402],[-0.186653,0.981970,0.029935],[0.067893,-0.017504,0.997539]]
2025-10-27T18:04:13.840Z,1761588253.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:13.998Z,1761588253.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983187,0.170589,-0.065141],[-0.168900,0.985156,0.030655],[0.069403,-0.019138,0.997405]]
2025-10-27T18:04:14.092Z,1761588254.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:14.344Z,1761588254.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:14.402Z,1761588254.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986047,0.152471,-0.066816],[-0.150857,0.988142,0.028591],[0.070383,-0.018112,0.997356]]
2025-10-27T18:04:14.596Z,1761588254.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:14.849Z,1761588254.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:14.882Z,1761588254.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988648,0.133909,-0.068144],[-0.132383,0.990845,0.026461],[0.071064,-0.017139,0.997325]]
2025-10-27T18:04:14.903Z,1761588254.903 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -137.72,     +310    +31.45,  20.00,  0.00
2025-10-27T18:04:15.100Z,1761588255.100 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:04:14.3551

2025-10-27T18:04:15.100Z,1761588255.100 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:04:15.101Z,1761588255.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:15.209Z,1761588255.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990856,0.115843,-0.069167],[-0.114382,0.993129,0.024735],[0.071557,-0.016597,0.997298]]
2025-10-27T18:04:15.244Z,1761588255.244 [marl:SendObservationData] Running Loop=1
2025-10-27T18:04:15.244Z,1761588255.244 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T18:04:15.244Z,1761588255.244 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T18:04:15.245Z,1761588255.245 [marl:SendObservationData:A] Running Loop=1
2025-10-27T18:04:15.246Z,1761588255.246 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T18:04:15.246Z,1761588255.246 [marl:SendObservationData:A] Stopped
2025-10-27T18:04:15.246Z,1761588255.246 [marl:SendObservationData:B] Running Loop=1
2025-10-27T18:04:15.352Z,1761588255.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:15.612Z,1761588255.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:15.615Z,1761588255.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992741,0.097851,-0.069936],[-0.096549,0.995090,0.021760],[0.071722,-0.014849,0.997314]]
2025-10-27T18:04:15.657Z,1761588255.657 [marl:SendObservationData:B] Stopped
2025-10-27T18:04:15.657Z,1761588255.657 [marl:SendObservationData:C] Running Loop=1
2025-10-27T18:04:15.864Z,1761588255.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:16.018Z,1761588256.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994359,0.079248,-0.070499],[-0.078072,0.996761,0.019280],[0.071798,-0.013667,0.997326]]
2025-10-27T18:04:16.063Z,1761588256.063 [marl:SendObservationData:C] Stopped
2025-10-27T18:04:16.063Z,1761588256.063 [marl:SendObservationData:E] Running Loop=1
2025-10-27T18:04:16.117Z,1761588256.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:16.368Z,1761588256.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:16.424Z,1761588256.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995609,0.060929,-0.071063],[-0.059863,0.998061,0.017039],[0.071963,-0.012710,0.997326]]
2025-10-27T18:04:16.486Z,1761588256.486 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008741 min 
2025-10-27T18:04:16.486Z,1761588256.486 [marl:SendObservationData:E] Stopped
2025-10-27T18:04:16.486Z,1761588256.486 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T18:04:16.487Z,1761588256.487 [marl:SendObservationData] Stopped
2025-10-27T18:04:16.495Z,1761588256.495 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T18:04:16.495Z,1761588256.495 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T18:04:16.620Z,1761588256.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:16.812Z,1761588256.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:04:16.872Z,1761588256.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:16.880Z,1761588256.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996510,0.043278,-0.071373],[-0.042250,0.998981,0.015850],[0.071987,-0.012779,0.997324]]
2025-10-27T18:04:17.124Z,1761588257.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:17.229Z,1761588257.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997093,0.025704,-0.071723],[-0.024840,0.999608,0.012905],[0.072027,-0.011086,0.997341]]
2025-10-27T18:04:17.376Z,1761588257.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:17.628Z,1761588257.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:17.635Z,1761588257.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997387,0.009940,-0.071563],[-0.009110,0.999888,0.011913],[0.071674,-0.011230,0.997365]]
2025-10-27T18:04:17.815Z,1761588257.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:04:17.880Z,1761588257.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:18.042Z,1761588258.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997450,-0.004046,-0.071255],[0.004860,0.999925,0.011248],[0.071204,-0.011565,0.997395]]
2025-10-27T18:04:18.132Z,1761588258.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:18.384Z,1761588258.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:18.445Z,1761588258.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997344,-0.016923,-0.070845],[0.017698,0.999790,0.010325],[0.070655,-0.011552,0.997434]]
2025-10-27T18:04:18.636Z,1761588258.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:18.873Z,1761588258.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997131,-0.029379,-0.069766],[0.030107,0.999502,0.009405],[0.069455,-0.011479,0.997519]]
2025-10-27T18:04:18.888Z,1761588258.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:19.140Z,1761588259.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:19.249Z,1761588259.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996798,-0.041812,-0.068162],[0.042394,0.999076,0.007104],[0.067802,-0.009971,0.997649]]
2025-10-27T18:04:19.392Z,1761588259.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:19.644Z,1761588259.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:19.658Z,1761588259.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996333,-0.054395,-0.066049],[0.054770,0.998492,0.003877],[0.065739,-0.007481,0.997809]]
2025-10-27T18:04:19.896Z,1761588259.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:20.148Z,1761588260.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:20.400Z,1761588260.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:20.462Z,1761588260.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994877,-0.080927,-0.060586],[0.080541,0.996713,-0.008793],[0.061099,0.003868,0.998124]]
2025-10-27T18:04:20.652Z,1761588260.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:20.883Z,1761588260.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993803,-0.094902,-0.057869],[0.094048,0.995417,-0.017306],[0.059246,0.011756,0.998174]]
2025-10-27T18:04:20.904Z,1761588260.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:21.157Z,1761588261.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:21.269Z,1761588261.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992529,-0.109125,-0.054563],[0.107820,0.993822,-0.026326],[0.057099,0.020246,0.998163]]
2025-10-27T18:04:21.408Z,1761588261.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:21.660Z,1761588261.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:21.675Z,1761588261.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991035,-0.123479,-0.051017],[0.121855,0.991972,-0.033817],[0.054783,0.027297,0.998125]]
2025-10-27T18:04:21.912Z,1761588261.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:22.078Z,1761588262.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989189,-0.138702,-0.047618],[0.136943,0.989833,-0.038430],[0.052464,0.031493,0.998126]]
2025-10-27T18:04:22.102Z,1761588262.102 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:04:22.102Z,1761588262.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:04:22.103Z,1761588262.103 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:04:22.103Z,1761588262.103 [marl:UpdateRudder:A] Stopped
2025-10-27T18:04:22.103Z,1761588262.103 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:04:22.103Z,1761588262.103 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode] Stopped
2025-10-27T18:04:22.104Z,1761588262.104 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:04:22.165Z,1761588262.165 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:22.416Z,1761588262.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:22.483Z,1761588262.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986842,-0.155441,-0.044513],[0.153659,0.987273,-0.041004],[0.050320,0.033625,0.998167]]
2025-10-27T18:04:22.553Z,1761588262.553 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:04:22.553Z,1761588262.553 [marl:UpdateRudder:B] Stopped
2025-10-27T18:04:22.553Z,1761588262.553 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:04:22.554Z,1761588262.554 [marl:UpdateRudder] Stopped
2025-10-27T18:04:22.554Z,1761588262.554 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:04:22.554Z,1761588262.554 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:04:22.554Z,1761588262.554 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:04:22.554Z,1761588262.554 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:04:22.559Z,1761588262.559 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:04:22.559Z,1761588262.559 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:04:22.559Z,1761588262.559 [marl:UpdateSpeed] Stopped
2025-10-27T18:04:22.559Z,1761588262.559 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:04:22.668Z,1761588262.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:22.889Z,1761588262.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983838,-0.174214,-0.041371],[0.172483,0.984105,-0.042277],[0.048079,0.034458,0.998249]]
2025-10-27T18:04:22.920Z,1761588262.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:23.172Z,1761588263.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:23.289Z,1761588263.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980131,-0.194587,-0.038470],[0.192995,0.980321,-0.041517],[0.045792,0.033267,0.998397]]
2025-10-27T18:04:23.424Z,1761588263.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:23.676Z,1761588263.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:23.694Z,1761588263.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975696,-0.216040,-0.036665],[0.214700,0.975969,-0.037255],[0.043832,0.028478,0.998633]]
2025-10-27T18:04:23.928Z,1761588263.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:24.099Z,1761588264.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970785,-0.237334,-0.035351],[0.236254,0.971159,-0.032168],[0.041966,0.022876,0.998857]]
2025-10-27T18:04:24.180Z,1761588264.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:24.432Z,1761588264.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:24.502Z,1761588264.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965148,-0.259398,-0.034678],[0.258656,0.965659,-0.024486],[0.039838,0.014663,0.999099]]
2025-10-27T18:04:24.684Z,1761588264.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:24.908Z,1761588264.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958986,-0.281378,-0.034257],[0.280950,0.959575,-0.016821],[0.037605,0.006507,0.999271]]
2025-10-27T18:04:24.936Z,1761588264.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:25.188Z,1761588265.188 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:04:25.188Z,1761588265.188 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:04:25.188Z,1761588265.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:25.309Z,1761588265.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952727,-0.301978,-0.033492],[0.301723,0.953313,-0.012537],[0.035714,0.001839,0.999360]]
2025-10-27T18:04:25.440Z,1761588265.440 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:04:25.440Z,1761588265.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:25.692Z,1761588265.692 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:04:25.692Z,1761588265.692 [DAT](INFO): #Outgoing data=8
2025-10-27T18:04:25.692Z,1761588265.692 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:04:25.693Z,1761588265.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:25.740Z,1761588265.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946841,-0.320036,-0.032704],[0.319899,0.947404,-0.009473],[0.034016,-0.001492,0.999420]]
2025-10-27T18:04:25.944Z,1761588265.944 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:04:25.944Z,1761588265.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:26.119Z,1761588266.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941756,-0.334717,-0.032559],[0.334724,0.942301,-0.005405],[0.032489,-0.005808,0.999455]]
2025-10-27T18:04:26.196Z,1761588266.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:26.448Z,1761588266.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:26.528Z,1761588266.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937154,-0.347531,-0.031048],[0.347585,0.937641,-0.003806],[0.030435,-0.007225,0.999511]]
2025-10-27T18:04:26.700Z,1761588266.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:26.928Z,1761588266.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932614,-0.359712,-0.028968],[0.359755,0.933039,-0.003915],[0.028436,-0.006771,0.999573]]
2025-10-27T18:04:26.952Z,1761588266.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:27.204Z,1761588267.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:27.331Z,1761588267.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927872,-0.371921,-0.027000],[0.371950,0.928244,-0.004113],[0.026592,-0.006227,0.999627]]
2025-10-27T18:04:27.456Z,1761588267.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:27.708Z,1761588267.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:27.740Z,1761588267.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922950,-0.384139,-0.024496],[0.384129,0.923264,-0.005277],[0.024644,-0.004539,0.999686]]
2025-10-27T18:04:27.960Z,1761588267.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:28.138Z,1761588268.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917710,-0.396623,-0.022353],[0.396615,0.917972,-0.004946],[0.022481,-0.004327,0.999738]]
2025-10-27T18:04:28.212Z,1761588268.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:28.464Z,1761588268.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:28.552Z,1761588268.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912260,-0.409129,-0.019884],[0.409105,0.912471,-0.005434],[0.020367,-0.003178,0.999788]]
2025-10-27T18:04:28.716Z,1761588268.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:28.949Z,1761588268.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906437,-0.422003,-0.016886],[0.421939,0.906594,-0.007370],[0.018419,-0.000445,0.999830]]
2025-10-27T18:04:28.968Z,1761588268.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:29.220Z,1761588269.220 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:04:28.4550

2025-10-27T18:04:29.220Z,1761588269.220 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:04:29.221Z,1761588269.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:29.350Z,1761588269.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900382,-0.434865,-0.014337],[0.434799,0.900496,-0.007565],[0.016200,0.000578,0.999869]]
2025-10-27T18:04:29.475Z,1761588269.475 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:29.724Z,1761588269.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:29.762Z,1761588269.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894627,-0.446662,-0.011659],[0.446602,0.894701,-0.007501],[0.013782,0.001503,0.999904]]
2025-10-27T18:04:29.976Z,1761588269.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:30.157Z,1761588270.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888402,-0.458985,-0.008630],[0.458935,0.888441,-0.007215],[0.010979,0.002449,0.999937]]
2025-10-27T18:04:30.228Z,1761588270.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:30.480Z,1761588270.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:30.562Z,1761588270.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882140,-0.470945,-0.006387],[0.470924,0.882162,-0.004598],[0.007800,0.001048,0.999969]]
2025-10-27T18:04:30.732Z,1761588270.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:30.970Z,1761588270.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875747,-0.482752,-0.004215],[0.482748,0.875757,-0.001895],[0.004606,-0.000375,0.999989]]
2025-10-27T18:04:30.984Z,1761588270.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:31.236Z,1761588271.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:31.369Z,1761588271.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868661,-0.495404,-0.001504],[0.495405,0.868662,-0.000154],[0.001383,-0.000611,0.999999]]
2025-10-27T18:04:31.488Z,1761588271.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:31.740Z,1761588271.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:31.774Z,1761588271.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860975,-0.508646,0.001342],[0.508644,0.860976,0.001459],[-0.001898,-0.000573,0.999998]]
2025-10-27T18:04:31.992Z,1761588271.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:32.177Z,1761588272.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852450,-0.522792,0.004136],[0.522783,0.852460,0.003031],[-0.005110,-0.000422,0.999987]]
2025-10-27T18:04:32.244Z,1761588272.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:32.496Z,1761588272.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:32.582Z,1761588272.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843413,-0.537234,0.005895],[0.537214,0.843433,0.004741],[-0.007519,-0.000831,0.999971]]
2025-10-27T18:04:32.749Z,1761588272.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:32.995Z,1761588272.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833903,-0.551864,0.007223],[0.551840,0.833934,0.005178],[-0.008881,-0.000332,0.999960]]
2025-10-27T18:04:32.000Z,1761588273.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:33.252Z,1761588273.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:33.390Z,1761588273.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823826,-0.566775,0.008738],[0.566759,0.823871,0.004461],[-0.009727,0.001277,0.999952]]
2025-10-27T18:04:33.505Z,1761588273.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:33.756Z,1761588273.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:33.793Z,1761588273.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813771,-0.581111,0.009258],[0.581099,0.813822,0.004260],[-0.010010,0.001913,0.999948]]
2025-10-27T18:04:34.009Z,1761588274.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:34.201Z,1761588274.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804044,-0.594481,0.010294],[0.594480,0.804103,0.003463],[-0.010336,0.003335,0.999941]]
2025-10-27T18:04:34.260Z,1761588274.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:34.512Z,1761588274.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:34.603Z,1761588274.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794408,-0.607269,0.011824],[0.607291,0.794477,0.002013],[-0.010617,0.005581,0.999928]]
2025-10-27T18:04:34.764Z,1761588274.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:35.017Z,1761588275.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:35.018Z,1761588275.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785308,-0.618974,0.012769],[0.619004,0.785386,0.001944],[-0.011232,0.006378,0.999917]]
2025-10-27T18:04:35.268Z,1761588275.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:35.410Z,1761588275.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776528,-0.629923,0.014201],[0.629966,0.776621,0.001791],[-0.012157,0.007555,0.999898]]
2025-10-27T18:04:35.460Z,1761588275.460 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateRudder:A] Stopped
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:04:35.461Z,1761588275.461 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:04:35.462Z,1761588275.462 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:04:35.462Z,1761588275.462 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:04:35.462Z,1761588275.462 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:04:35.462Z,1761588275.462 [marl:UpdateCommandMode] Stopped
2025-10-27T18:04:35.462Z,1761588275.462 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:04:35.521Z,1761588275.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:35.772Z,1761588275.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:35.815Z,1761588275.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768033,-0.640246,0.014533],[0.640268,0.768143,0.003675],[-0.013516,0.006482,0.999888]]
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateRudder:B] Stopped
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateRudder] Stopped
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:04:35.842Z,1761588275.842 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:04:35.843Z,1761588275.843 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:04:35.843Z,1761588275.843 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:04:35.843Z,1761588275.843 [marl:UpdateSpeed] Stopped
2025-10-27T18:04:35.843Z,1761588275.843 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:04:36.025Z,1761588276.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:36.278Z,1761588276.278 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:36.528Z,1761588276.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:36.622Z,1761588276.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751508,-0.659528,0.016096],[0.659491,0.751667,0.008267],[-0.017551,0.004403,0.999836]]
2025-10-27T18:04:36.781Z,1761588276.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:37.032Z,1761588277.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:37.034Z,1761588277.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742707,-0.669380,0.017785],[0.669293,0.742912,0.011316],[-0.020787,0.003499,0.999778]]
2025-10-27T18:04:37.284Z,1761588277.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:37.430Z,1761588277.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733242,-0.679706,0.018864],[0.679527,0.733483,0.015672],[-0.024489,0.001327,0.999699]]
2025-10-27T18:04:37.536Z,1761588277.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:37.788Z,1761588277.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:37.837Z,1761588277.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722414,-0.691143,0.020971],[0.690876,0.722718,0.019208],[-0.028432,0.000613,0.999596]]
2025-10-27T18:04:38.044Z,1761588278.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:38.237Z,1761588278.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709944,-0.703860,0.023653],[0.703509,0.710338,0.022239],[-0.032454,0.000851,0.999473]]
2025-10-27T18:04:38.292Z,1761588278.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:38.545Z,1761588278.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:38.799Z,1761588278.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:39.048Z,1761588279.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:39.051Z,1761588279.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681699,-0.731105,0.027802],[0.730525,0.682265,0.029101],[-0.040244,0.000472,0.999190]]
2025-10-27T18:04:39.301Z,1761588279.301 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:04:39.301Z,1761588279.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:39.451Z,1761588279.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665880,-0.745437,0.030442],[0.744791,0.666573,0.031110],[-0.043482,0.001957,0.999052]]
2025-10-27T18:04:39.557Z,1761588279.557 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:04:39.558Z,1761588279.558 [DAT](INFO): #Outgoing data=8
2025-10-27T18:04:39.558Z,1761588279.558 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:04:39.558Z,1761588279.558 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:39.808Z,1761588279.808 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:04:39.808Z,1761588279.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:39.874Z,1761588279.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649003,-0.760064,0.033152],[0.759388,0.649835,0.032309],[-0.046100,0.004207,0.998928]]
2025-10-27T18:04:40.060Z,1761588280.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:40.259Z,1761588280.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631279,-0.774720,0.035987],[0.774076,0.632261,0.032431],[-0.047878,0.007384,0.998826]]
2025-10-27T18:04:40.312Z,1761588280.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:40.564Z,1761588280.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:40.663Z,1761588280.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612594,-0.789500,0.037649],[0.788887,0.613673,0.032603],[-0.048845,0.009728,0.998759]]
2025-10-27T18:04:40.818Z,1761588280.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:41.068Z,1761588281.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:41.070Z,1761588281.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593278,-0.804050,0.039061],[0.803532,0.594427,0.031511],[-0.048555,0.012692,0.998740]]
2025-10-27T18:04:41.320Z,1761588281.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:41.470Z,1761588281.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573541,-0.818270,0.038533],[0.817824,0.574662,0.030454],[-0.047063,0.014046,0.998793]]
2025-10-27T18:04:41.572Z,1761588281.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:41.824Z,1761588281.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:41.874Z,1761588281.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553894,-0.831721,0.037960],[0.831431,0.554952,0.027417],[-0.043869,0.016375,0.998903]]
2025-10-27T18:04:42.076Z,1761588282.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:42.292Z,1761588282.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517560,-0.855062,0.031612],[0.855014,0.518245,0.019317],[-0.032900,0.017031,0.999314]]
2025-10-27T18:04:42.328Z,1761588282.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:42.580Z,1761588282.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:42.834Z,1761588282.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:43.086Z,1761588283.086 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:04:42.3549

2025-10-27T18:04:43.087Z,1761588283.087 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:04:43.087Z,1761588283.087 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:43.099Z,1761588283.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492061,-0.870297,0.021430],[0.870316,0.492357,0.011562],[-0.020614,0.012962,0.999703]]
2025-10-27T18:04:43.336Z,1761588283.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:43.588Z,1761588283.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:43.840Z,1761588283.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:43.900Z,1761588283.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478271,-0.878156,0.009919],[0.878136,0.478348,0.007811],[-0.011604,0.004974,0.999920]]
2025-10-27T18:04:44.092Z,1761588284.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:44.300Z,1761588284.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472779,-0.881167,0.005004],[0.881140,0.472804,0.006987],[-0.008523,0.001106,0.999963]]
2025-10-27T18:04:44.344Z,1761588284.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:44.596Z,1761588284.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:44.702Z,1761588284.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467110,-0.884199,0.001090],[0.884175,0.467106,0.006881],[-0.006594,-0.002250,0.999976]]
2025-10-27T18:04:44.851Z,1761588284.851 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:45.100Z,1761588285.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:45.112Z,1761588285.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461323,-0.887230,-0.001895],[0.887209,0.461294,0.008170],[-0.006374,-0.005450,0.999965]]
2025-10-27T18:04:45.130Z,1761588285.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -130.03,     +3026 ,  64.14,  0.00
2025-10-27T18:04:45.352Z,1761588285.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:45.517Z,1761588285.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455243,-0.890358,-0.004041],[0.890327,0.455175,0.011573],[-0.008465,-0.008866,0.999925]]
2025-10-27T18:04:45.609Z,1761588285.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:45.860Z,1761588285.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:45.914Z,1761588285.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448477,-0.893781,-0.004836],[0.893707,0.448351,0.016410],[-0.012499,-0.011681,0.999854]]
2025-10-27T18:04:46.112Z,1761588286.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:46.317Z,1761588286.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440982,-0.897506,-0.004282],[0.897327,0.440786,0.022619],[-0.018413,-0.013817,0.999735]]
2025-10-27T18:04:46.364Z,1761588286.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:46.616Z,1761588286.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:46.724Z,1761588286.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431889,-0.901925,-0.001513],[0.901567,0.431669,0.028958],[-0.025465,-0.013870,0.999580]]
2025-10-27T18:04:46.872Z,1761588286.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:47.120Z,1761588287.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:47.137Z,1761588287.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420606,-0.907243,0.001067],[0.906662,0.420378,0.035310],[-0.032484,-0.013884,0.999376]]
2025-10-27T18:04:47.372Z,1761588287.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:47.530Z,1761588287.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405189,-0.914221,0.004600],[0.913469,0.405051,0.038826],[-0.037359,-0.011530,0.999235]]
2025-10-27T18:04:47.626Z,1761588287.626 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:47.876Z,1761588287.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:47.934Z,1761588287.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385772,-0.922539,0.010092],[0.921725,0.385860,0.039182],[-0.040041,-0.005813,0.999181]]
2025-10-27T18:04:47.939Z,1761588287.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:04:48.128Z,1761588288.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:48.338Z,1761588288.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365628,-0.930675,0.012658],[0.929835,0.365837,0.039626],[-0.041510,-0.002719,0.999134]]
2025-10-27T18:04:48.380Z,1761588288.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:48.632Z,1761588288.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:48.752Z,1761588288.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345542,-0.938274,0.015582],[0.937464,0.345891,0.038988],[-0.041971,0.001135,0.999118]]
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateRudder:A] Stopped
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:04:48.788Z,1761588288.788 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode] Stopped
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:04:48.789Z,1761588288.789 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:04:48.790Z,1761588288.790 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:04:48.811Z,1761588288.811 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:04:48.811Z,1761588288.811 [marl:UpdateSpeed] Stopped
2025-10-27T18:04:48.812Z,1761588288.812 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:04:48.884Z,1761588288.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:48.943Z,1761588288.943 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:04:49.136Z,1761588289.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:49.156Z,1761588289.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325717,-0.945286,0.018504],[0.944543,0.326201,0.037823],[-0.041790,0.005158,0.999113]]
2025-10-27T18:04:49.212Z,1761588289.212 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:04:49.212Z,1761588289.212 [marl:UpdateRudder:B] Stopped
2025-10-27T18:04:49.213Z,1761588289.213 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:04:49.213Z,1761588289.213 [marl:UpdateRudder] Stopped
2025-10-27T18:04:49.213Z,1761588289.213 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:04:49.388Z,1761588289.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:49.557Z,1761588289.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306062,-0.951796,0.020245],[0.951113,0.306628,0.036925],[-0.041353,0.007954,0.999113]]
2025-10-27T18:04:49.640Z,1761588289.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:49.893Z,1761588289.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:49.963Z,1761588289.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286987,-0.957699,0.021228],[0.957073,0.287598,0.036028],[-0.040610,0.009977,0.999125]]
2025-10-27T18:04:50.144Z,1761588290.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:50.365Z,1761588290.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267505,-0.963275,0.023294],[0.962741,0.268195,0.034665],[-0.039639,0.013153,0.999127]]
2025-10-27T18:04:50.396Z,1761588290.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:50.648Z,1761588290.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:50.770Z,1761588290.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247660,-0.968569,0.023218],[0.968079,0.248347,0.033867],[-0.038569,0.014090,0.999157]]
2025-10-27T18:04:50.901Z,1761588290.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:51.154Z,1761588291.154 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:51.174Z,1761588291.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227028,-0.973628,0.022528],[0.973157,0.227693,0.033496],[-0.037742,0.014319,0.999185]]
2025-10-27T18:04:51.410Z,1761588291.410 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:51.579Z,1761588291.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205752,-0.978343,0.022597],[0.977903,0.206424,0.033098],[-0.037046,0.015288,0.999197]]
2025-10-27T18:04:51.664Z,1761588291.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:51.916Z,1761588291.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:52.169Z,1761588292.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:52.386Z,1761588292.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161108,-0.986655,0.023587],[0.986329,0.161801,0.031225],[-0.034625,0.018234,0.999234]]
2025-10-27T18:04:52.420Z,1761588292.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:52.672Z,1761588292.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:52.802Z,1761588292.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138303,-0.990137,0.022393],[0.989879,0.138923,0.028993],[-0.031818,0.018156,0.999329]]
2025-10-27T18:04:52.925Z,1761588292.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:53.176Z,1761588293.176 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:04:53.176Z,1761588293.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:53.202Z,1761588293.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115301,-0.993082,0.022239],[0.992939,0.115855,0.025482],[-0.027883,0.019143,0.999428]]
2025-10-27T18:04:53.428Z,1761588293.428 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:04:53.428Z,1761588293.428 [DAT](INFO): #Outgoing data=9
2025-10-27T18:04:53.428Z,1761588293.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:04:53.429Z,1761588293.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:53.599Z,1761588293.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093389,-0.995410,0.020899],[0.995365,0.093828,0.021082],[-0.022946,0.018833,0.999559]]
2025-10-27T18:04:53.681Z,1761588293.681 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:04:53.682Z,1761588293.682 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:53.715Z,1761588293.715 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:04:53.715Z,1761588293.715 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:04:53.932Z,1761588293.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:54.003Z,1761588294.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073309,-0.997137,0.018530],[0.997167,0.073600,0.015553],[-0.016872,0.017337,0.999707]]
2025-10-27T18:04:54.045Z,1761588294.045 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:04:54.184Z,1761588294.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:54.406Z,1761588294.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055465,-0.998335,0.015814],[0.998408,0.055618,0.009386],[-0.010250,0.015269,0.999831]]
2025-10-27T18:04:54.436Z,1761588294.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:54.688Z,1761588294.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:54.863Z,1761588294.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040243,-0.999107,0.012836],[0.999184,0.040284,0.002959],[-0.003473,0.012706,0.999913]]
2025-10-27T18:04:54.940Z,1761588294.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:55.192Z,1761588295.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:55.214Z,1761588295.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027093,-0.999590,0.009256],[0.999627,0.027059,-0.003739],[0.003487,0.009354,0.999950]]
2025-10-27T18:04:55.444Z,1761588295.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:55.617Z,1761588295.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015471,-0.999865,0.005566],[0.999825,0.015412,-0.010562],[0.010474,0.005729,0.999929]]
2025-10-27T18:04:55.696Z,1761588295.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:55.948Z,1761588295.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:56.022Z,1761588296.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004406,-0.999988,0.002280],[0.999846,0.004366,-0.017010],[0.017000,0.002355,0.999853]]
2025-10-27T18:04:56.201Z,1761588296.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:56.427Z,1761588296.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005939,-0.999982,-0.001156],[0.999734,-0.005912,-0.022290],[0.022283,-0.001288,0.999751]]
2025-10-27T18:04:56.453Z,1761588296.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:56.704Z,1761588296.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:56.898Z,1761588296.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015888,-0.999867,-0.003715],[0.999542,-0.015787,-0.025814],[0.025752,-0.004124,0.999660]]
2025-10-27T18:04:56.959Z,1761588296.959 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:04:56.2049

2025-10-27T18:04:56.960Z,1761588296.960 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:04:56.960Z,1761588296.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:57.208Z,1761588297.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:57.234Z,1761588297.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025405,-0.999664,-0.005080],[0.999319,-0.025260,-0.026915],[0.026778,-0.005761,0.999625]]
2025-10-27T18:04:57.460Z,1761588297.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:57.637Z,1761588297.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034319,-0.999390,-0.006522],[0.999095,-0.034143,-0.025353],[0.025115,-0.007386,0.999657]]
2025-10-27T18:04:57.712Z,1761588297.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:57.965Z,1761588297.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:58.043Z,1761588298.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042626,-0.999067,-0.006916],[0.998882,-0.042475,-0.020739],[0.020426,-0.007793,0.999761]]
2025-10-27T18:04:58.218Z,1761588298.218 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:58.445Z,1761588298.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050410,-0.998698,-0.007841],[0.998642,-0.050301,-0.013577],[0.013165,-0.008515,0.999877]]
2025-10-27T18:04:58.469Z,1761588298.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:58.720Z,1761588298.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:58.865Z,1761588298.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058342,-0.998259,-0.008696],[0.998288,-0.058304,-0.004572],[0.004057,-0.008947,0.999952]]
2025-10-27T18:04:58.974Z,1761588298.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:59.224Z,1761588299.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:59.256Z,1761588299.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067931,-0.997648,-0.009169],[0.997678,-0.067973,0.004259],[-0.004872,-0.008858,0.999949]]
2025-10-27T18:04:59.477Z,1761588299.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:59.659Z,1761588299.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084037,-0.996421,-0.009076],[0.996406,-0.084126,0.009917],[-0.010645,-0.008210,0.999910]]
2025-10-27T18:04:59.729Z,1761588299.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:04:59.980Z,1761588299.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:00.232Z,1761588300.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:00.477Z,1761588300.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125341,-0.992099,-0.005437],[0.992011,-0.125405,0.013688],[-0.014261,-0.003678,0.999892]]
2025-10-27T18:05:00.484Z,1761588300.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:00.736Z,1761588300.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:00.873Z,1761588300.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146519,-0.989205,-0.002493],[0.989118,-0.146539,0.013142],[-0.013365,-0.000540,0.999911]]
2025-10-27T18:05:00.988Z,1761588300.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:01.240Z,1761588301.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:01.282Z,1761588301.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167481,-0.985875,0.001167],[0.985814,-0.167457,0.011334],[-0.010978,0.003049,0.999935]]
2025-10-27T18:05:01.492Z,1761588301.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:01.678Z,1761588301.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187009,-0.982347,0.004702],[0.982331,-0.186966,0.008381],[-0.007354,0.006187,0.999954]]
2025-10-27T18:05:01.723Z,1761588301.723 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:05:01.724Z,1761588301.724 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:05:01.724Z,1761588301.724 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:05:01.725Z,1761588301.725 [marl:UpdateRudder:A] Stopped
2025-10-27T18:05:01.725Z,1761588301.725 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:05:01.725Z,1761588301.725 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:05:01.725Z,1761588301.725 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:05:01.725Z,1761588301.725 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateCommandMode] Stopped
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:05:01.726Z,1761588301.726 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:05:01.733Z,1761588301.733 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:05:01.734Z,1761588301.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:05:01.734Z,1761588301.734 [marl:UpdateSpeed] Stopped
2025-10-27T18:05:01.734Z,1761588301.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:05:01.744Z,1761588301.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:01.997Z,1761588301.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:02.082Z,1761588302.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204255,-0.978891,0.007288],[0.978911,-0.204221,0.005160],[-0.003562,0.008188,0.999960]]
2025-10-27T18:05:02.130Z,1761588302.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:05:02.130Z,1761588302.130 [marl:UpdateRudder:B] Stopped
2025-10-27T18:05:02.130Z,1761588302.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:05:02.130Z,1761588302.130 [marl:UpdateRudder] Stopped
2025-10-27T18:05:02.130Z,1761588302.130 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:05:02.248Z,1761588302.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:02.486Z,1761588302.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219609,-0.975553,0.008237],[0.975588,-0.219596,0.002435],[-0.000567,0.008571,0.999963]]
2025-10-27T18:05:02.500Z,1761588302.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:02.752Z,1761588302.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:02.891Z,1761588302.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233895,-0.972226,0.008310],[0.972261,-0.233898,0.000627],[0.001334,0.008226,0.999965]]
2025-10-27T18:05:03.005Z,1761588303.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:03.256Z,1761588303.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:03.293Z,1761588303.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247818,-0.968773,0.008091],[0.968804,-0.247827,-0.000141],[0.002142,0.007804,0.999967]]
2025-10-27T18:05:03.509Z,1761588303.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:03.697Z,1761588303.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261890,-0.965062,0.008309],[0.965096,-0.261895,0.000482],[0.001711,0.008146,0.999965]]
2025-10-27T18:05:03.760Z,1761588303.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:04.012Z,1761588304.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:04.102Z,1761588304.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276517,-0.960983,0.007068],[0.961009,-0.276510,0.001938],[0.000092,0.007328,0.999973]]
2025-10-27T18:05:04.268Z,1761588304.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:04.507Z,1761588304.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292596,-0.956224,0.004778],[0.956234,-0.292582,0.003408],[-0.001861,0.005566,0.999983]]
2025-10-27T18:05:04.516Z,1761588304.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:04.768Z,1761588304.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:04.909Z,1761588304.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307232,-0.951632,-0.002255],[0.951624,-0.307238,0.003953],[-0.004454,-0.000931,0.999990]]
2025-10-27T18:05:05.020Z,1761588305.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:05.272Z,1761588305.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:05.314Z,1761588305.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318705,-0.947724,-0.015685],[0.947827,-0.318777,0.002199],[-0.007084,-0.014166,0.999875]]
2025-10-27T18:05:05.524Z,1761588305.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:05.718Z,1761588305.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327110,-0.944210,-0.038294],[0.944942,-0.327218,-0.003602],[-0.009130,-0.037364,0.999260]]
2025-10-27T18:05:05.776Z,1761588305.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:06.028Z,1761588306.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:06.122Z,1761588306.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333142,-0.940471,-0.067315],[0.942822,-0.333040,-0.013050],[-0.010145,-0.067813,0.997646]]
2025-10-27T18:05:06.280Z,1761588306.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:06.527Z,1761588306.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337767,-0.936190,-0.097274],[0.941179,-0.337013,-0.024583],[-0.009768,-0.099856,0.994954]]
2025-10-27T18:05:06.532Z,1761588306.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:06.788Z,1761588306.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:06.931Z,1761588306.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341393,-0.931753,-0.123643],[0.939887,-0.339523,-0.036554],[-0.007920,-0.128690,0.991653]]
2025-10-27T18:05:07.036Z,1761588307.036 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:05:07.036Z,1761588307.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:07.288Z,1761588307.288 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:05:07.288Z,1761588307.288 [DAT](INFO): #Outgoing data=10
2025-10-27T18:05:07.288Z,1761588307.288 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:05:07.289Z,1761588307.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:07.344Z,1761588307.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344449,-0.927149,-0.147477],[0.938795,-0.340909,-0.049457],[-0.004422,-0.155486,0.987828]]
2025-10-27T18:05:07.540Z,1761588307.540 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:05:07.540Z,1761588307.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:07.745Z,1761588307.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346773,-0.923251,-0.165395],[0.937949,-0.341264,-0.061571],[0.000403,-0.176483,0.984304]]
2025-10-27T18:05:07.792Z,1761588307.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:08.044Z,1761588308.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:08.143Z,1761588308.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347717,-0.920382,-0.178856],[0.937582,-0.340150,-0.072379],[0.005778,-0.192859,0.981209]]
2025-10-27T18:05:08.296Z,1761588308.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:08.545Z,1761588308.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347029,-0.918986,-0.187179],[0.937789,-0.337664,-0.080839],[0.011086,-0.203588,0.978994]]
2025-10-27T18:05:08.548Z,1761588308.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:08.802Z,1761588308.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:08.959Z,1761588308.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344559,-0.918949,-0.191864],[0.938634,-0.333824,-0.086766],[0.015684,-0.209986,0.977579]]
2025-10-27T18:05:09.052Z,1761588309.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:09.304Z,1761588309.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:09.556Z,1761588309.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:09.764Z,1761588309.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337272,-0.920578,-0.196935],[0.941125,-0.324584,-0.094497],[0.023070,-0.217212,0.975852]]
2025-10-27T18:05:09.808Z,1761588309.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:10.060Z,1761588310.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:10.162Z,1761588310.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333902,-0.921391,-0.198867],[0.942259,-0.320529,-0.097000],[0.025632,-0.219773,0.975214]]
2025-10-27T18:05:10.314Z,1761588310.314 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:10.564Z,1761588310.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:10.568Z,1761588310.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331022,-0.922067,-0.200543],[0.943238,-0.317253,-0.098253],[0.026973,-0.221684,0.974746]]
2025-10-27T18:05:10.820Z,1761588310.820 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:05:10.0549

2025-10-27T18:05:10.821Z,1761588310.821 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:05:10.822Z,1761588310.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:10.970Z,1761588310.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328258,-0.922773,-0.201831],[0.944203,-0.314450,-0.097985],[0.026952,-0.222734,0.974507]]
2025-10-27T18:05:11.068Z,1761588311.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:11.320Z,1761588311.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:11.374Z,1761588311.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325408,-0.923958,-0.201027],[0.945231,-0.312133,-0.095454],[0.025448,-0.221078,0.974924]]
2025-10-27T18:05:11.572Z,1761588311.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:11.778Z,1761588311.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322258,-0.925039,-0.201127],[0.946386,-0.309773,-0.091622],[0.022451,-0.219870,0.975271]]
2025-10-27T18:05:11.824Z,1761588311.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:12.076Z,1761588312.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:12.182Z,1761588312.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318992,-0.926211,-0.200939],[0.947580,-0.307581,-0.086525],[0.018335,-0.218006,0.975775]]
2025-10-27T18:05:12.328Z,1761588312.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:12.580Z,1761588312.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:12.590Z,1761588312.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316788,-0.927463,-0.198640],[0.948387,-0.306539,-0.081218],[0.014436,-0.214116,0.976702]]
2025-10-27T18:05:12.834Z,1761588312.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:12.990Z,1761588312.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317438,-0.927808,-0.195971],[0.948204,-0.307970,-0.077863],[0.011889,-0.210537,0.977514]]
2025-10-27T18:05:13.084Z,1761588313.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:13.336Z,1761588313.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:13.394Z,1761588313.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320579,-0.927354,-0.192987],[0.947160,-0.311507,-0.076495],[0.010821,-0.207312,0.978215]]
2025-10-27T18:05:13.588Z,1761588313.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:13.798Z,1761588313.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325164,-0.926496,-0.189401],[0.945596,-0.316274,-0.076279],[0.010769,-0.203900,0.978932]]
2025-10-27T18:05:13.840Z,1761588313.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:14.092Z,1761588314.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:14.344Z,1761588314.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:14.600Z,1761588314.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:14.608Z,1761588314.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334963,-0.924289,-0.182999],[0.942164,-0.326235,-0.076804],[0.011288,-0.198141,0.980108]]
2025-10-27T18:05:14.645Z,1761588314.645 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:05:14.645Z,1761588314.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:05:14.645Z,1761588314.645 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:05:14.645Z,1761588314.645 [marl:UpdateRudder:A] Stopped
2025-10-27T18:05:14.645Z,1761588314.645 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode] Stopped
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:05:14.646Z,1761588314.646 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:05:14.647Z,1761588314.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:05:14.647Z,1761588314.647 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:05:14.647Z,1761588314.647 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:05:14.647Z,1761588314.647 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:05:14.647Z,1761588314.647 [marl:UpdateSpeed] Stopped
2025-10-27T18:05:14.648Z,1761588314.648 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:05:14.854Z,1761588314.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:15.010Z,1761588315.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339543,-0.923297,-0.179538],[0.940520,-0.330937,-0.076830],[0.011521,-0.194946,0.980746]]
2025-10-27T18:05:15.066Z,1761588315.066 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:05:15.066Z,1761588315.066 [marl:UpdateRudder:B] Stopped
2025-10-27T18:05:15.066Z,1761588315.066 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:05:15.066Z,1761588315.066 [marl:UpdateRudder] Stopped
2025-10-27T18:05:15.067Z,1761588315.067 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:05:15.105Z,1761588315.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:15.356Z,1761588315.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:15.421Z,1761588315.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344497,-0.921920,-0.177162],[0.938716,-0.335949,-0.077140],[0.011600,-0.192879,0.981154]]
2025-10-27T18:05:15.608Z,1761588315.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:15.817Z,1761588315.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349436,-0.920456,-0.175088],[0.936895,-0.341041,-0.076941],[0.011108,-0.190925,0.981542]]
2025-10-27T18:05:15.860Z,1761588315.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:16.112Z,1761588316.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:16.221Z,1761588316.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354423,-0.918897,-0.173243],[0.935029,-0.346240,-0.076405],[0.010225,-0.189067,0.981911]]
2025-10-27T18:05:16.364Z,1761588316.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:16.616Z,1761588316.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:16.868Z,1761588316.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:17.031Z,1761588317.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366008,-0.914800,-0.170818],[0.930578,-0.358203,-0.075602],[0.007973,-0.186630,0.982398]]
2025-10-27T18:05:17.122Z,1761588317.122 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:17.372Z,1761588317.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:17.442Z,1761588317.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371589,-0.912478,-0.171186],[0.928372,-0.363858,-0.075710],[0.006797,-0.187058,0.982325]]
2025-10-27T18:05:17.624Z,1761588317.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:17.838Z,1761588317.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374338,-0.910807,-0.174072],[0.927270,-0.366359,-0.077149],[0.006495,-0.190292,0.981706]]
2025-10-27T18:05:17.876Z,1761588317.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:18.128Z,1761588318.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:18.241Z,1761588318.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372296,-0.908893,-0.187906],[0.928081,-0.362863,-0.083640],[0.007836,-0.205531,0.978619]]
2025-10-27T18:05:18.384Z,1761588318.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:18.632Z,1761588318.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:18.884Z,1761588318.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:19.049Z,1761588319.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354861,-0.902824,-0.242861],[0.934796,-0.338415,-0.107852],[0.015183,-0.265298,0.964047]]
2025-10-27T18:05:19.103Z,1761588319.103 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:05:19.136Z,1761588319.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:19.388Z,1761588319.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:19.458Z,1761588319.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341011,-0.899052,-0.274622],[0.939833,-0.319643,-0.120592],[0.020638,-0.299222,0.953960]]
2025-10-27T18:05:19.640Z,1761588319.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:19.857Z,1761588319.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324956,-0.895446,-0.304269],[0.945350,-0.298447,-0.131313],[0.026776,-0.330312,0.943492]]
2025-10-27T18:05:19.892Z,1761588319.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:20.107Z,1761588320.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:05:20.144Z,1761588320.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:20.284Z,1761588320.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307090,-0.892862,-0.329384],[0.951108,-0.275935,-0.138757],[0.033002,-0.355891,0.933945]]
2025-10-27T18:05:20.396Z,1761588320.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:20.648Z,1761588320.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:20.690Z,1761588320.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288213,-0.891611,-0.349233],[0.956775,-0.253312,-0.142882],[0.038930,-0.375318,0.926078]]
2025-10-27T18:05:20.900Z,1761588320.900 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:05:20.901Z,1761588320.901 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:05:20.901Z,1761588320.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:21.090Z,1761588321.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268711,-0.891269,-0.365286],[0.962209,-0.231002,-0.144191],[0.044131,-0.390227,0.919660]]
2025-10-27T18:05:21.152Z,1761588321.152 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:05:21.152Z,1761588321.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:21.405Z,1761588321.405 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:05:21.405Z,1761588321.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:21.497Z,1761588321.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249160,-0.892308,-0.376438],[0.967252,-0.209854,-0.142775],[0.048402,-0.399684,0.915374]]
2025-10-27T18:05:21.656Z,1761588321.656 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:05:21.656Z,1761588321.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:21.908Z,1761588321.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:22.022Z,1761588322.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210341,-0.897284,-0.388122],[0.976156,-0.170982,-0.133736],[0.053637,-0.406998,0.911853]]
2025-10-27T18:05:22.160Z,1761588322.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:22.377Z,1761588322.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192062,-0.900280,-0.390651],[0.979813,-0.153398,-0.128204],[0.055494,-0.407388,0.911567]]
2025-10-27T18:05:22.413Z,1761588322.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:22.664Z,1761588322.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:22.788Z,1761588322.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174085,-0.903799,-0.390950],[0.983069,-0.136455,-0.122292],[0.057181,-0.405620,0.912251]]
2025-10-27T18:05:22.917Z,1761588322.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:23.168Z,1761588323.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:23.206Z,1761588323.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156610,-0.907566,-0.389612],[0.985891,-0.120047,-0.116653],[0.059098,-0.402384,0.913561]]
2025-10-27T18:05:23.420Z,1761588323.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:23.606Z,1761588323.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139451,-0.910322,-0.389702],[0.988324,-0.103553,-0.111768],[0.061390,-0.400738,0.914134]]
2025-10-27T18:05:23.672Z,1761588323.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:23.927Z,1761588323.927 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:24.010Z,1761588324.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121519,-0.913041,-0.389344],[0.990539,-0.086354,-0.106653],[0.063758,-0.398621,0.914897]]
2025-10-27T18:05:24.176Z,1761588324.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:24.428Z,1761588324.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:24.444Z,1761588324.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103363,-0.914588,-0.390953],[0.992408,-0.068489,-0.102160],[0.066659,-0.398544,0.914724]]
2025-10-27T18:05:24.683Z,1761588324.683 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:24.863Z,1761588324.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085094,-0.915182,-0.393955],[0.993904,-0.050149,-0.098184],[0.070100,-0.399908,0.913871]]
2025-10-27T18:05:24.932Z,1761588324.932 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:05:24.2048

2025-10-27T18:05:24.933Z,1761588324.933 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:05:24.933Z,1761588324.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:25.187Z,1761588325.187 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:25.434Z,1761588325.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066566,-0.916174,-0.395213],[0.995053,-0.031678,-0.094162],[0.073750,-0.399526,0.913750]]
2025-10-27T18:05:25.436Z,1761588325.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:25.688Z,1761588325.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:25.941Z,1761588325.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:25.961Z,1761588325.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029511,-0.917772,-0.396009],[0.996400,0.004487,-0.084653],[0.079469,-0.397082,0.914336]]
2025-10-27T18:05:26.192Z,1761588326.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:26.448Z,1761588326.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:26.457Z,1761588326.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011865,-0.918369,-0.395548],[0.996614,0.021324,-0.079404],[0.081357,-0.395151,0.915007]]
2025-10-27T18:05:26.700Z,1761588326.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:26.952Z,1761588326.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:27.204Z,1761588327.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:27.264Z,1761588327.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020726,-0.919505,-0.392530],[0.996336,0.051580,-0.068219],[0.082974,-0.389678,0.917206]]
2025-10-27T18:05:27.456Z,1761588327.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:27.666Z,1761588327.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035052,-0.919603,-0.391283],[0.995970,0.064484,-0.062332],[0.082553,-0.387521,0.918157]]
2025-10-27T18:05:27.708Z,1761588327.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:27.960Z,1761588327.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:28.072Z,1761588328.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048054,-0.919030,-0.391247],[0.995491,0.076139,-0.056580],[0.081788,-0.386763,0.918545]]
2025-10-27T18:05:28.212Z,1761588328.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:28.464Z,1761588328.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:28.484Z,1761588328.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060228,-0.918426,-0.390982],[0.994930,0.086838,-0.050723],[0.080537,-0.385945,0.919000]]
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateRudder:A] Stopped
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:05:28.542Z,1761588328.542 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:05:28.547Z,1761588328.547 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:05:28.547Z,1761588328.547 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:05:28.547Z,1761588328.547 [marl:UpdateCommandMode] Stopped
2025-10-27T18:05:28.547Z,1761588328.547 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:05:28.547Z,1761588328.547 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed] Stopped
2025-10-27T18:05:28.548Z,1761588328.548 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:05:28.718Z,1761588328.718 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:28.968Z,1761588328.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:29.009Z,1761588329.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071379,-0.917374,-0.391573],[0.994292,0.096650,-0.045183],[0.079296,-0.386113,0.919037]]
2025-10-27T18:05:29.076Z,1761588329.076 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:05:29.076Z,1761588329.076 [marl:UpdateRudder:B] Stopped
2025-10-27T18:05:29.076Z,1761588329.076 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:05:29.076Z,1761588329.076 [marl:UpdateRudder] Stopped
2025-10-27T18:05:29.076Z,1761588329.076 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:05:29.220Z,1761588329.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:29.423Z,1761588329.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082069,-0.916062,-0.392550],[0.993552,0.106116,-0.039914],[0.078220,-0.386743,0.918864]]
2025-10-27T18:05:29.472Z,1761588329.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:29.724Z,1761588329.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:29.918Z,1761588329.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092371,-0.914727,-0.393373],[0.992699,0.115375,-0.035185],[0.077570,-0.387251,0.918705]]
2025-10-27T18:05:29.976Z,1761588329.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:30.228Z,1761588330.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:30.303Z,1761588330.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102002,-0.913310,-0.394285],[0.991753,0.124281,-0.031313],[0.077601,-0.387840,0.918454]]
2025-10-27T18:05:30.480Z,1761588330.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:30.702Z,1761588330.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111657,-0.911877,-0.394986],[0.990635,0.133566,-0.028315],[0.078577,-0.388125,0.918251]]
2025-10-27T18:05:30.736Z,1761588330.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:30.984Z,1761588330.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:31.094Z,1761588331.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121509,-0.910705,-0.394781],[0.989286,0.143538,-0.026631],[0.080919,-0.387315,0.918389]]
2025-10-27T18:05:31.236Z,1761588331.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:31.496Z,1761588331.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:31.513Z,1761588331.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131100,-0.909239,-0.395092],[0.987783,0.153672,-0.025882],[0.084248,-0.386872,0.918277]]
2025-10-27T18:05:31.745Z,1761588331.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:31.996Z,1761588331.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:32.249Z,1761588332.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:32.300Z,1761588332.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154130,-0.906096,-0.393999],[0.983704,0.178085,-0.024729],[0.092572,-0.383767,0.918778]]
2025-10-27T18:05:32.500Z,1761588332.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:32.706Z,1761588332.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167913,-0.904665,-0.391645],[0.981047,0.192323,-0.023638],[0.096707,-0.380253,0.919813]]
2025-10-27T18:05:32.752Z,1761588332.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:33.004Z,1761588333.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:33.185Z,1761588333.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201332,-0.900037,-0.386521],[0.974145,0.225273,-0.017146],[0.102505,-0.373076,0.922121]]
2025-10-27T18:05:33.256Z,1761588333.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:33.510Z,1761588333.510 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:33.594Z,1761588333.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220655,-0.896706,-0.383706],[0.969846,0.243461,-0.011235],[0.103492,-0.369657,0.923387]]
2025-10-27T18:05:33.760Z,1761588333.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:34.012Z,1761588334.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:34.040Z,1761588334.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241408,-0.892447,-0.381131],[0.964944,0.262434,-0.003314],[0.102979,-0.366970,0.924515]]
2025-10-27T18:05:34.264Z,1761588334.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:34.445Z,1761588334.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262592,-0.887324,-0.379080],[0.959541,0.281509,0.005746],[0.101616,-0.365251,0.925346]]
2025-10-27T18:05:34.516Z,1761588334.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:34.769Z,1761588334.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:34.868Z,1761588334.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283368,-0.881426,-0.377877],[0.953824,0.299963,0.015581],[0.099616,-0.364843,0.925725]]
2025-10-27T18:05:35.020Z,1761588335.020 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:05:35.020Z,1761588335.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:35.272Z,1761588335.272 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:05:35.272Z,1761588335.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:35.348Z,1761588335.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303416,-0.875359,-0.376410],[0.947887,0.317584,0.025514],[0.097208,-0.364536,0.926102]]
2025-10-27T18:05:35.524Z,1761588335.524 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:05:35.524Z,1761588335.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:35.776Z,1761588335.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:35.894Z,1761588335.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322360,-0.868787,-0.375890],[0.941890,0.334015,0.035754],[0.094490,-0.365573,0.925974]]
2025-10-27T18:05:36.029Z,1761588336.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:36.280Z,1761588336.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:36.306Z,1761588336.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340443,-0.862400,-0.374652],[0.935801,0.349551,0.045732],[0.091521,-0.366169,0.926037]]
2025-10-27T18:05:36.532Z,1761588336.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:36.784Z,1761588336.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:36.800Z,1761588336.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372984,-0.850439,-0.370994],[0.924046,0.376586,0.065745],[0.083799,-0.367337,0.926305]]
2025-10-27T18:05:37.036Z,1761588337.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:37.257Z,1761588337.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387969,-0.844633,-0.368883],[0.918259,0.388637,0.075906],[0.079249,-0.368179,0.926371]]
2025-10-27T18:05:37.288Z,1761588337.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:37.543Z,1761588337.543 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:37.661Z,1761588337.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402068,-0.838876,-0.366917],[0.912527,0.399988,0.085462],[0.075070,-0.369184,0.926320]]
2025-10-27T18:05:37.792Z,1761588337.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:38.044Z,1761588338.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:38.296Z,1761588338.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:38.469Z,1761588338.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428723,-0.828467,-0.360332],[0.900944,0.421666,0.102459],[0.067056,-0.368566,0.927180]]
2025-10-27T18:05:38.550Z,1761588338.550 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:38.807Z,1761588338.807 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:05:38.0547

2025-10-27T18:05:38.808Z,1761588338.808 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:05:38.809Z,1761588338.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:38.897Z,1761588338.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442261,-0.822869,-0.356781],[0.894630,0.432941,0.110450],[0.063579,-0.368034,0.927636]]
2025-10-27T18:05:39.056Z,1761588339.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:39.284Z,1761588339.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455591,-0.816945,-0.353606],[0.888106,0.444288,0.117797],[0.060869,-0.367707,0.927947]]
2025-10-27T18:05:39.308Z,1761588339.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:39.561Z,1761588339.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:39.685Z,1761588339.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470589,-0.809575,-0.350906],[0.880418,0.457150,0.126010],[0.058402,-0.368243,0.927893]]
2025-10-27T18:05:39.812Z,1761588339.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:40.064Z,1761588340.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:40.099Z,1761588340.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486245,-0.802380,-0.346053],[0.872012,0.471047,0.133079],[0.056227,-0.366471,0.928729]]
2025-10-27T18:05:40.316Z,1761588340.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:40.503Z,1761588340.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503006,-0.793479,-0.342601],[0.862597,0.485645,0.141689],[0.053955,-0.366796,0.928735]]
2025-10-27T18:05:40.568Z,1761588340.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:40.824Z,1761588340.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:40.907Z,1761588340.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520326,-0.783846,-0.338890],[0.852380,0.500899,0.150161],[0.052046,-0.366996,0.928765]]
2025-10-27T18:05:40.911Z,1761588340.911 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T18:05:40.911Z,1761588340.911 [NAL9602] Data Fault, FailCount= 1
2025-10-27T18:05:40.911Z,1761588340.911 [NAL9602](ERROR): Data Fault
2025-10-27T18:05:40.950Z,1761588340.950 [marl:NeedComms] Running Loop=1
2025-10-27T18:05:40.951Z,1761588340.951 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T18:05:40.951Z,1761588340.951 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T18:05:40.951Z,1761588340.951 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:05:40.951Z,1761588340.951 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T18:05:40.952Z,1761588340.952 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T18:05:40.952Z,1761588340.952 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T18:05:40.953Z,1761588340.953 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T18:05:40.953Z,1761588340.953 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:05:40.953Z,1761588340.953 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:05:40.953Z,1761588340.953 [marl:NeedComms:A] Running Loop=1
2025-10-27T18:05:40.975Z,1761588340.975 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T18:05:40.975Z,1761588340.975 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T18:05:40.976Z,1761588340.976 [marl:NeedComms:A] Stopped
2025-10-27T18:05:41.072Z,1761588341.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:41.262Z,1761588341.262 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T18:05:41.305Z,1761588341.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537856,-0.774000,-0.334118],[0.841579,0.516258,0.158820],[0.049564,-0.366609,0.929054]]
2025-10-27T18:05:41.309Z,1761588341.309 [NAL9602](INFO): Powering down
2025-10-27T18:05:41.324Z,1761588341.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:41.576Z,1761588341.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:41.709Z,1761588341.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555564,-0.763558,-0.329132],[0.830177,0.531490,0.168301],[0.046423,-0.366739,0.929165]]
2025-10-27T18:05:41.828Z,1761588341.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:42.080Z,1761588342.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:42.122Z,1761588342.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572478,-0.753432,-0.323435],[0.818791,0.546029,0.177296],[0.043024,-0.366324,0.929492]]
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateRudder:A] Stopped
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:05:42.146Z,1761588342.146 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:05:42.147Z,1761588342.147 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:05:42.147Z,1761588342.147 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:05:42.147Z,1761588342.147 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:05:42.147Z,1761588342.147 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateCommandMode] Stopped
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:05:42.148Z,1761588342.148 [marl:UpdateSpeed] Stopped
2025-10-27T18:05:42.149Z,1761588342.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:05:42.332Z,1761588342.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:42.584Z,1761588342.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:42.706Z,1761588342.706 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T18:05:42.706Z,1761588342.706 [NAL9602] No Fault, FailCount= 1
2025-10-27T18:05:42.789Z,1761588342.789 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:05:42.791Z,1761588342.791 [marl:UpdateRudder:B] Stopped
2025-10-27T18:05:42.792Z,1761588342.792 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:05:42.792Z,1761588342.792 [marl:UpdateRudder] Stopped
2025-10-27T18:05:42.793Z,1761588342.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:05:42.839Z,1761588342.839 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:43.089Z,1761588343.089 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:43.325Z,1761588343.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616159,-0.725632,-0.306278],[0.787033,0.582271,0.203813],[0.030444,-0.366632,0.929868]]
2025-10-27T18:05:43.340Z,1761588343.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:43.592Z,1761588343.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:43.724Z,1761588343.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629373,-0.718584,-0.295850],[0.776842,0.591659,0.215538],[0.020161,-0.365483,0.930600]]
2025-10-27T18:05:43.844Z,1761588343.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:44.096Z,1761588344.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:44.136Z,1761588344.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642796,-0.712581,-0.281143],[0.766023,0.600205,0.230137],[0.004752,-0.363293,0.931663]]
2025-10-27T18:05:44.352Z,1761588344.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:44.531Z,1761588344.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654648,-0.709922,-0.259705],[0.755786,0.607895,0.243416],[-0.014933,-0.355633,0.934506]]
2025-10-27T18:05:44.601Z,1761588344.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:44.856Z,1761588344.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:44.934Z,1761588344.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663229,-0.711219,-0.233012],[0.747481,0.613920,0.253720],[-0.037400,-0.342447,0.938793]]
2025-10-27T18:05:45.104Z,1761588345.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:45.337Z,1761588345.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668545,-0.716130,-0.200512],[0.741066,0.618977,0.260170],[-0.062203,-0.322528,0.944514]]
2025-10-27T18:05:45.357Z,1761588345.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:45.608Z,1761588345.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:45.753Z,1761588345.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671343,-0.722143,-0.166757],[0.735957,0.622971,0.265093],[-0.087550,-0.300695,0.949693]]
2025-10-27T18:05:45.864Z,1761588345.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:46.116Z,1761588346.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:46.146Z,1761588346.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672128,-0.728260,-0.133720],[0.731773,0.625800,0.269966],[-0.112924,-0.279305,0.953539]]
2025-10-27T18:05:46.369Z,1761588346.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:46.620Z,1761588346.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:46.874Z,1761588346.874 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:46.954Z,1761588346.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671909,-0.737169,-0.071562],[0.722732,0.631485,0.280864],[-0.161854,-0.240435,0.957076]]
2025-10-27T18:05:47.124Z,1761588347.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:47.376Z,1761588347.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:47.379Z,1761588347.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672129,-0.739188,-0.042930],[0.717103,0.635415,0.286377],[-0.184408,-0.223267,0.957155]]
2025-10-27T18:05:47.628Z,1761588347.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:47.765Z,1761588347.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673060,-0.739372,-0.017867],[0.710705,0.639902,0.292274],[-0.204666,-0.209416,0.956168]]
2025-10-27T18:05:47.880Z,1761588347.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:48.132Z,1761588348.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:48.166Z,1761588348.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674401,-0.738359,0.003142],[0.704102,0.644381,0.298350],[-0.222314,-0.198995,0.954451]]
2025-10-27T18:05:48.385Z,1761588348.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:48.570Z,1761588348.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676412,-0.736268,0.019399],[0.697136,0.648516,0.305661],[-0.237629,-0.193229,0.951943]]
2025-10-27T18:05:48.636Z,1761588348.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:48.888Z,1761588348.888 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:05:48.888Z,1761588348.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:48.973Z,1761588348.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679775,-0.732648,0.033653],[0.688869,0.653559,0.313560],[-0.251724,-0.189968,0.948972]]
2025-10-27T18:05:49.141Z,1761588349.141 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:05:49.142Z,1761588349.142 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:49.382Z,1761588349.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683680,-0.728401,0.044867],[0.679849,0.658048,0.323695],[-0.265304,-0.190801,0.945097]]
2025-10-27T18:05:49.392Z,1761588349.392 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:05:49.392Z,1761588349.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:49.644Z,1761588349.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:49.896Z,1761588349.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:50.148Z,1761588350.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:50.195Z,1761588350.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692788,-0.717759,0.069756],[0.658698,0.669206,0.343920],[-0.293534,-0.192316,0.936404]]
2025-10-27T18:05:50.227Z,1761588350.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:05:50.400Z,1761588350.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:50.596Z,1761588350.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696638,-0.712559,0.083402],[0.647823,0.674739,0.353628],[-0.308255,-0.192321,0.931661]]
2025-10-27T18:05:50.652Z,1761588350.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:50.905Z,1761588350.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:50.998Z,1761588350.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700039,-0.707622,0.096005],[0.636987,0.679541,0.363967],[-0.322790,-0.193636,0.926451]]
2025-10-27T18:05:51.158Z,1761588351.158 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:51.231Z,1761588351.231 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:05:51.402Z,1761588351.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702617,-0.703351,0.107832],[0.626738,0.683464,0.374267],[-0.336941,-0.195384,0.921030]]
2025-10-27T18:05:51.408Z,1761588351.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:51.661Z,1761588351.661 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:51.807Z,1761588351.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705171,-0.698958,0.119128],[0.616290,0.687294,0.384465],[-0.350602,-0.197696,0.915421]]
2025-10-27T18:05:51.912Z,1761588351.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:52.164Z,1761588352.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:52.213Z,1761588352.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707377,-0.695020,0.128706],[0.605861,0.689977,0.396060],[-0.364074,-0.202186,0.909160]]
2025-10-27T18:05:52.417Z,1761588352.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:52.669Z,1761588352.669 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:05:51.9046

2025-10-27T18:05:52.670Z,1761588352.670 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:05:52.670Z,1761588352.670 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:52.920Z,1761588352.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:53.018Z,1761588353.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708579,-0.690830,0.143772],[0.588004,0.690711,0.420916],[-0.390086,-0.213713,0.895634]]
2025-10-27T18:05:53.172Z,1761588353.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:53.424Z,1761588353.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:53.496Z,1761588353.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707552,-0.690859,0.148603],[0.581244,0.688562,0.433634],[-0.401902,-0.220444,0.888751]]
2025-10-27T18:05:53.677Z,1761588353.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:53.746Z,1761588353.746 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:05:53.746Z,1761588353.746 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:05:53.897Z,1761588353.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705776,-0.691840,0.152437],[0.575813,0.685564,0.445468],[-0.412698,-0.226625,0.882225]]
2025-10-27T18:05:53.928Z,1761588353.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:54.181Z,1761588354.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:54.304Z,1761588354.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703941,-0.693124,0.155071],[0.571631,0.682461,0.455505],[-0.421551,-0.232005,0.876623]]
2025-10-27T18:05:54.334Z,1761588354.334 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:05:54.432Z,1761588354.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:54.684Z,1761588354.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:54.714Z,1761588354.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702324,-0.693962,0.158612],[0.568783,0.681040,0.461162],[-0.428050,-0.233669,0.873024]]
2025-10-27T18:05:54.936Z,1761588354.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:55.109Z,1761588355.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700369,-0.695783,0.159277],[0.568328,0.678592,0.465313],[-0.431841,-0.235370,0.870698]]
2025-10-27T18:05:55.188Z,1761588355.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:55.440Z,1761588355.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:55.513Z,1761588355.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698704,-0.697834,0.157607],[0.569100,0.675652,0.468636],[-0.433518,-0.237743,0.869218]]
2025-10-27T18:05:55.541Z,1761588355.541 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:05:55.541Z,1761588355.541 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:05:55.541Z,1761588355.541 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateRudder:A] Stopped
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:05:55.542Z,1761588355.542 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:05:55.543Z,1761588355.543 [marl:UpdateCommandMode] Stopped
2025-10-27T18:05:55.543Z,1761588355.543 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:05:55.543Z,1761588355.543 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:05:55.543Z,1761588355.543 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:05:55.543Z,1761588355.543 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:05:55.544Z,1761588355.544 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:05:55.544Z,1761588355.544 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:05:55.544Z,1761588355.544 [marl:UpdateSpeed] Stopped
2025-10-27T18:05:55.544Z,1761588355.544 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:05:55.692Z,1761588355.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:55.919Z,1761588355.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697232,-0.699760,0.155578],[0.570713,0.673194,0.470210],[-0.433768,-0.239055,0.868734]]
2025-10-27T18:05:55.942Z,1761588355.942 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:05:55.943Z,1761588355.943 [marl:UpdateRudder:B] Stopped
2025-10-27T18:05:55.944Z,1761588355.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:55.944Z,1761588355.944 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:05:55.944Z,1761588355.944 [marl:UpdateRudder] Stopped
2025-10-27T18:05:55.945Z,1761588355.945 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:05:56.196Z,1761588356.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:56.321Z,1761588356.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696091,-0.701414,0.153217],[0.572634,0.671134,0.470818],[-0.433067,-0.239995,0.868824]]
2025-10-27T18:05:56.448Z,1761588356.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:56.700Z,1761588356.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:56.729Z,1761588356.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695700,-0.702347,0.150698],[0.574013,0.669683,0.471205],[-0.431870,-0.241315,0.869055]]
2025-10-27T18:05:56.952Z,1761588356.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:57.196Z,1761588357.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697452,-0.701334,0.147279],[0.575031,0.670343,0.469020],[-0.427667,-0.242429,0.870821]]
2025-10-27T18:05:57.204Z,1761588357.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:57.217Z,1761588357.217 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -123.34,     +       +30.29,  80.32,  0.00
2025-10-27T18:05:57.456Z,1761588357.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:57.708Z,1761588357.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:57.719Z,1761588357.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699526,-0.700001,0.143738],[0.574911,0.670742,0.468596],[-0.424429,-0.245158,0.871641]]
2025-10-27T18:05:57.964Z,1761588357.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:58.123Z,1761588358.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702232,-0.698207,0.139200],[0.574331,0.671103,0.468790],[-0.420730,-0.249252,0.872273]]
2025-10-27T18:05:58.212Z,1761588358.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:58.464Z,1761588358.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:58.716Z,1761588358.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:58.929Z,1761588358.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710484,-0.692679,0.124132],[0.571369,0.670791,0.472839],[-0.410792,-0.265019,0.872362]]
2025-10-27T18:05:58.968Z,1761588358.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:59.220Z,1761588359.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:59.348Z,1761588359.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718214,-0.686957,0.110723],[0.566509,0.669684,0.480199],[-0.404025,-0.282159,0.870143]]
2025-10-27T18:05:59.472Z,1761588359.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:59.725Z,1761588359.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:05:59.768Z,1761588359.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729767,-0.677167,0.094254],[0.557309,0.669041,0.491722],[-0.396038,-0.306314,0.865636]]
2025-10-27T18:05:59.976Z,1761588359.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:00.156Z,1761588360.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743562,-0.664051,0.078430],[0.544788,0.669637,0.504770],[-0.387713,-0.332601,0.859683]]
2025-10-27T18:06:00.228Z,1761588360.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:00.481Z,1761588360.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:00.568Z,1761588360.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758093,-0.648752,0.066459],[0.530365,0.672618,0.516041],[-0.379484,-0.355959,0.853982]]
2025-10-27T18:06:00.733Z,1761588360.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:00.961Z,1761588360.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772597,-0.632088,0.059650],[0.514497,0.678364,0.524514],[-0.372004,-0.374548,0.849310]]
2025-10-27T18:06:00.984Z,1761588360.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:01.236Z,1761588361.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:01.374Z,1761588361.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785810,-0.615823,0.057138],[0.499198,0.686095,0.529221],[-0.365108,-0.387344,0.846558]]
2025-10-27T18:06:01.488Z,1761588361.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:01.740Z,1761588361.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:01.907Z,1761588361.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797368,-0.600770,0.057266],[0.485541,0.694983,0.530329],[-0.358405,-0.395063,0.845855]]
2025-10-27T18:06:01.992Z,1761588361.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:02.244Z,1761588362.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:02.345Z,1761588362.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807204,-0.587401,0.058146],[0.474351,0.704152,0.528356],[-0.351301,-0.398910,0.847029]]
2025-10-27T18:06:02.496Z,1761588362.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:02.748Z,1761588362.748 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:06:02.748Z,1761588362.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:02.872Z,1761588362.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822267,-0.566101,0.058372],[0.459980,0.721492,0.517560],[-0.335106,-0.398723,0.853654]]
2025-10-27T18:06:03.000Z,1761588363.000 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:06:03.000Z,1761588363.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:03.252Z,1761588363.252 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:06:03.252Z,1761588363.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:03.504Z,1761588363.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:03.705Z,1761588363.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835593,-0.546751,0.053370],[0.451405,0.738733,0.500506],[-0.313079,-0.394127,0.864086]]
2025-10-27T18:06:03.757Z,1761588363.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:04.008Z,1761588364.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:04.234Z,1761588364.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843099,-0.535449,0.049793],[0.445862,0.747788,0.491955],[-0.300652,-0.392566,0.869195]]
2025-10-27T18:06:04.260Z,1761588364.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:04.513Z,1761588364.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:04.764Z,1761588364.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:04.882Z,1761588364.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861365,-0.505879,0.046229],[0.425617,0.768379,0.477958],[-0.277310,-0.392020,0.877165]]
2025-10-27T18:06:05.016Z,1761588365.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:05.268Z,1761588365.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:05.356Z,1761588365.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871412,-0.488212,0.047852],[0.411198,0.780159,0.471454],[-0.267502,-0.391154,0.880591]]
2025-10-27T18:06:05.522Z,1761588365.522 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:05.772Z,1761588365.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:05.861Z,1761588365.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881351,-0.469579,0.052107],[0.394611,0.792285,0.465367],[-0.259811,-0.389590,0.883583]]
2025-10-27T18:06:06.024Z,1761588366.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:06.262Z,1761588366.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890448,-0.451276,0.058759],[0.377378,0.804381,0.458864],[-0.254340,-0.386420,0.886561]]
2025-10-27T18:06:06.276Z,1761588366.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:06.529Z,1761588366.529 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:06:05.8046

2025-10-27T18:06:06.529Z,1761588366.529 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:06:06.530Z,1761588366.530 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:06.667Z,1761588366.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898641,-0.433563,0.066846],[0.360156,0.816158,0.451857],[-0.250466,-0.381982,0.889582]]
2025-10-27T18:06:06.781Z,1761588366.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:07.032Z,1761588367.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:07.070Z,1761588367.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905970,-0.416646,0.074998],[0.343446,0.826941,0.445211],[-0.247514,-0.377590,0.892279]]
2025-10-27T18:06:07.288Z,1761588367.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:07.536Z,1761588367.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:07.554Z,1761588367.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912444,-0.400778,0.082600],[0.327853,0.836794,0.438507],[-0.244863,-0.373032,0.894924]]
2025-10-27T18:06:07.788Z,1761588367.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:07.966Z,1761588367.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918450,-0.385442,0.088790],[0.312840,0.845248,0.433230],[-0.242035,-0.370123,0.896899]]
2025-10-27T18:06:08.040Z,1761588368.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:08.292Z,1761588368.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:08.506Z,1761588368.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927875,-0.359026,0.100740],[0.286493,0.859305,0.423694],[-0.238684,-0.364274,0.900186]]
2025-10-27T18:06:08.544Z,1761588368.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:08.804Z,1761588368.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:08.959Z,1761588368.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931793,-0.346800,0.107197],[0.273763,0.865328,0.419834],[-0.238359,-0.361852,0.901248]]
2025-10-27T18:06:09.048Z,1761588369.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:09.302Z,1761588369.302 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:09.357Z,1761588369.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934862,-0.335977,0.114688],[0.262344,0.871447,0.414433],[-0.239185,-0.357350,0.902824]]
2025-10-27T18:06:09.552Z,1761588369.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:09.766Z,1761588369.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937218,-0.326446,0.122702],[0.252069,0.877243,0.408541],[-0.241006,-0.351963,0.904455]]
2025-10-27T18:06:09.806Z,1761588369.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:09.844Z,1761588369.844 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:06:09.844Z,1761588369.844 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateRudder:A] Stopped
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:06:09.845Z,1761588369.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateCommandMode] Stopped
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:06:09.846Z,1761588369.846 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:06:09.847Z,1761588369.847 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:06:09.847Z,1761588369.847 [marl:UpdateSpeed] Stopped
2025-10-27T18:06:09.847Z,1761588369.847 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:06:10.056Z,1761588370.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:10.198Z,1761588370.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938973,-0.318427,0.130132],[0.243049,0.881839,0.404088],[-0.243428,-0.347799,0.905416]]
2025-10-27T18:06:10.282Z,1761588370.282 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:06:10.282Z,1761588370.282 [marl:UpdateRudder:B] Stopped
2025-10-27T18:06:10.282Z,1761588370.282 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:06:10.282Z,1761588370.282 [marl:UpdateRudder] Stopped
2025-10-27T18:06:10.282Z,1761588370.282 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:06:10.310Z,1761588370.310 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:10.560Z,1761588370.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:10.759Z,1761588370.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940459,-0.310990,0.137194],[0.234583,0.885923,0.400139],[-0.245983,-0.344131,0.906127]]
2025-10-27T18:06:10.815Z,1761588370.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:11.064Z,1761588371.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:11.320Z,1761588371.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:11.344Z,1761588371.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943280,-0.297174,0.148023],[0.217761,0.890355,0.399810],[-0.250606,-0.344899,0.904567]]
2025-10-27T18:06:11.354Z,1761588371.354 [NAL9602](INFO): Powering up NAL9602
2025-10-27T18:06:11.572Z,1761588371.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:11.824Z,1761588371.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:11.916Z,1761588371.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944598,-0.290481,0.152822],[0.209195,0.891577,0.401656],[-0.252926,-0.347434,0.902950]]
2025-10-27T18:06:12.076Z,1761588372.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:12.328Z,1761588372.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:12.363Z,1761588372.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946035,-0.283222,0.157493],[0.200258,0.893017,0.403010],[-0.254785,-0.349722,0.901543]]
2025-10-27T18:06:12.580Z,1761588372.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:12.838Z,1761588372.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:13.088Z,1761588373.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:13.247Z,1761588373.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953858,-0.236958,0.184406],[0.146827,0.903826,0.401922],[-0.261909,-0.356301,0.896913]]
2025-10-27T18:06:13.340Z,1761588373.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:13.592Z,1761588373.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:13.671Z,1761588373.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955658,-0.217648,0.198361],[0.125131,0.909897,0.395513],[-0.266570,-0.353154,0.896785]]
2025-10-27T18:06:13.844Z,1761588373.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:14.073Z,1761588374.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956629,-0.197957,0.213714],[0.103246,0.916411,0.386693],[-0.272398,-0.347857,0.897104]]
2025-10-27T18:06:14.096Z,1761588374.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:14.348Z,1761588374.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:14.473Z,1761588374.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956666,-0.178616,0.229969],[0.081996,0.923054,0.375831],[-0.279403,-0.340688,0.897700]]
2025-10-27T18:06:14.601Z,1761588374.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:14.854Z,1761588374.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:14.888Z,1761588374.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956028,-0.159322,0.246226],[0.060726,0.928916,0.365277],[-0.286920,-0.334262,0.897745]]
2025-10-27T18:06:15.104Z,1761588375.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:15.341Z,1761588375.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954508,-0.142505,0.261929],[0.041061,0.932857,0.357898],[-0.295345,-0.330862,0.896271]]
2025-10-27T18:06:15.356Z,1761588375.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:15.608Z,1761588375.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:15.746Z,1761588375.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952274,-0.133539,0.274484],[0.029671,0.935464,0.352173],[-0.303799,-0.327221,0.894781]]
2025-10-27T18:06:15.860Z,1761588375.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:16.112Z,1761588376.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:16.142Z,1761588376.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950223,-0.128838,0.283686],[0.022274,0.936260,0.350601],[-0.310775,-0.326830,0.892525]]
2025-10-27T18:06:16.365Z,1761588376.365 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:16.617Z,1761588376.617 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:06:16.617Z,1761588376.617 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:06:16.617Z,1761588376.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:16.676Z,1761588376.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948398,-0.123789,0.291919],[0.013821,0.935908,0.351973],[-0.316780,-0.329776,0.889325]]
2025-10-27T18:06:16.868Z,1761588376.868 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:06:16.869Z,1761588376.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:17.120Z,1761588377.120 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:06:17.120Z,1761588377.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:17.229Z,1761588377.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944503,-0.109834,0.309597],[-0.008497,0.933966,0.357260],[-0.328393,-0.340064,0.881201]]
2025-10-27T18:06:17.372Z,1761588377.372 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:06:17.372Z,1761588377.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:17.624Z,1761588377.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:17.727Z,1761588377.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942190,-0.096456,0.320895],[-0.025992,0.933748,0.356987],[-0.334069,-0.344691,0.877261]]
2025-10-27T18:06:17.876Z,1761588377.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:18.125Z,1761588378.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939167,-0.078853,0.334287],[-0.047561,0.934054,0.353950],[-0.340152,-0.348317,0.873483]]
2025-10-27T18:06:18.128Z,1761588378.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:18.380Z,1761588378.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:18.530Z,1761588378.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935372,-0.059722,0.348587],[-0.069281,0.935601,0.346194],[-0.346814,-0.347971,0.870998]]
2025-10-27T18:06:18.633Z,1761588378.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:18.884Z,1761588378.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:19.041Z,1761588379.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930959,-0.040664,0.362853],[-0.090143,0.937420,0.336331],[-0.353822,-0.345819,0.869034]]
2025-10-27T18:06:19.136Z,1761588379.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:19.388Z,1761588379.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:19.641Z,1761588379.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:19.691Z,1761588379.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920988,-0.000482,0.389591],[-0.129842,0.942449,0.308110],[-0.367318,-0.334351,0.867921]]
2025-10-27T18:06:19.892Z,1761588379.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:20.144Z,1761588380.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:20.336Z,1761588380.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915473,0.020109,0.401877],[-0.148875,0.944804,0.291859],[-0.373825,-0.327018,0.867936]]
2025-10-27T18:06:20.397Z,1761588380.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:20.648Z,1761588380.648 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:06:19.9045

2025-10-27T18:06:20.649Z,1761588380.649 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:06:20.649Z,1761588380.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:20.901Z,1761588380.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:20.958Z,1761588380.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904693,0.055838,0.422389],[-0.182138,0.946909,0.264933],[-0.385170,-0.316616,0.866832]]
2025-10-27T18:06:21.152Z,1761588381.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:21.355Z,1761588381.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:06:21.404Z,1761588381.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:21.472Z,1761588381.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900666,0.064652,0.429675],[-0.189027,0.948691,0.253483],[-0.391241,-0.309524,0.866675]]
2025-10-27T18:06:21.656Z,1761588381.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:21.893Z,1761588381.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897460,0.069411,0.435600],[-0.193395,0.949481,0.247152],[-0.396439,-0.306052,0.865545]]
2025-10-27T18:06:21.909Z,1761588381.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:22.160Z,1761588382.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:22.327Z,1761588382.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895037,0.073279,0.439931],[-0.197495,0.949546,0.243636],[-0.399881,-0.304947,0.864351]]
2025-10-27T18:06:22.348Z,1761588382.348 [NAL9602](INFO): NAL9602 initialized
2025-10-27T18:06:22.359Z,1761588382.359 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:06:22.412Z,1761588382.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:22.664Z,1761588382.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:22.762Z,1761588382.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893120,0.076325,0.443296],[-0.202088,0.948528,0.243836],[-0.401868,-0.307360,0.862573]]
2025-10-27T18:06:22.916Z,1761588382.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:23.168Z,1761588383.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:23.249Z,1761588383.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890013,0.081549,0.448584],[-0.212321,0.944813,0.249496],[-0.403482,-0.317298,0.858210]]
2025-10-27T18:06:23.421Z,1761588383.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:23.672Z,1761588383.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:23.690Z,1761588383.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887363,0.086093,0.452962],[-0.220600,0.941945,0.253130],[-0.404873,-0.324542,0.854840]]
2025-10-27T18:06:23.924Z,1761588383.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:24.177Z,1761588384.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:24.267Z,1761588384.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883577,0.094851,0.458580],[-0.232732,0.938716,0.254261],[-0.406359,-0.331385,0.851502]]
2025-10-27T18:06:24.428Z,1761588384.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:24.690Z,1761588384.690 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:24.706Z,1761588384.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879244,0.105550,0.464532],[-0.246734,0.935056,0.254545],[-0.407496,-0.338423,0.848185]]
2025-10-27T18:06:24.940Z,1761588384.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:25.194Z,1761588385.194 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateRudder:A] Stopped
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:06:25.222Z,1761588385.222 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:06:25.223Z,1761588385.223 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateCommandMode] Stopped
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:06:25.224Z,1761588385.224 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:06:25.225Z,1761588385.225 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:06:25.225Z,1761588385.225 [marl:UpdateSpeed] Stopped
2025-10-27T18:06:25.225Z,1761588385.225 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:06:25.444Z,1761588385.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:25.522Z,1761588385.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871538,0.127774,0.473387],[-0.274306,0.927292,0.254726],[-0.406421,-0.351856,0.843220]]
2025-10-27T18:06:25.584Z,1761588385.584 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:06:25.584Z,1761588385.584 [marl:UpdateRudder:B] Stopped
2025-10-27T18:06:25.585Z,1761588385.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:06:25.585Z,1761588385.585 [marl:UpdateRudder] Stopped
2025-10-27T18:06:25.585Z,1761588385.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:06:25.698Z,1761588385.698 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:25.928Z,1761588385.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868315,0.138310,0.476339],[-0.287893,0.922554,0.256926],[-0.403913,-0.360228,0.840886]]
2025-10-27T18:06:25.948Z,1761588385.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:26.200Z,1761588386.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:26.329Z,1761588386.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864723,0.151077,0.478988],[-0.303565,0.916989,0.258804],[-0.400128,-0.369198,0.838803]]
2025-10-27T18:06:26.452Z,1761588386.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:26.704Z,1761588386.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:26.741Z,1761588386.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860250,0.165121,0.482395],[-0.320057,0.911365,0.258800],[-0.396905,-0.377027,0.836850]]
2025-10-27T18:06:26.956Z,1761588386.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:27.205Z,1761588387.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849197,0.195422,0.490586],[-0.348334,0.905527,0.242248],[-0.396899,-0.376604,0.837043]]
2025-10-27T18:06:27.208Z,1761588387.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:27.460Z,1761588387.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:27.608Z,1761588387.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843765,0.213120,0.492585],[-0.359149,0.906217,0.223119],[-0.398838,-0.365172,0.841176]]
2025-10-27T18:06:27.712Z,1761588387.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:27.964Z,1761588387.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:28.010Z,1761588388.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839302,0.232951,0.491230],[-0.367984,0.908531,0.197885],[-0.400200,-0.346850,0.848254]]
2025-10-27T18:06:28.217Z,1761588388.217 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:28.468Z,1761588388.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:28.721Z,1761588388.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:28.860Z,1761588388.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835747,0.275180,0.475187],[-0.380083,0.914460,0.138920],[-0.396312,-0.296712,0.868849]]
2025-10-27T18:06:28.883Z,1761588388.883 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050321544776,35.0, +13.1, 00.5,  0
2025-10-27T18:06:28.972Z,1761588388.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:29.219Z,1761588389.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837268,0.293431,0.461391],[-0.383005,0.916947,0.111873],[-0.390244,-0.270382,0.880115]]
2025-10-27T18:06:29.224Z,1761588389.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:29.478Z,1761588389.478 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:29.732Z,1761588389.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:29.984Z,1761588389.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:30.026Z,1761588390.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845031,0.306576,0.438102],[-0.375693,0.923417,0.078463],[-0.380495,-0.230896,0.895495]]
2025-10-27T18:06:30.236Z,1761588390.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:30.430Z,1761588390.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847563,0.307925,0.432225],[-0.372046,0.925558,0.070171],[-0.378442,-0.220282,0.899031]]
2025-10-27T18:06:30.496Z,1761588390.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:30.749Z,1761588390.749 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:06:30.749Z,1761588390.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:31.001Z,1761588391.001 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:06:31.001Z,1761588391.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:31.237Z,1761588391.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852565,0.306215,0.423515],[-0.364959,0.928885,0.063075],[-0.374082,-0.208341,0.903691]]
2025-10-27T18:06:31.252Z,1761588391.252 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:06:31.252Z,1761588391.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:31.504Z,1761588391.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:31.642Z,1761588391.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855764,0.303765,0.418802],[-0.362282,0.929734,0.065919],[-0.369351,-0.208136,0.905682]]
2025-10-27T18:06:31.756Z,1761588391.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:32.008Z,1761588392.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:32.045Z,1761588392.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858436,0.303185,0.413722],[-0.363321,0.928782,0.073225],[-0.362057,-0.213173,0.907454]]
2025-10-27T18:06:32.261Z,1761588392.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:32.450Z,1761588392.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859569,0.304594,0.410322],[-0.368801,0.925566,0.085513],[-0.353733,-0.224831,0.907923]]
2025-10-27T18:06:32.512Z,1761588392.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:32.764Z,1761588392.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:32.868Z,1761588392.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858661,0.306793,0.410585],[-0.376104,0.921371,0.098092],[-0.348207,-0.238651,0.906531]]
2025-10-27T18:06:33.016Z,1761588393.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:33.258Z,1761588393.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856002,0.307729,0.415407],[-0.381118,0.918557,0.104889],[-0.349298,-0.248104,0.903568]]
2025-10-27T18:06:33.270Z,1761588393.270 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:33.520Z,1761588393.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:33.662Z,1761588393.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852799,0.309469,0.420670],[-0.381915,0.918967,0.098188],[-0.356196,-0.244395,0.901885]]
2025-10-27T18:06:33.773Z,1761588393.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:34.024Z,1761588394.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:34.066Z,1761588394.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850852,0.313516,0.421613],[-0.379649,0.921590,0.080860],[-0.363204,-0.228865,0.903163]]
2025-10-27T18:06:34.276Z,1761588394.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:34.472Z,1761588394.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851393,0.321226,0.414661],[-0.377106,0.924338,0.058225],[-0.364584,-0.205944,0.908111]]
2025-10-27T18:06:34.529Z,1761588394.529 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:06:33.8045

2025-10-27T18:06:34.529Z,1761588394.529 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:06:34.530Z,1761588394.530 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:34.781Z,1761588394.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:35.032Z,1761588395.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:35.285Z,1761588395.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:35.321Z,1761588395.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857792,0.334654,0.390128],[-0.376177,0.925967,0.032817],[-0.350263,-0.174907,0.920176]]
2025-10-27T18:06:35.537Z,1761588395.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:35.735Z,1761588395.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863099,0.330330,0.382025],[-0.372615,0.927116,0.040180],[-0.340909,-0.177027,0.923278]]
2025-10-27T18:06:35.789Z,1761588395.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:36.040Z,1761588396.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:36.126Z,1761588396.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866909,0.323600,0.379146],[-0.371885,0.926359,0.059663],[-0.331918,-0.192721,0.923412]]
2025-10-27T18:06:36.293Z,1761588396.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:36.529Z,1761588396.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866521,0.322045,0.381351],[-0.379440,0.921388,0.084082],[-0.324294,-0.217559,0.920599]]
2025-10-27T18:06:36.544Z,1761588396.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:36.798Z,1761588396.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:36.933Z,1761588396.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864465,0.322849,0.385318],[-0.387421,0.916306,0.101431],[-0.320322,-0.236964,0.917192]]
2025-10-27T18:06:37.048Z,1761588397.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:37.300Z,1761588397.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:37.340Z,1761588397.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862976,0.326595,0.385497],[-0.393065,0.913368,0.106108],[-0.317446,-0.243094,0.916588]]
2025-10-27T18:06:37.552Z,1761588397.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:37.766Z,1761588397.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862885,0.333581,0.379675],[-0.396674,0.912520,0.099783],[-0.313175,-0.236708,0.919723]]
2025-10-27T18:06:37.804Z,1761588397.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:38.056Z,1761588398.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:38.145Z,1761588398.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864620,0.339392,0.370467],[-0.397775,0.912852,0.092071],[-0.306933,-0.226969,0.924271]]
2025-10-27T18:06:38.197Z,1761588398.197 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:06:38.197Z,1761588398.197 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateRudder:A] Stopped
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:06:38.198Z,1761588398.198 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:06:38.199Z,1761588398.199 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:06:38.199Z,1761588398.199 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:06:38.199Z,1761588398.199 [marl:UpdateCommandMode] Stopped
2025-10-27T18:06:38.199Z,1761588398.199 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:06:38.199Z,1761588398.199 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed] Stopped
2025-10-27T18:06:38.200Z,1761588398.200 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:06:38.308Z,1761588398.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:38.549Z,1761588398.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867100,0.342339,0.361857],[-0.398422,0.912647,0.091298],[-0.298993,-0.223337,0.927752]]
2025-10-27T18:06:38.560Z,1761588398.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:38.595Z,1761588398.595 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:06:38.595Z,1761588398.595 [marl:UpdateRudder:B] Stopped
2025-10-27T18:06:38.595Z,1761588398.595 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:06:38.596Z,1761588398.596 [marl:UpdateRudder] Stopped
2025-10-27T18:06:38.596Z,1761588398.596 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:06:38.814Z,1761588398.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:39.064Z,1761588399.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:39.316Z,1761588399.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:39.357Z,1761588399.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869881,0.339053,0.358259],[-0.401699,0.908444,0.115614],[-0.286259,-0.244482,0.926436]]
2025-10-27T18:06:39.568Z,1761588399.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:39.784Z,1761588399.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868992,0.337198,0.362146],[-0.406007,0.904245,0.132286],[-0.282862,-0.261989,0.922687]]
2025-10-27T18:06:39.822Z,1761588399.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:40.072Z,1761588400.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:40.236Z,1761588400.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866971,0.337728,0.366471],[-0.412210,0.899238,0.146470],[-0.280078,-0.278048,0.918828]]
2025-10-27T18:06:40.324Z,1761588400.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:40.577Z,1761588400.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:40.657Z,1761588400.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865037,0.339831,0.369089],[-0.416983,0.896073,0.152245],[-0.278993,-0.285601,0.916839]]
2025-10-27T18:06:40.834Z,1761588400.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:41.058Z,1761588401.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863724,0.341079,0.371007],[-0.419099,0.894973,0.152904],[-0.279889,-0.287556,0.915955]]
2025-10-27T18:06:41.080Z,1761588401.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:41.332Z,1761588401.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:41.464Z,1761588401.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861828,0.341534,0.374977],[-0.419559,0.895468,0.148688],[-0.284998,-0.285469,0.915032]]
2025-10-27T18:06:41.584Z,1761588401.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:41.836Z,1761588401.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:41.866Z,1761588401.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856405,0.348308,0.381120],[-0.425880,0.893872,0.140070],[-0.291885,-0.282268,0.913853]]
2025-10-27T18:06:42.088Z,1761588402.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:42.286Z,1761588402.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847799,0.363570,0.386074],[-0.443002,0.885724,0.138715],[-0.291522,-0.288634,0.911979]]
2025-10-27T18:06:42.341Z,1761588402.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:42.592Z,1761588402.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:42.681Z,1761588402.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837993,0.377472,0.394059],[-0.463450,0.873543,0.148783],[-0.288067,-0.307306,0.906962]]
2025-10-27T18:06:42.849Z,1761588402.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:43.096Z,1761588403.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:43.348Z,1761588403.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:43.528Z,1761588403.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820715,0.396142,0.411701],[-0.494445,0.853520,0.164401],[-0.286269,-0.338491,0.896367]]
2025-10-27T18:06:43.600Z,1761588403.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:43.852Z,1761588403.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:43.930Z,1761588403.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814747,0.410116,0.409868],[-0.509451,0.843878,0.168312],[-0.276851,-0.345939,0.896482]]
2025-10-27T18:06:44.104Z,1761588404.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:44.334Z,1761588404.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809901,0.419170,0.410312],[-0.521364,0.834963,0.176113],[-0.268774,-0.356556,0.894778]]
2025-10-27T18:06:44.356Z,1761588404.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:44.608Z,1761588404.608 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:06:44.608Z,1761588404.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:44.754Z,1761588404.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802321,0.428972,0.415047],[-0.536996,0.822340,0.188130],[-0.260607,-0.373820,0.890136]]
2025-10-27T18:06:44.860Z,1761588404.860 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:06:44.860Z,1761588404.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:45.112Z,1761588405.112 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:06:45.112Z,1761588405.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:45.364Z,1761588405.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:45.585Z,1761588405.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771598,0.443865,0.455653],[-0.578918,0.786844,0.213846],[-0.263609,-0.428789,0.864089]]
2025-10-27T18:06:45.617Z,1761588405.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:45.868Z,1761588405.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:46.120Z,1761588406.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:46.372Z,1761588406.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:46.438Z,1761588406.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722076,0.500947,0.477135],[-0.620788,0.773575,0.127294],[-0.305332,-0.388116,0.869562]]
2025-10-27T18:06:46.624Z,1761588406.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:46.876Z,1761588406.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:46.958Z,1761588406.958 [marl:NeedComms:C] Running Loop=1
2025-10-27T18:06:47.128Z,1761588407.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:47.355Z,1761588407.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691507,0.542567,0.476906],[-0.651946,0.753078,0.088549],[-0.311103,-0.372149,0.874483]]
2025-10-27T18:06:47.380Z,1761588407.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:47.511Z,1761588407.511 [Radio_Surface](INFO): Powering up
2025-10-27T18:06:47.633Z,1761588407.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:47.884Z,1761588407.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:47.922Z,1761588407.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674933,0.572412,0.465627],[-0.679926,0.727601,0.091096],[-0.286646,-0.378076,0.880280]]
2025-10-27T18:06:48.137Z,1761588408.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:48.318Z,1761588408.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661879,0.583762,0.470253],[-0.692401,0.716472,0.085138],[-0.287223,-0.381955,0.878415]]
2025-10-27T18:06:48.388Z,1761588408.388 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:06:47.6544

2025-10-27T18:06:48.389Z,1761588408.389 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:06:48.389Z,1761588408.389 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:48.640Z,1761588408.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:48.892Z,1761588408.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:49.144Z,1761588409.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:49.396Z,1761588409.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:49.419Z,1761588409.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642787,0.651653,0.402707],[-0.692255,0.719244,-0.058914],[-0.328036,-0.240907,0.913431]]
2025-10-27T18:06:49.648Z,1761588409.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:49.822Z,1761588409.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667724,0.670392,0.323603],[-0.704188,0.709799,-0.017428],[-0.241377,-0.216240,0.946032]]
2025-10-27T18:06:49.900Z,1761588409.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:50.152Z,1761588410.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:50.405Z,1761588410.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:50.632Z,1761588410.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665903,0.705138,0.243625],[-0.741090,0.662772,0.107330],[-0.085785,-0.252019,0.963912]]
2025-10-27T18:06:50.656Z,1761588410.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:50.908Z,1761588410.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:51.160Z,1761588411.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:51.412Z,1761588411.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:51.438Z,1761588411.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644770,0.731914,0.220395],[-0.763293,0.631862,0.134667],[-0.040694,-0.255055,0.966070]]
2025-10-27T18:06:51.664Z,1761588411.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:51.841Z,1761588411.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640016,0.757593,0.128189],[-0.768361,0.630966,0.107250],[0.000369,-0.167137,0.985934]]
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateRudder:A] Stopped
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:06:51.885Z,1761588411.885 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateCommandMode] Stopped
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:06:51.886Z,1761588411.886 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:06:51.893Z,1761588411.893 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:06:51.893Z,1761588411.893 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:06:51.893Z,1761588411.893 [marl:UpdateSpeed] Stopped
2025-10-27T18:06:51.893Z,1761588411.893 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:06:51.916Z,1761588411.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:52.168Z,1761588412.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:52.256Z,1761588412.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611757,0.787037,0.079532],[-0.790947,0.606995,0.077205],[0.012487,-0.110136,0.993838]]
2025-10-27T18:06:52.310Z,1761588412.310 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:06:52.311Z,1761588412.311 [marl:UpdateRudder:B] Stopped
2025-10-27T18:06:52.311Z,1761588412.311 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:06:52.311Z,1761588412.311 [marl:UpdateRudder] Stopped
2025-10-27T18:06:52.311Z,1761588412.311 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:06:52.423Z,1761588412.423 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:52.495Z,1761588412.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:06:52.651Z,1761588412.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604026,0.791667,0.091739],[-0.796928,0.601088,0.059988],[-0.007652,-0.109344,0.993975]]
2025-10-27T18:06:52.672Z,1761588412.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:52.764Z,1761588412.764 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T18:06:52.765Z,1761588412.765 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T18:06:52.924Z,1761588412.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:53.054Z,1761588413.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604812,0.787108,0.121093],[-0.795762,0.603258,0.053320],[-0.031082,-0.128610,0.991208]]
2025-10-27T18:06:53.176Z,1761588413.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:53.428Z,1761588413.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:53.457Z,1761588413.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594360,0.793621,0.130007],[-0.804014,0.589875,0.074890],[-0.017253,-0.149039,0.988681]]
2025-10-27T18:06:53.499Z,1761588413.499 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T18:06:53.499Z,1761588413.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:06:53.680Z,1761588413.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:53.862Z,1761588413.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583916,0.801380,0.129736],[-0.811670,0.573304,0.111865],[0.015268,-0.170623,0.985218]]
2025-10-27T18:06:53.932Z,1761588413.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:54.016Z,1761588414.016 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:06:54.016Z,1761588414.016 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:06:54.184Z,1761588414.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:54.274Z,1761588414.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574284,0.805546,0.145925],[-0.818418,0.560620,0.126084],[0.019758,-0.191836,0.981228]]
2025-10-27T18:06:54.436Z,1761588414.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:54.669Z,1761588414.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548265,0.821567,0.156312],[-0.836253,0.536479,0.113455],[0.009353,-0.192919,0.981170]]
2025-10-27T18:06:54.688Z,1761588414.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:54.718Z,1761588414.718 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:06:54.940Z,1761588414.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:55.073Z,1761588415.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532336,0.832255,0.154820],[-0.846218,0.528149,0.070519],[-0.023078,-0.168551,0.985423]]
2025-10-27T18:06:55.192Z,1761588415.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:55.444Z,1761588415.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:55.481Z,1761588415.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519917,0.844558,0.128092],[-0.850877,0.525276,-0.009688],[-0.075466,-0.103954,0.991715]]
2025-10-27T18:06:55.696Z,1761588415.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:55.881Z,1761588415.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493611,0.867304,0.064280],[-0.864857,0.497305,-0.068630],[-0.091490,-0.021716,0.995569]]
2025-10-27T18:06:55.948Z,1761588415.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:56.200Z,1761588416.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:56.285Z,1761588416.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480827,0.876599,0.019472],[-0.875040,0.481147,-0.052939],[-0.055775,0.008416,0.998408]]
2025-10-27T18:06:56.452Z,1761588416.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:56.690Z,1761588416.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482399,0.875489,0.028462],[-0.875705,0.482780,-0.008046],[-0.020785,-0.021043,0.999563]]
2025-10-27T18:06:56.704Z,1761588416.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:56.956Z,1761588416.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:57.096Z,1761588417.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471030,0.881740,0.025783],[-0.881762,0.469810,0.042125],[0.025030,-0.042577,0.998780]]
2025-10-27T18:06:57.208Z,1761588417.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:57.460Z,1761588417.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:57.497Z,1761588417.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460282,0.886813,0.041277],[-0.887645,0.458929,0.038355],[0.015070,-0.054294,0.998411]]
2025-10-27T18:06:57.712Z,1761588417.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:57.901Z,1761588417.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430686,0.898158,0.088446],[-0.902418,0.429911,0.028619],[-0.012319,-0.092141,0.995670]]
2025-10-27T18:06:57.964Z,1761588417.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:58.216Z,1761588418.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:58.305Z,1761588418.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423218,0.900706,0.098063],[-0.905950,0.422118,0.032734],[-0.011910,-0.102693,0.994642]]
2025-10-27T18:06:58.468Z,1761588418.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:58.711Z,1761588418.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413731,0.903589,0.111144],[-0.909252,0.416245,0.000635],[-0.045689,-0.101321,0.993804]]
2025-10-27T18:06:58.720Z,1761588418.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:58.972Z,1761588418.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:59.230Z,1761588419.230 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:59.476Z,1761588419.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:59.518Z,1761588419.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373685,0.923432,0.087360],[-0.926172,0.366328,0.089492],[0.050637,-0.114352,0.992149]]
2025-10-27T18:06:59.729Z,1761588419.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:06:59.924Z,1761588419.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365335,0.928606,0.064975],[-0.923908,0.353191,0.147136],[0.113683,-0.113785,0.986980]]
2025-10-27T18:06:59.980Z,1761588419.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:00.234Z,1761588420.234 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:00.326Z,1761588420.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331390,0.940513,0.074932],[-0.939941,0.322214,0.112641],[0.081796,-0.107760,0.990806]]
2025-10-27T18:07:00.484Z,1761588420.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:00.737Z,1761588420.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:00.745Z,1761588420.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292646,0.952802,0.080790],[-0.955568,0.288280,0.061513],[0.035320,-0.095202,0.994831]]
2025-10-27T18:07:00.988Z,1761588420.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:01.134Z,1761588421.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285529,0.955395,0.075452],[-0.958370,0.284600,0.023015],[0.000515,-0.078883,0.996884]]
2025-10-27T18:07:01.241Z,1761588421.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:01.492Z,1761588421.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:01.541Z,1761588421.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271422,0.960006,0.068698],[-0.962012,0.272782,-0.011079],[-0.029376,-0.063082,0.997576]]
2025-10-27T18:07:01.744Z,1761588421.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:01.996Z,1761588421.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:02.248Z,1761588422.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:02.346Z,1761588422.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255091,0.964926,0.062017],[-0.966600,0.256124,-0.009177],[-0.024739,-0.057605,0.998033]]
2025-10-27T18:07:02.501Z,1761588422.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:02.754Z,1761588422.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:02.762Z,1761588422.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235961,0.970748,0.044390],[-0.971480,0.236748,-0.013323],[-0.023442,-0.039980,0.998926]]
2025-10-27T18:07:03.004Z,1761588423.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:03.154Z,1761588423.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194165,0.980720,0.022078],[-0.980962,0.194028,0.008216],[0.003774,-0.023253,0.999723]]
2025-10-27T18:07:03.256Z,1761588423.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:03.508Z,1761588423.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:03.558Z,1761588423.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182090,0.982191,0.046308],[-0.983262,0.182186,0.002187],[-0.006288,-0.045931,0.998925]]
2025-10-27T18:07:03.760Z,1761588423.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:03.961Z,1761588423.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196817,0.976626,0.086397],[-0.979575,0.199580,-0.024506],[-0.041177,-0.079809,0.995959]]
2025-10-27T18:07:04.012Z,1761588424.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:04.264Z,1761588424.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:04.367Z,1761588424.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181824,0.976746,0.113610],[-0.982533,0.185113,-0.019012],[-0.039601,-0.108168,0.993344]]
2025-10-27T18:07:04.516Z,1761588424.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:04.771Z,1761588424.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:04.782Z,1761588424.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152110,0.982082,0.111252],[-0.988341,0.151894,0.010460],[-0.006626,-0.111546,0.993737]]
2025-10-27T18:07:04.892Z,1761588424.892 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:07:04.892Z,1761588424.892 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:07:04.892Z,1761588424.892 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateRudder:A] Stopped
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:07:04.893Z,1761588424.893 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateCommandMode] Stopped
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:07:04.894Z,1761588424.894 [marl:UpdateSpeed] Stopped
2025-10-27T18:07:04.895Z,1761588424.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:07:05.024Z,1761588425.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:05.276Z,1761588425.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:05.292Z,1761588425.292 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:07:05.292Z,1761588425.292 [marl:UpdateRudder:B] Stopped
2025-10-27T18:07:05.292Z,1761588425.292 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:07:05.292Z,1761588425.292 [marl:UpdateRudder] Stopped
2025-10-27T18:07:05.292Z,1761588425.292 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:07:05.528Z,1761588425.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:05.580Z,1761588425.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111505,0.990878,0.075677],[-0.993716,0.111926,-0.001330],[-0.009788,-0.075053,0.997131]]
2025-10-27T18:07:05.780Z,1761588425.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:05.983Z,1761588425.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125085,0.987185,0.099090],[-0.992126,0.125086,0.006230],[-0.006245,-0.099089,0.995059]]
2025-10-27T18:07:06.041Z,1761588426.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:06.292Z,1761588426.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:06.385Z,1761588426.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134671,0.985993,0.098391],[-0.990339,0.130618,0.046564],[0.033060,-0.103712,0.994058]]
2025-10-27T18:07:06.544Z,1761588426.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:06.798Z,1761588426.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:06.849Z,1761588426.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122072,0.988545,0.088758],[-0.989550,0.114305,0.087892],[0.076740,-0.098560,0.992168]]
2025-10-27T18:07:07.048Z,1761588427.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:07.194Z,1761588427.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120058,0.990364,0.069035],[-0.989856,0.114095,0.084658],[0.075965,-0.078498,0.994016]]
2025-10-27T18:07:07.300Z,1761588427.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:07.552Z,1761588427.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:07.600Z,1761588427.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112577,0.990280,0.081679],[-0.992440,0.108017,0.058265],[0.048876,-0.087621,0.994954]]
2025-10-27T18:07:07.804Z,1761588427.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:08.001Z,1761588428.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086057,0.991609,0.096462],[-0.995897,0.082901,0.036277],[0.027976,-0.099188,0.994675]]
2025-10-27T18:07:08.056Z,1761588428.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:08.308Z,1761588428.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:08.406Z,1761588428.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084771,0.992672,0.086112],[-0.996178,0.082611,0.028355],[0.021033,-0.088186,0.995882]]
2025-10-27T18:07:08.561Z,1761588428.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:08.814Z,1761588428.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:08.873Z,1761588428.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097295,0.994864,0.027917],[-0.995089,0.096728,0.020988],[0.018180,-0.029822,0.999390]]
2025-10-27T18:07:09.064Z,1761588429.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:09.316Z,1761588429.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:09.568Z,1761588429.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:09.618Z,1761588429.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085294,0.994234,0.064995],[-0.996316,0.084526,0.014472],[0.008895,-0.065990,0.997781]]
2025-10-27T18:07:09.820Z,1761588429.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:10.021Z,1761588430.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065141,0.991697,0.110877],[-0.997842,0.063814,0.015484],[0.008280,-0.111646,0.993714]]
2025-10-27T18:07:10.072Z,1761588430.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:10.324Z,1761588430.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:10.425Z,1761588430.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027541,0.987276,0.156610],[-0.998365,0.019316,0.053799],[0.050090,-0.157836,0.986194]]
2025-10-27T18:07:10.576Z,1761588430.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:10.832Z,1761588430.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:10.881Z,1761588430.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001873,0.972128,0.234442],[-0.999998,-0.001667,-0.001076],[-0.000655,-0.234444,0.972129]]
2025-10-27T18:07:11.080Z,1761588431.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:11.246Z,1761588431.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066182,0.973872,0.217239],[-0.996738,-0.054449,-0.059564],[-0.046180,-0.220472,0.974299]]
2025-10-27T18:07:11.332Z,1761588431.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:11.584Z,1761588431.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:11.836Z,1761588431.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:12.048Z,1761588432.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076890,0.995173,0.060974],[-0.996614,-0.078499,0.024451],[0.029119,-0.058888,0.997840]]
2025-10-27T18:07:12.088Z,1761588432.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:12.340Z,1761588432.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:12.452Z,1761588432.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082788,0.996476,-0.013474],[-0.996242,-0.082408,0.026656],[0.025452,0.015630,0.999554]]
2025-10-27T18:07:12.592Z,1761588432.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:12.595Z,1761588432.595 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-10-27T18:07:12.849Z,1761588432.849 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-10-27T18:07:12.856Z,1761588432.856 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T18:07:12.857Z,1761588432.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:13.108Z,1761588433.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:13.258Z,1761588433.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108952,0.993886,0.017867],[-0.993081,-0.109621,0.042100],[0.043801,-0.013157,0.998954]]
2025-10-27T18:07:13.360Z,1761588433.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:13.612Z,1761588433.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:13.854Z,1761588433.854 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-10-27T18:07:13.855Z,1761588433.855 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T18:07:13.864Z,1761588433.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:14.064Z,1761588434.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122425,0.989515,0.076624],[-0.983092,-0.131498,0.127433],[0.136173,-0.059727,0.988883]]
2025-10-27T18:07:14.116Z,1761588434.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:14.368Z,1761588434.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:14.466Z,1761588434.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103581,0.990574,0.089637],[-0.982263,-0.116040,0.147289],[0.156302,-0.072790,0.985023]]
2025-10-27T18:07:14.620Z,1761588434.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:14.864Z,1761588434.864 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-10-27T18:07:14.866Z,1761588434.866 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T18:07:14.872Z,1761588434.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:14.878Z,1761588434.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119239,0.983754,0.134199],[-0.984310,-0.134832,0.113816],[0.130061,-0.118522,0.984397]]
2025-10-27T18:07:15.129Z,1761588435.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:15.274Z,1761588435.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148251,0.974630,0.167686],[-0.984008,-0.162304,0.073387],[0.098742,-0.154125,0.983105]]
2025-10-27T18:07:15.380Z,1761588435.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:15.632Z,1761588435.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:15.680Z,1761588435.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153115,0.978715,0.136649],[-0.986936,-0.158463,0.029093],[0.050128,-0.130410,0.990192]]
2025-10-27T18:07:15.858Z,1761588435.858 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-10-27T18:07:15.859Z,1761588435.859 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T18:07:15.884Z,1761588435.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:16.082Z,1761588436.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166589,0.983340,0.072737],[-0.985929,-0.167153,0.001704],[0.013834,-0.071429,0.997350]]
2025-10-27T18:07:16.136Z,1761588436.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:16.388Z,1761588436.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:16.486Z,1761588436.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195541,0.976827,0.087017],[-0.980395,-0.196906,0.007309],[0.024273,-0.083882,0.996180]]
2025-10-27T18:07:16.639Z,1761588436.639 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:16.861Z,1761588436.861 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-10-27T18:07:16.862Z,1761588436.862 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-27T18:07:16.895Z,1761588436.895 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:16.921Z,1761588436.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215802,0.969665,0.114800],[-0.976200,-0.216843,-0.003492],[0.021508,-0.112822,0.993382]]
2025-10-27T18:07:17.096Z,1761588437.096 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001516
CHAN A1 (24V): -0.000031
CHAN A2 (12V): -0.000851
CHAN A3 (5V): -0.001544
CHAN B0 (3.3V): 0.000986
CHAN B1 (3.15aV): -0.000070
CHAN B2 (3.15bV): 0.000380
CHAN B3 (GND): -0.000019
OPEN: 0.005903
Full Scale: +/- 1 mA
2025-10-27T18:07:17.148Z,1761588437.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:17.295Z,1761588437.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201814,0.975121,0.091709],[-0.979208,-0.198918,-0.039786],[-0.020554,-0.097831,0.994991]]
2025-10-27T18:07:17.405Z,1761588437.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:17.652Z,1761588437.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:17.704Z,1761588437.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195951,0.979442,0.047915],[-0.980101,-0.194035,-0.041860],[-0.031703,-0.055165,0.997974]]
2025-10-27T18:07:17.904Z,1761588437.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:18.101Z,1761588438.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229237,0.973140,0.021171],[-0.973368,-0.229236,-0.002542],[0.002379,-0.021190,0.999773]]
2025-10-27T18:07:18.153Z,1761588438.153 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:07:18.153Z,1761588438.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateRudder:A] Stopped
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:07:18.154Z,1761588438.154 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:07:18.156Z,1761588438.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:18.155Z,1761588438.155 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:07:18.156Z,1761588438.156 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:07:18.156Z,1761588438.156 [marl:UpdateCommandMode] Stopped
2025-10-27T18:07:18.156Z,1761588438.156 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed] Stopped
2025-10-27T18:07:18.157Z,1761588438.157 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:07:18.408Z,1761588438.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:18.506Z,1761588438.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273566,0.961009,0.040290],[-0.960856,-0.274949,0.034030],[0.043781,-0.029404,0.998608]]
2025-10-27T18:07:18.530Z,1761588438.530 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:07:18.530Z,1761588438.530 [marl:UpdateRudder:B] Stopped
2025-10-27T18:07:18.530Z,1761588438.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:07:18.530Z,1761588438.530 [marl:UpdateRudder] Stopped
2025-10-27T18:07:18.530Z,1761588438.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:07:18.660Z,1761588438.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:18.916Z,1761588438.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:18.924Z,1761588438.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280532,0.958362,0.053331],[-0.959087,-0.282085,0.024096],[0.038136,-0.044389,0.998286]]
2025-10-27T18:07:19.168Z,1761588439.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:19.314Z,1761588439.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284802,0.952777,0.105373],[-0.958219,-0.286011,-0.003768],[0.026548,-0.102044,0.994426]]
2025-10-27T18:07:19.421Z,1761588439.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:19.672Z,1761588439.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:19.725Z,1761588439.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321051,0.922781,0.213076],[-0.940670,-0.336804,0.041269],[0.109848,-0.187185,0.976164]]
2025-10-27T18:07:19.924Z,1761588439.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:20.121Z,1761588440.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321784,0.912748,0.251687],[-0.932908,-0.351042,0.080330],[0.161674,-0.208951,0.964469]]
2025-10-27T18:07:20.176Z,1761588440.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:20.428Z,1761588440.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:20.527Z,1761588440.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313926,0.932450,0.178850],[-0.943060,-0.328045,0.054985],[0.109942,-0.151405,0.982339]]
2025-10-27T18:07:20.682Z,1761588440.682 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:20.932Z,1761588440.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:20.941Z,1761588440.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323992,0.943200,0.073506],[-0.944310,-0.327139,0.035480],[0.057511,-0.057918,0.996663]]
2025-10-27T18:07:21.184Z,1761588441.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:21.333Z,1761588441.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315409,0.948857,-0.013692],[-0.948664,-0.314921,0.029330],[0.023518,0.022240,0.999476]]
2025-10-27T18:07:21.436Z,1761588441.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:21.689Z,1761588441.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:21.745Z,1761588441.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315760,0.948325,-0.031228],[-0.948785,-0.315221,0.021029],[0.010099,0.036269,0.999291]]
2025-10-27T18:07:21.940Z,1761588441.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:22.142Z,1761588442.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329900,0.943736,0.022983],[-0.943872,-0.329326,-0.025486],[-0.016484,-0.030101,0.999411]]
2025-10-27T18:07:22.192Z,1761588442.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:22.444Z,1761588442.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:22.545Z,1761588442.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356043,0.930276,0.088430],[-0.932167,-0.346933,-0.103456],[-0.065563,-0.119266,0.990695]]
2025-10-27T18:07:22.696Z,1761588442.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:22.948Z,1761588442.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:22.958Z,1761588442.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373813,0.919176,0.124010],[-0.923374,-0.356204,-0.143174],[-0.087429,-0.168027,0.981898]]
2025-10-27T18:07:23.201Z,1761588443.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:23.353Z,1761588443.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387374,0.909051,0.153518],[-0.920755,-0.373102,-0.114044],[-0.046394,-0.185530,0.981543]]
2025-10-27T18:07:23.452Z,1761588443.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:23.623Z,1761588443.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:07:23.704Z,1761588443.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:23.764Z,1761588443.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407204,0.900289,0.153830],[-0.913330,-0.400712,-0.072514],[-0.003642,-0.170026,0.985433]]
2025-10-27T18:07:23.956Z,1761588443.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:24.163Z,1761588444.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417360,0.902591,0.105546],[-0.908730,-0.415101,-0.043589],[0.004470,-0.114105,0.993459]]
2025-10-27T18:07:24.209Z,1761588444.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:24.460Z,1761588444.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:24.566Z,1761588444.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399631,0.914855,0.057758],[-0.916485,-0.400040,-0.004797],[0.018717,-0.054851,0.998319]]
2025-10-27T18:07:24.640Z,1761588444.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:07:24.713Z,1761588444.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:24.964Z,1761588444.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:24.975Z,1761588444.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389139,0.920089,0.044795],[-0.919918,-0.390690,0.033355],[0.048191,-0.028228,0.998439]]
2025-10-27T18:07:25.216Z,1761588445.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:25.375Z,1761588445.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386313,0.921418,0.041840],[-0.920377,-0.388061,0.048103],[0.060559,-0.019925,0.997966]]
2025-10-27T18:07:25.469Z,1761588445.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:25.720Z,1761588445.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:25.778Z,1761588445.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380299,0.924504,0.025795],[-0.924582,-0.380723,0.014033],[0.022794,-0.018513,0.999569]]
2025-10-27T18:07:25.972Z,1761588445.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:26.186Z,1761588446.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389720,0.919687,0.047895],[-0.920927,-0.389386,-0.016506],[0.003469,-0.050541,0.998716]]
2025-10-27T18:07:26.224Z,1761588446.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:26.476Z,1761588446.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:26.586Z,1761588446.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405442,0.907119,0.112922],[-0.911489,-0.410546,0.025309],[0.069318,-0.092666,0.993281]]
2025-10-27T18:07:26.729Z,1761588446.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:26.980Z,1761588446.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:26.998Z,1761588446.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400227,0.900101,0.172152],[-0.902970,-0.419396,0.093556],[0.156410,-0.118004,0.980618]]
2025-10-27T18:07:27.232Z,1761588447.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:27.394Z,1761588447.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389244,0.904476,0.174391],[-0.905862,-0.410200,0.105594],[0.167043,-0.116872,0.978998]]
2025-10-27T18:07:27.484Z,1761588447.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:27.736Z,1761588447.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:27.798Z,1761588447.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391415,0.912683,0.117493],[-0.912454,-0.401485,0.078984],[0.119259,-0.076291,0.989928]]
2025-10-27T18:07:27.991Z,1761588447.991 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:28.212Z,1761588448.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421436,0.903998,0.071961],[-0.903272,-0.425496,0.055250],[0.080565,-0.041716,0.995876]]
2025-10-27T18:07:28.244Z,1761588448.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:28.496Z,1761588448.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:28.606Z,1761588448.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449931,0.890381,0.069169],[-0.890490,-0.453162,0.040887],[0.067749,-0.043198,0.996767]]
2025-10-27T18:07:28.748Z,1761588448.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:29.000Z,1761588449.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:29.252Z,1761588449.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:29.414Z,1761588449.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349042,0.936631,0.029864],[-0.929404,-0.350074,0.116858],[0.119907,0.013033,0.992700]]
2025-10-27T18:07:29.507Z,1761588449.507 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:29.760Z,1761588449.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:29.820Z,1761588449.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359962,0.932923,0.009018],[-0.929870,-0.359538,0.077935],[0.075950,0.019669,0.996918]]
2025-10-27T18:07:30.012Z,1761588450.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:30.221Z,1761588450.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374000,0.927076,0.025597],[-0.927318,-0.374239,0.005125],[0.014330,-0.021820,0.999659]]
2025-10-27T18:07:30.264Z,1761588450.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:30.516Z,1761588450.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:30.626Z,1761588450.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364055,0.928200,0.076862],[-0.931209,-0.361178,-0.049001],[-0.017722,-0.089414,0.995837]]
2025-10-27T18:07:30.768Z,1761588450.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:31.020Z,1761588451.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:31.034Z,1761588451.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364053,0.919615,0.147560],[-0.931247,-0.356746,-0.074233],[-0.015624,-0.164439,0.986263]]
2025-10-27T18:07:31.272Z,1761588451.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:31.436Z,1761588451.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354884,0.919502,0.169037],[-0.934603,-0.344282,-0.089372],[-0.023981,-0.189700,0.981549]]
2025-10-27T18:07:31.477Z,1761588451.477 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateRudder:A] Stopped
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:07:31.478Z,1761588451.478 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:07:31.479Z,1761588451.479 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateCommandMode] Stopped
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:07:31.495Z,1761588451.495 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:07:31.496Z,1761588451.496 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:07:31.496Z,1761588451.496 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:07:31.496Z,1761588451.496 [marl:UpdateSpeed] Stopped
2025-10-27T18:07:31.496Z,1761588451.496 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:07:31.524Z,1761588451.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:31.776Z,1761588451.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:31.838Z,1761588451.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345644,0.930072,0.124485],[-0.936755,-0.334231,-0.103826],[-0.054959,-0.152499,0.986774]]
2025-10-27T18:07:31.889Z,1761588451.889 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:07:31.889Z,1761588451.889 [marl:UpdateRudder:B] Stopped
2025-10-27T18:07:31.889Z,1761588451.889 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:07:31.889Z,1761588451.889 [marl:UpdateRudder] Stopped
2025-10-27T18:07:31.889Z,1761588451.889 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:07:32.028Z,1761588452.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:32.241Z,1761588452.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359973,0.926559,0.109122],[-0.931745,-0.351061,-0.092779],[-0.047656,-0.135072,0.989689]]
2025-10-27T18:07:32.280Z,1761588452.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:32.532Z,1761588452.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:32.645Z,1761588452.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389006,0.911197,0.135626],[-0.920908,-0.388557,-0.030868],[0.024571,-0.136907,0.990279]]
2025-10-27T18:07:32.786Z,1761588452.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:33.036Z,1761588453.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:33.063Z,1761588453.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383442,0.914796,0.126965],[-0.920333,-0.389963,0.030266],[0.077199,-0.105245,0.991445]]
2025-10-27T18:07:33.288Z,1761588453.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:33.453Z,1761588453.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374337,0.921490,0.103573],[-0.924763,-0.379224,0.031656],[0.068448,-0.083931,0.994118]]
2025-10-27T18:07:33.540Z,1761588453.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:33.792Z,1761588453.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:33.857Z,1761588453.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376189,0.920341,0.107022],[-0.924131,-0.381027,0.028281],[0.066807,-0.088264,0.993854]]
2025-10-27T18:07:34.044Z,1761588454.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:34.261Z,1761588454.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378231,0.919891,0.103640],[-0.923275,-0.382981,0.029820],[0.067124,-0.084409,0.994168]]
2025-10-27T18:07:34.297Z,1761588454.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:34.548Z,1761588454.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:34.673Z,1761588454.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370676,0.923550,0.098262],[-0.926522,-0.375050,0.029907],[0.064474,-0.079956,0.994711]]
2025-10-27T18:07:34.802Z,1761588454.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:35.052Z,1761588455.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:35.113Z,1761588455.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353997,0.930529,0.093815],[-0.932758,-0.358587,0.037119],[0.068181,-0.074366,0.994897]]
2025-10-27T18:07:35.304Z,1761588455.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:35.474Z,1761588455.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322543,0.940183,0.109649],[-0.944757,-0.326900,0.023900],[0.058315,-0.095883,0.993683]]
2025-10-27T18:07:35.556Z,1761588455.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:35.808Z,1761588455.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:35.877Z,1761588455.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309232,0.943033,0.122735],[-0.950626,-0.310082,-0.012602],[0.026173,-0.120572,0.992359]]
2025-10-27T18:07:36.060Z,1761588456.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:36.283Z,1761588456.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347212,0.934195,0.082002],[-0.937756,-0.345163,-0.038432],[-0.007599,-0.090241,0.995891]]
2025-10-27T18:07:36.312Z,1761588456.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:36.564Z,1761588456.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:36.698Z,1761588456.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334209,0.941473,0.043954],[-0.942398,-0.334491,-0.000992],[0.013768,-0.041754,0.999033]]
2025-10-27T18:07:36.820Z,1761588456.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:37.068Z,1761588457.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:37.093Z,1761588457.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295622,0.954424,0.041007],[-0.952950,-0.297634,0.057453],[0.067040,-0.022093,0.997506]]
2025-10-27T18:07:37.320Z,1761588457.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:37.495Z,1761588457.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296066,0.952802,0.067179],[-0.949933,-0.301067,0.083584],[0.099864,-0.039069,0.994234]]
2025-10-27T18:07:37.574Z,1761588457.574 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:37.824Z,1761588457.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:37.898Z,1761588457.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298038,0.950748,0.085152],[-0.950279,-0.303954,0.067691],[0.090239,-0.060744,0.994066]]
2025-10-27T18:07:38.076Z,1761588458.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:38.302Z,1761588458.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288874,0.953357,0.087534],[-0.957156,-0.289522,-0.005483],[0.020116,-0.085368,0.996146]]
2025-10-27T18:07:38.328Z,1761588458.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:38.580Z,1761588458.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:38.707Z,1761588458.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282151,0.954607,0.095482],[-0.957206,-0.273436,-0.094807],[-0.064395,-0.118146,0.990906]]
2025-10-27T18:07:38.840Z,1761588458.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:39.084Z,1761588459.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:39.123Z,1761588459.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332936,0.932866,0.137529],[-0.940986,-0.319283,-0.112266],[-0.060819,-0.166790,0.984115]]
2025-10-27T18:07:39.336Z,1761588459.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:39.514Z,1761588459.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369404,0.912530,0.175583],[-0.929201,-0.365005,-0.057936],[0.011220,-0.184554,0.982758]]
2025-10-27T18:07:39.588Z,1761588459.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:39.840Z,1761588459.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:39.918Z,1761588459.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346365,0.921406,0.176185],[-0.935494,-0.353244,0.008279],[0.069865,-0.161953,0.984322]]
2025-10-27T18:07:40.092Z,1761588460.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:40.322Z,1761588460.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330484,0.935316,0.126347],[-0.940834,-0.337101,0.034554],[0.074911,-0.107452,0.991384]]
2025-10-27T18:07:40.344Z,1761588460.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:40.596Z,1761588460.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:40.730Z,1761588460.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350982,0.933201,0.077117],[-0.933826,-0.354916,0.044758],[0.069138,-0.056305,0.996017]]
2025-10-27T18:07:40.850Z,1761588460.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:41.100Z,1761588461.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:41.134Z,1761588461.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347895,0.935876,0.055727],[-0.931384,-0.351799,0.093601],[0.107203,-0.019340,0.994049]]
2025-10-27T18:07:41.352Z,1761588461.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:41.535Z,1761588461.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353313,0.933092,0.067150],[-0.928532,-0.358522,0.096387],[0.114013,-0.028296,0.993076]]
2025-10-27T18:07:41.604Z,1761588461.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:41.856Z,1761588461.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:42.108Z,1761588462.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:42.341Z,1761588462.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366238,0.922634,0.120899],[-0.925950,-0.374212,0.050810],[0.092121,-0.093338,0.991364]]
2025-10-27T18:07:42.360Z,1761588462.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:42.612Z,1761588462.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:42.752Z,1761588462.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346086,0.930261,0.121818],[-0.931248,-0.356393,0.075901],[0.114023,-0.087174,0.989646]]
2025-10-27T18:07:42.864Z,1761588462.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:43.116Z,1761588463.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:43.162Z,1761588463.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351569,0.931299,0.095291],[-0.932425,-0.357433,0.053156],[0.083565,-0.070164,0.994029]]
2025-10-27T18:07:43.368Z,1761588463.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:43.554Z,1761588463.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376508,0.923257,0.076403],[-0.925323,-0.378784,0.017315],[0.044926,-0.064178,0.996927]]
2025-10-27T18:07:43.620Z,1761588463.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:43.872Z,1761588463.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:43.958Z,1761588463.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399609,0.908310,0.123633],[-0.910134,-0.409224,0.064741],[0.109399,-0.086651,0.990214]]
2025-10-27T18:07:44.124Z,1761588464.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:44.363Z,1761588464.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404734,0.901069,0.155773],[-0.906682,-0.417572,0.059679],[0.118822,-0.117082,0.985988]]
2025-10-27T18:07:44.376Z,1761588464.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:44.628Z,1761588464.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:44.767Z,1761588464.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404002,0.906040,0.125995],[-0.913592,-0.406594,-0.005574],[0.046179,-0.117360,0.992015]]
2025-10-27T18:07:44.861Z,1761588464.861 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:07:44.861Z,1761588464.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:07:44.861Z,1761588464.861 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:07:44.861Z,1761588464.861 [marl:UpdateRudder:A] Stopped
2025-10-27T18:07:44.861Z,1761588464.861 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode] Stopped
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:07:44.862Z,1761588464.862 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:07:44.863Z,1761588464.863 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:07:44.867Z,1761588464.867 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:07:44.867Z,1761588464.867 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:07:44.867Z,1761588464.867 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:07:44.867Z,1761588464.867 [marl:UpdateSpeed] Stopped
2025-10-27T18:07:44.868Z,1761588464.868 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:07:44.880Z,1761588464.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:45.132Z,1761588465.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:45.181Z,1761588465.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384538,0.915608,0.117441],[-0.921307,-0.388614,0.013122],[0.057654,-0.103153,0.992993]]
2025-10-27T18:07:45.238Z,1761588465.238 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:07:45.238Z,1761588465.238 [marl:UpdateRudder:B] Stopped
2025-10-27T18:07:45.238Z,1761588465.238 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:07:45.238Z,1761588465.238 [marl:UpdateRudder] Stopped
2025-10-27T18:07:45.238Z,1761588465.238 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:07:45.384Z,1761588465.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:45.573Z,1761588465.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386249,0.912467,0.134965],[-0.916423,-0.396241,0.056228],[0.104785,-0.101967,0.989254]]
2025-10-27T18:07:45.636Z,1761588465.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:45.888Z,1761588465.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:45.977Z,1761588465.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409214,0.903958,0.124108],[-0.908881,-0.415830,0.031952],[0.080491,-0.099725,0.991754]]
2025-10-27T18:07:45.995Z,1761588465.995 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-27T18:07:46.140Z,1761588466.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:46.392Z,1761588466.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:46.644Z,1761588466.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:46.802Z,1761588466.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391449,0.920021,0.018136],[-0.920180,-0.391494,-0.001099],[0.006089,-0.017119,0.999835]]
2025-10-27T18:07:46.899Z,1761588466.899 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:47.152Z,1761588467.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:47.193Z,1761588467.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408802,0.912620,-0.002388],[-0.911823,-0.408552,-0.040797],[-0.038208,-0.014500,0.999165]]
2025-10-27T18:07:47.404Z,1761588467.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:47.594Z,1761588467.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428098,0.903643,0.012668],[-0.902009,-0.426375,-0.067715],[-0.055789,-0.040416,0.997624]]
2025-10-27T18:07:47.657Z,1761588467.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:47.908Z,1761588467.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:47.998Z,1761588467.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398688,0.914459,0.069370],[-0.917002,-0.398538,-0.016593],[0.012473,-0.070228,0.997453]]
2025-10-27T18:07:48.161Z,1761588468.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:48.402Z,1761588468.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343790,0.932762,0.108462],[-0.934731,-0.350980,0.055599],[0.089929,-0.082268,0.992545]]
2025-10-27T18:07:48.412Z,1761588468.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:48.664Z,1761588468.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:48.844Z,1761588468.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333032,0.939639,0.078534],[-0.939553,-0.337719,0.056439],[0.079555,-0.054991,0.995313]]
2025-10-27T18:07:48.916Z,1761588468.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:49.169Z,1761588469.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:49.215Z,1761588469.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352293,0.935001,0.040786],[-0.935404,-0.353180,0.016838],[0.030149,-0.032220,0.999026]]
2025-10-27T18:07:49.420Z,1761588469.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:49.616Z,1761588469.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361616,0.930190,0.063096],[-0.931462,-0.363367,0.018512],[0.040147,-0.052078,0.997836]]
2025-10-27T18:07:49.672Z,1761588469.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:49.924Z,1761588469.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:50.053Z,1761588470.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344820,0.933090,0.102191],[-0.936409,-0.349494,0.031480],[0.065089,-0.084838,0.994267]]
2025-10-27T18:07:50.176Z,1761588470.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:50.421Z,1761588470.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329629,0.936092,0.122787],[-0.941580,-0.335470,0.029795],[0.069083,-0.105793,0.991986]]
2025-10-27T18:07:50.428Z,1761588470.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:50.680Z,1761588470.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:50.857Z,1761588470.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347147,0.930031,0.120542],[-0.936471,-0.350644,0.008433],[0.050110,-0.109957,0.992672]]
2025-10-27T18:07:50.933Z,1761588470.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:51.184Z,1761588471.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:51.241Z,1761588471.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376748,0.917425,0.128035],[-0.925333,-0.379100,-0.006415],[0.042653,-0.120892,0.991749]]
2025-10-27T18:07:51.436Z,1761588471.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:51.633Z,1761588471.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398225,0.906156,0.142470],[-0.915447,-0.402438,0.000828],[0.058086,-0.130094,0.989799]]
2025-10-27T18:07:51.688Z,1761588471.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:51.940Z,1761588471.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:52.041Z,1761588472.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407673,0.896777,0.172030],[-0.908774,-0.416840,0.019351],[0.089063,-0.148447,0.984902]]
2025-10-27T18:07:52.192Z,1761588472.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:52.444Z,1761588472.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:52.445Z,1761588472.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406265,0.889548,0.208934],[-0.903331,-0.425431,0.054797],[0.137632,-0.166474,0.976393]]
2025-10-27T18:07:52.696Z,1761588472.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:52.948Z,1761588472.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:53.200Z,1761588473.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:53.253Z,1761588473.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387903,0.904480,0.177332],[-0.900093,-0.413147,0.138354],[0.198403,-0.105948,0.974377]]
2025-10-27T18:07:53.452Z,1761588473.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:53.667Z,1761588473.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368512,0.924382,0.098577],[-0.917114,-0.378840,0.124024],[0.151990,-0.044702,0.987371]]
2025-10-27T18:07:53.704Z,1761588473.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:53.956Z,1761588473.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:54.058Z,1761588474.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354821,0.932927,0.061227],[-0.926551,-0.359634,0.110300],[0.124921,-0.017593,0.992011]]
2025-10-27T18:07:54.184Z,1761588474.184 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:07:54.184Z,1761588474.184 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:07:54.208Z,1761588474.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:54.460Z,1761588474.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:54.464Z,1761588474.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349968,0.934900,0.059032],[-0.926259,-0.354766,0.127221],[0.139881,-0.010156,0.990116]]
2025-10-27T18:07:54.712Z,1761588474.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:54.759Z,1761588474.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:07:54.869Z,1761588474.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355983,0.932179,0.065719],[-0.922975,-0.361733,0.131403],[0.146264,-0.013880,0.989148]]
2025-10-27T18:07:54.933Z,1761588474.933 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:07:54.965Z,1761588474.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:55.216Z,1761588475.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:55.274Z,1761588475.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355767,0.930541,0.086732],[-0.925136,-0.363810,0.108465],[0.132486,-0.041650,0.990309]]
2025-10-27T18:07:55.468Z,1761588475.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:55.677Z,1761588475.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355095,0.927299,0.118418],[-0.929209,-0.363987,0.063906],[0.102363,-0.087343,0.990905]]
2025-10-27T18:07:55.720Z,1761588475.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:55.763Z,1761588475.763 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:07:55.972Z,1761588475.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:56.078Z,1761588476.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347472,0.924743,0.155285],[-0.932510,-0.358164,0.046291],[0.098425,-0.128720,0.986784]]
2025-10-27T18:07:56.224Z,1761588476.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:56.476Z,1761588476.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:56.485Z,1761588476.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348940,0.918077,0.188082],[-0.926501,-0.368120,0.077996],[0.140843,-0.147042,0.979051]]
2025-10-27T18:07:56.728Z,1761588476.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:56.896Z,1761588476.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361533,0.908832,0.208130],[-0.915529,-0.388272,0.105127],[0.176354,-0.152542,0.972435]]
2025-10-27T18:07:56.980Z,1761588476.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:57.232Z,1761588477.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:57.296Z,1761588477.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342644,0.933111,0.109084],[-0.927464,-0.354479,0.118975],[0.149685,-0.060405,0.986887]]
2025-10-27T18:07:57.484Z,1761588477.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:57.698Z,1761588477.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351061,0.931194,0.098146],[-0.928719,-0.359638,0.090228],[0.119317,-0.059475,0.991073]]
2025-10-27T18:07:57.736Z,1761588477.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:57.988Z,1761588477.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:58.109Z,1761588478.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366105,0.924026,0.110195],[-0.925563,-0.373843,0.059782],[0.096435,-0.080106,0.992110]]
2025-10-27T18:07:58.171Z,1761588478.171 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:07:58.172Z,1761588478.172 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:07:58.172Z,1761588478.172 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:07:58.172Z,1761588478.172 [marl:UpdateRudder:A] Stopped
2025-10-27T18:07:58.172Z,1761588478.172 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:07:58.172Z,1761588478.172 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode] Stopped
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:07:58.173Z,1761588478.173 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:07:58.174Z,1761588478.174 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:07:58.174Z,1761588478.174 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:07:58.174Z,1761588478.174 [marl:UpdateSpeed] Stopped
2025-10-27T18:07:58.174Z,1761588478.174 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:07:58.240Z,1761588478.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:58.494Z,1761588478.494 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:58.507Z,1761588478.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343004,0.931688,0.119609],[-0.933878,-0.351940,0.063320],[0.101090,-0.089981,0.990800]]
2025-10-27T18:07:58.592Z,1761588478.592 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:07:58.592Z,1761588478.592 [marl:UpdateRudder:B] Stopped
2025-10-27T18:07:58.593Z,1761588478.593 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:07:58.593Z,1761588478.593 [marl:UpdateRudder] Stopped
2025-10-27T18:07:58.593Z,1761588478.593 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:07:58.744Z,1761588478.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:58.909Z,1761588478.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330357,0.937540,0.109008],[-0.940623,-0.336574,0.044121],[0.078054,-0.087960,0.993061]]
2025-10-27T18:07:58.996Z,1761588478.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:59.248Z,1761588479.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:59.309Z,1761588479.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329292,0.941999,0.064844],[-0.944128,-0.329481,-0.008063],[0.013770,-0.063876,0.997863]]
2025-10-27T18:07:59.500Z,1761588479.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:07:59.714Z,1761588479.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329882,0.942710,0.049754],[-0.943068,-0.326721,-0.062251],[-0.042429,-0.067457,0.996820]]
2025-10-27T18:07:59.752Z,1761588479.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:00.004Z,1761588480.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:00.120Z,1761588480.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350171,0.931298,0.100318],[-0.936395,-0.345382,-0.062250],[-0.023325,-0.115736,0.993006]]
2025-10-27T18:08:00.256Z,1761588480.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:00.508Z,1761588480.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:00.523Z,1761588480.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350089,0.926285,0.139409],[-0.936679,-0.347503,-0.043284],[0.008351,-0.145735,0.989288]]
2025-10-27T18:08:00.760Z,1761588480.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:00.925Z,1761588480.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311352,0.942761,0.119423],[-0.950212,-0.310516,-0.026026],[0.012546,-0.121580,0.992502]]
2025-10-27T18:08:01.013Z,1761588481.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:01.264Z,1761588481.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:01.329Z,1761588481.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282403,0.956140,0.077754],[-0.958976,-0.283471,0.002841],[0.024757,-0.073762,0.996969]]
2025-10-27T18:08:01.517Z,1761588481.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:01.742Z,1761588481.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295946,0.953221,0.061524],[-0.953127,-0.298935,0.046755],[0.062959,-0.044803,0.997010]]
2025-10-27T18:08:01.768Z,1761588481.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:02.020Z,1761588482.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:02.149Z,1761588482.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300853,0.951375,0.066131],[-0.951540,-0.304091,0.045830],[0.063712,-0.049138,0.996758]]
2025-10-27T18:08:02.272Z,1761588482.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:02.524Z,1761588482.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:02.541Z,1761588482.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276576,0.957425,0.082717],[-0.960352,-0.278508,0.012576],[0.035078,-0.075960,0.996494]]
2025-10-27T18:08:02.777Z,1761588482.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:02.946Z,1761588482.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285354,0.948218,0.139485],[-0.957961,-0.286695,-0.010818],[0.029732,-0.136708,0.990165]]
2025-10-27T18:08:03.028Z,1761588483.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:03.280Z,1761588483.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:03.353Z,1761588483.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302491,0.936962,0.174935],[-0.953150,-0.297717,-0.053562],[0.001895,-0.182941,0.983122]]
2025-10-27T18:08:03.532Z,1761588483.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:03.762Z,1761588483.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265715,0.956672,0.119059],[-0.963435,-0.259095,-0.068292],[-0.034486,-0.132852,0.990536]]
2025-10-27T18:08:03.784Z,1761588483.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:04.036Z,1761588484.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:04.160Z,1761588484.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220724,0.974318,0.044550],[-0.975310,-0.220150,-0.017462],[-0.007206,-0.047304,0.998854]]
2025-10-27T18:08:04.288Z,1761588484.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:04.540Z,1761588484.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:04.562Z,1761588484.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242589,0.970048,0.012523],[-0.967923,-0.242888,0.064264],[0.065381,0.003469,0.997854]]
2025-10-27T18:08:04.794Z,1761588484.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:04.967Z,1761588484.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277004,0.959436,0.052461],[-0.953817,-0.281163,0.105734],[0.116195,-0.020749,0.993010]]
2025-10-27T18:08:04.972Z,1761588484.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180801.00,A,3646.62767,N,12151.87872,W,1.263,340.47,271025,,,A*7C
2025-10-27T18:08:04.975Z,1761588484.975 [NAL9602](INFO): GPS fix at 20251027T180801: (36.777128, -121.864645)
2025-10-27T18:08:05.006Z,1761588485.006 [UniversalFixResidualReporter](INFO): Fix residual: 2.0 %DT, over the last 617.4 m. Residual distance 12.4 m at bearing -45.3 degrees. Fix at (36.7771, -121.8646) with 175.8 m made good.
2025-10-27T18:08:05.045Z,1761588485.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:05.071Z,1761588485.071 [marl:NeedComms:C] Stopped
2025-10-27T18:08:05.072Z,1761588485.072 [marl:NeedComms:D] Running Loop=1
2025-10-27T18:08:05.073Z,1761588485.073 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588480.00. Resetting abort timer.
2025-10-27T18:08:05.299Z,1761588485.299 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:05.370Z,1761588485.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264979,0.953177,0.145738],[-0.951257,-0.283136,0.122244],[0.157784,-0.106242,0.981742]]
2025-10-27T18:08:05.548Z,1761588485.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:05.774Z,1761588485.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246894,0.948841,0.196833],[-0.953025,-0.274530,0.127972],[0.175461,-0.155991,0.972049]]
2025-10-27T18:08:05.800Z,1761588485.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:06.052Z,1761588486.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:06.177Z,1761588486.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232819,0.957064,0.172694],[-0.965798,-0.248378,0.074452],[0.114149,-0.149454,0.982158]]
2025-10-27T18:08:06.304Z,1761588486.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:06.556Z,1761588486.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:06.585Z,1761588486.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214908,0.969981,0.113801],[-0.976229,-0.216710,0.003565],[0.028120,-0.110330,0.993497]]
2025-10-27T18:08:06.809Z,1761588486.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:07.020Z,1761588487.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214234,0.973513,0.079844],[-0.976704,-0.212466,-0.030120],[-0.012358,-0.084437,0.996352]]
2025-10-27T18:08:07.061Z,1761588487.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:07.312Z,1761588487.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:07.389Z,1761588487.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218109,0.975035,0.041662],[-0.974397,-0.215182,-0.065177],[-0.054585,-0.054811,0.997004]]
2025-10-27T18:08:07.565Z,1761588487.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:07.793Z,1761588487.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206680,0.978305,0.014251],[-0.973777,-0.204264,-0.100174],[-0.095090,-0.034581,0.994868]]
2025-10-27T18:08:07.816Z,1761588487.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:08.068Z,1761588488.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:08.199Z,1761588488.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213413,0.976837,0.015624],[-0.973832,-0.211424,-0.083369],[-0.078135,-0.033007,0.996396]]
2025-10-27T18:08:08.320Z,1761588488.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:08.572Z,1761588488.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:08.601Z,1761588488.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235080,0.971448,0.032043],[-0.969639,-0.232103,-0.076993],[-0.067358,-0.049169,0.996517]]
2025-10-27T18:08:08.826Z,1761588488.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:09.005Z,1761588489.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238776,0.968552,0.069948],[-0.966385,-0.229935,-0.115017],[-0.095316,-0.095060,0.990898]]
2025-10-27T18:08:09.076Z,1761588489.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:09.328Z,1761588489.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:09.417Z,1761588489.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238262,0.962214,0.131814],[-0.968509,-0.225306,-0.105955],[-0.072253,-0.152908,0.985595]]
2025-10-27T18:08:09.580Z,1761588489.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:09.813Z,1761588489.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236760,0.954417,0.181750],[-0.971559,-0.233409,-0.039928],[0.004314,-0.186034,0.982534]]
2025-10-27T18:08:09.832Z,1761588489.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:10.084Z,1761588490.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:10.217Z,1761588490.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212933,0.963094,0.164649],[-0.975705,-0.218488,0.016185],[0.051562,-0.157203,0.986219]]
2025-10-27T18:08:10.336Z,1761588490.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:10.588Z,1761588490.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:10.632Z,1761588490.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212614,0.970421,0.114359],[-0.975374,-0.217799,0.034786],[0.058665,-0.104147,0.992830]]
2025-10-27T18:08:10.842Z,1761588490.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:11.027Z,1761588491.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226111,0.971371,0.072887],[-0.971234,-0.230550,0.059590],[0.074688,-0.057317,0.995558]]
2025-10-27T18:08:11.092Z,1761588491.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:11.344Z,1761588491.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:11.468Z,1761588491.468 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateRudder:A] Stopped
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:08:11.469Z,1761588491.469 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateCommandMode] Stopped
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:08:11.470Z,1761588491.470 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:08:11.471Z,1761588491.471 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:08:11.471Z,1761588491.471 [marl:UpdateSpeed] Stopped
2025-10-27T18:08:11.471Z,1761588491.471 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:08:11.596Z,1761588491.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:11.834Z,1761588491.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208131,0.977644,0.029894],[-0.972869,-0.210078,0.096922],[0.101035,-0.008911,0.994843]]
2025-10-27T18:08:11.848Z,1761588491.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:11.878Z,1761588491.878 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:08:11.878Z,1761588491.878 [marl:UpdateRudder:B] Stopped
2025-10-27T18:08:11.878Z,1761588491.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:08:11.878Z,1761588491.878 [marl:UpdateRudder] Stopped
2025-10-27T18:08:11.878Z,1761588491.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:08:12.100Z,1761588492.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:12.238Z,1761588492.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206620,0.978174,0.021976],[-0.975926,-0.207645,0.066721],[0.069828,-0.007661,0.997530]]
2025-10-27T18:08:12.352Z,1761588492.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:12.605Z,1761588492.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:12.648Z,1761588492.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188710,0.979051,0.076471],[-0.979187,-0.193516,0.061190],[0.074707,-0.063332,0.995192]]
2025-10-27T18:08:12.856Z,1761588492.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:13.045Z,1761588493.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185940,0.972931,0.137229],[-0.978977,-0.195365,0.058631],[0.083853,-0.123442,0.988803]]
2025-10-27T18:08:13.110Z,1761588493.110 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:13.360Z,1761588493.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:13.453Z,1761588493.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174537,0.975109,0.136745],[-0.984139,-0.177231,0.007679],[0.031723,-0.133236,0.990577]]
2025-10-27T18:08:13.612Z,1761588493.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:13.855Z,1761588493.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200326,0.967541,0.154056],[-0.979624,-0.200117,-0.017023],[0.014358,-0.154327,0.987915]]
2025-10-27T18:08:13.864Z,1761588493.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:14.117Z,1761588494.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:14.374Z,1761588494.374 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:14.630Z,1761588494.630 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:14.880Z,1761588494.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:15.132Z,1761588495.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:15.384Z,1761588495.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:15.636Z,1761588495.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:15.888Z,1761588495.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:16.140Z,1761588496.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:16.392Z,1761588496.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:16.588Z,1761588496.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238889,0.966296,0.095933],[-0.970452,-0.241032,0.011230],[0.033974,-0.090416,0.995324]]
2025-10-27T18:08:16.644Z,1761588496.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:16.896Z,1761588496.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:16.993Z,1761588496.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240091,0.968829,0.061038],[-0.970447,-0.237970,-0.040037],[-0.024264,-0.068847,0.997332]]
2025-10-27T18:08:17.148Z,1761588497.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:17.391Z,1761588497.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272993,0.959019,0.075881],[-0.961969,-0.271355,-0.031329],[-0.009454,-0.081548,0.996625]]
2025-10-27T18:08:17.400Z,1761588497.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:17.652Z,1761588497.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:17.904Z,1761588497.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:18.156Z,1761588498.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:18.198Z,1761588498.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256787,0.962966,0.082202],[-0.966391,-0.256911,-0.009252],[0.012210,-0.081815,0.996573]]
2025-10-27T18:08:18.408Z,1761588498.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:18.610Z,1761588498.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229128,0.969771,0.083927],[-0.973371,-0.227645,-0.026968],[-0.007047,-0.087871,0.996107]]
2025-10-27T18:08:18.660Z,1761588498.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:18.915Z,1761588498.915 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:19.164Z,1761588499.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:19.410Z,1761588499.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298999,0.943675,0.141691],[-0.952296,-0.304583,0.019000],[0.061087,-0.129251,0.989729]]
2025-10-27T18:08:19.423Z,1761588499.423 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:19.676Z,1761588499.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:19.814Z,1761588499.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265539,0.950787,0.159667],[-0.955620,-0.281486,0.086921],[0.127587,-0.129500,0.983337]]
2025-10-27T18:08:19.928Z,1761588499.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:20.180Z,1761588500.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:20.220Z,1761588500.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232459,0.961609,0.145849],[-0.964385,-0.247344,0.093714],[0.126191,-0.118870,0.984858]]
2025-10-27T18:08:20.432Z,1761588500.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:20.629Z,1761588500.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229593,0.970600,0.072273],[-0.972061,-0.232397,0.033012],[0.048838,-0.062674,0.996838]]
2025-10-27T18:08:20.684Z,1761588500.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:20.936Z,1761588500.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:21.026Z,1761588501.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209366,0.977651,0.019068],[-0.977835,-0.209369,-0.001877],[0.002157,-0.019038,0.999816]]
2025-10-27T18:08:21.188Z,1761588501.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:21.430Z,1761588501.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190066,0.981091,0.036548],[-0.981771,-0.189958,-0.006428],[0.000637,-0.037103,0.999311]]
2025-10-27T18:08:21.440Z,1761588501.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:21.692Z,1761588501.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:21.835Z,1761588501.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207750,0.971909,0.110601],[-0.978170,-0.206980,-0.018518],[0.004895,-0.112033,0.993692]]
2025-10-27T18:08:21.944Z,1761588501.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:22.196Z,1761588502.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:22.448Z,1761588502.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:22.569Z,1761588502.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197895,0.967482,0.157533],[-0.977807,-0.206118,0.037526],[0.068776,-0.146610,0.986801]]
2025-10-27T18:08:22.700Z,1761588502.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:22.952Z,1761588502.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:23.204Z,1761588503.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:23.426Z,1761588503.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203385,0.977362,0.058293],[-0.978786,-0.204463,0.013108],[0.024730,-0.054390,0.998214]]
2025-10-27T18:08:23.456Z,1761588503.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:23.708Z,1761588503.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:23.830Z,1761588503.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214837,0.976510,0.016562],[-0.976299,-0.215183,0.023176],[0.026196,-0.011190,0.999594]]
2025-10-27T18:08:23.960Z,1761588503.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:24.215Z,1761588504.215 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:24.234Z,1761588504.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198093,0.979588,0.034160],[-0.979802,-0.198868,0.020984],[0.027349,-0.029314,0.999196]]
2025-10-27T18:08:24.468Z,1761588504.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:24.639Z,1761588504.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185729,0.979050,0.083462],[-0.980257,-0.190480,0.053046],[0.067833,-0.071962,0.995098]]
2025-10-27T18:08:24.720Z,1761588504.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:24.972Z,1761588504.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:25.042Z,1761588505.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188224,0.972317,0.138465],[-0.973676,-0.203195,0.103283],[0.128559,-0.115379,0.984967]]
2025-10-27T18:08:25.224Z,1761588505.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:25.446Z,1761588505.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169673,0.972693,0.158368],[-0.974728,-0.189333,0.118570],[0.145317,-0.134247,0.980235]]
2025-10-27T18:08:25.476Z,1761588505.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:25.728Z,1761588505.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:25.849Z,1761588505.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177587,0.971885,0.154605],[-0.974906,-0.195173,0.107080],[0.134244,-0.131709,0.982156]]
2025-10-27T18:08:25.883Z,1761588505.883 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:08:25.980Z,1761588505.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:26.232Z,1761588506.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:26.258Z,1761588506.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205041,0.967291,0.149356],[-0.971357,-0.219833,0.090214],[0.120096,-0.126581,0.984659]]
2025-10-27T18:08:26.484Z,1761588506.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:26.658Z,1761588506.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185493,0.976421,0.110428],[-0.977137,-0.195167,0.084336],[0.103899,-0.092260,0.990300]]
2025-10-27T18:08:26.736Z,1761588506.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:26.887Z,1761588506.887 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:08:26.988Z,1761588506.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateRudder:A] Stopped
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:08:27.157Z,1761588507.157 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateCommandMode] Stopped
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:08:27.158Z,1761588507.158 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:08:27.159Z,1761588507.159 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:08:27.159Z,1761588507.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:08:27.159Z,1761588507.159 [marl:UpdateSpeed] Stopped
2025-10-27T18:08:27.159Z,1761588507.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:08:27.240Z,1761588507.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:27.465Z,1761588507.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148934,0.988632,0.020633],[-0.988188,-0.149564,0.033392],[0.036099,-0.015416,0.999229]]
2025-10-27T18:08:27.492Z,1761588507.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:27.525Z,1761588507.525 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:08:27.525Z,1761588507.525 [marl:UpdateRudder:B] Stopped
2025-10-27T18:08:27.525Z,1761588507.525 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:08:27.525Z,1761588507.525 [marl:UpdateRudder] Stopped
2025-10-27T18:08:27.525Z,1761588507.525 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:08:27.744Z,1761588507.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:27.871Z,1761588507.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180046,0.982090,0.055531],[-0.982603,-0.182180,0.036078],[0.045549,-0.048069,0.997805]]
2025-10-27T18:08:27.996Z,1761588507.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:28.248Z,1761588508.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:28.274Z,1761588508.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164921,0.982991,0.080802],[-0.985416,-0.167699,0.028849],[0.041909,-0.074865,0.996313]]
2025-10-27T18:08:28.500Z,1761588508.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:28.678Z,1761588508.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138753,0.983596,0.115264],[-0.990142,-0.140032,0.003037],[0.019128,-0.113706,0.993330]]
2025-10-27T18:08:28.682Z,1761588508.682 [NAL9602](INFO): SBD MO Status=1, MOMSN=3073, MT Status=0, MTMSN=0
2025-10-27T18:08:28.731Z,1761588508.731 [NAL9602](INFO): Sent 83 bytes from file Logs/20251027T165046/Courier0021.lzma
2025-10-27T18:08:28.732Z,1761588508.732 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:08:28.767Z,1761588508.767 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:29.020Z,1761588509.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:29.097Z,1761588509.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164902,0.973282,0.159780],[-0.986052,-0.166384,-0.004157],[0.022539,-0.158237,0.987144]]
2025-10-27T18:08:29.273Z,1761588509.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:29.524Z,1761588509.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:29.776Z,1761588509.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:29.943Z,1761588509.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156302,0.976605,0.147689],[-0.985646,-0.163881,0.040552],[0.063807,-0.139230,0.988202]]
2025-10-27T18:08:30.029Z,1761588510.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:30.280Z,1761588510.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:30.342Z,1761588510.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125782,0.987658,0.093331],[-0.989452,-0.131709,0.060306],[0.071854,-0.084761,0.993807]]
2025-10-27T18:08:30.532Z,1761588510.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:30.784Z,1761588510.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:31.036Z,1761588511.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:31.288Z,1761588511.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:31.540Z,1761588511.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:31.792Z,1761588511.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:32.044Z,1761588512.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:32.296Z,1761588512.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:32.515Z,1761588512.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136068,0.971352,0.194833],[-0.990244,-0.127388,-0.056470],[-0.030033,-0.200616,0.979209]]
2025-10-27T18:08:32.560Z,1761588512.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:32.814Z,1761588512.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:32.910Z,1761588512.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162726,0.959234,0.231063],[-0.986314,-0.164448,-0.011921],[0.026563,-0.229841,0.972866]]
2025-10-27T18:08:33.064Z,1761588513.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:33.314Z,1761588513.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120055,0.976537,0.178781],[-0.989519,-0.132263,0.057963],[0.080249,-0.169949,0.982180]]
2025-10-27T18:08:33.316Z,1761588513.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:33.569Z,1761588513.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:33.718Z,1761588513.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087973,0.994237,0.061269],[-0.993437,-0.092083,0.067855],[0.073106,-0.054897,0.995812]]
2025-10-27T18:08:33.820Z,1761588513.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:34.073Z,1761588514.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:34.324Z,1761588514.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:34.576Z,1761588514.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:34.830Z,1761588514.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:34.937Z,1761588514.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096662,0.991080,0.091748],[-0.988960,-0.106037,0.103506],[0.112311,-0.080730,0.990388]]
2025-10-27T18:08:35.080Z,1761588515.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:35.333Z,1761588515.333 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:35.340Z,1761588515.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079913,0.982307,0.169372],[-0.993054,-0.093176,0.071846],[0.086357,-0.162455,0.982930]]
2025-10-27T18:08:35.584Z,1761588515.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:35.749Z,1761588515.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071470,0.976453,0.203550],[-0.993564,-0.087674,0.071726],[0.087883,-0.197113,0.976434]]
2025-10-27T18:08:35.836Z,1761588515.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:36.088Z,1761588516.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:36.152Z,1761588516.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070919,0.982220,0.173825],[-0.991434,-0.088572,0.095993],[0.109683,-0.165528,0.980087]]
2025-10-27T18:08:36.340Z,1761588516.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:36.549Z,1761588516.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064185,0.993635,0.092570],[-0.995678,-0.070002,0.061026],[0.067118,-0.088253,0.993834]]
2025-10-27T18:08:36.593Z,1761588516.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:36.846Z,1761588516.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:36.950Z,1761588516.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052138,0.998057,0.034117],[-0.998466,-0.051461,-0.020437],[-0.018642,-0.035130,0.999209]]
2025-10-27T18:08:37.096Z,1761588517.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:37.348Z,1761588517.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:37.358Z,1761588517.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059518,0.998226,0.001422],[-0.997585,-0.059428,-0.035952],[-0.035804,-0.003558,0.999353]]
2025-10-27T18:08:37.600Z,1761588517.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:37.762Z,1761588517.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037610,0.998996,0.024360],[-0.999290,-0.037649,0.001133],[0.002049,-0.024300,0.999703]]
2025-10-27T18:08:37.852Z,1761588517.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:38.104Z,1761588518.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:38.163Z,1761588518.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022507,0.992638,0.119009],[-0.999463,-0.025178,0.020987],[0.023829,-0.118473,0.992671]]
2025-10-27T18:08:38.356Z,1761588518.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:38.608Z,1761588518.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:38.860Z,1761588518.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:38.970Z,1761588518.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076476,0.966255,0.245974],[-0.994301,-0.092283,0.053372],[0.074270,-0.240490,0.967806]]
2025-10-27T18:08:39.112Z,1761588519.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:39.364Z,1761588519.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:39.376Z,1761588519.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029782,0.976225,0.214704],[-0.995101,-0.049215,0.085738],[0.094266,-0.211099,0.972908]]
2025-10-27T18:08:39.381Z,1761588519.381 [NAL9602](INFO): SBD MO Status=1, MOMSN=3074, MT Status=0, MTMSN=0
2025-10-27T18:08:39.434Z,1761588519.434 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0022.lzma
2025-10-27T18:08:39.435Z,1761588519.435 [NAL9602](INFO): Packets left to send: 2
2025-10-27T18:08:39.616Z,1761588519.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:39.868Z,1761588519.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:40.120Z,1761588520.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:40.372Z,1761588520.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:40.526Z,1761588520.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052635,0.997865,0.038675],[-0.998194,-0.053696,0.026918],[0.028937,-0.037189,0.998889]]
2025-10-27T18:08:40.624Z,1761588520.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:40.876Z,1761588520.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:40.925Z,1761588520.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072104,0.997198,-0.019904],[-0.997180,-0.072491,-0.019411],[-0.020800,0.018448,0.999613]]
2025-10-27T18:08:41.128Z,1761588521.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:41.380Z,1761588521.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:41.632Z,1761588521.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:41.884Z,1761588521.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:42.141Z,1761588522.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:42.388Z,1761588522.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:42.640Z,1761588522.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:42.892Z,1761588522.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:43.144Z,1761588523.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:43.396Z,1761588523.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:43.597Z,1761588523.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048738,0.998796,0.005618],[-0.997860,-0.048936,0.043355],[0.043578,-0.003493,0.999044]]
2025-10-27T18:08:43.648Z,1761588523.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:43.900Z,1761588523.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:43.997Z,1761588523.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059221,0.997802,0.029724],[-0.996008,-0.061054,0.065117],[0.066789,-0.025749,0.997435]]
2025-10-27T18:08:44.152Z,1761588524.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:44.402Z,1761588524.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068875,0.995377,0.066933],[-0.996000,-0.072435,0.052312],[0.056919,-0.063062,0.996385]]
2025-10-27T18:08:44.404Z,1761588524.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:44.656Z,1761588524.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:44.850Z,1761588524.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074899,0.989290,0.125282],[-0.994413,-0.083470,0.064615],[0.074381,-0.119742,0.990015]]
2025-10-27T18:08:44.908Z,1761588524.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:44.927Z,1761588524.927 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:08:44.928Z,1761588524.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:08:44.928Z,1761588524.928 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:08:44.928Z,1761588524.928 [marl:UpdateRudder:A] Stopped
2025-10-27T18:08:44.928Z,1761588524.928 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:08:44.928Z,1761588524.928 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode] Stopped
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:08:44.929Z,1761588524.929 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:08:44.930Z,1761588524.930 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:08:44.930Z,1761588524.930 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:08:44.930Z,1761588524.930 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:08:44.930Z,1761588524.930 [marl:UpdateSpeed] Stopped
2025-10-27T18:08:44.930Z,1761588524.930 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:08:45.160Z,1761588525.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:45.217Z,1761588525.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023237,0.990653,0.134416],[-0.992425,-0.039081,0.116467],[0.120632,-0.130691,0.984057]]
2025-10-27T18:08:45.241Z,1761588525.241 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:08:45.241Z,1761588525.241 [marl:UpdateRudder:B] Stopped
2025-10-27T18:08:45.241Z,1761588525.241 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:08:45.241Z,1761588525.241 [marl:UpdateRudder] Stopped
2025-10-27T18:08:45.242Z,1761588525.242 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:08:45.412Z,1761588525.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:45.614Z,1761588525.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020561,0.989762,0.141241],[-0.993235,-0.036370,0.110279],[0.114287,-0.138018,0.983814]]
2025-10-27T18:08:45.664Z,1761588525.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:45.916Z,1761588525.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:46.018Z,1761588526.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058184,0.986990,0.149886],[-0.993355,-0.072172,0.089644],[0.099295,-0.143674,0.984631]]
2025-10-27T18:08:46.168Z,1761588526.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:46.420Z,1761588526.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:46.424Z,1761588526.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046118,0.992256,0.115327],[-0.996832,-0.053202,0.059118],[0.064796,-0.112235,0.991567]]
2025-10-27T18:08:46.672Z,1761588526.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:46.858Z,1761588526.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023762,0.997226,0.070538],[-0.998797,-0.026708,0.041116],[0.042886,-0.069476,0.996661]]
2025-10-27T18:08:46.924Z,1761588526.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:47.176Z,1761588527.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:47.230Z,1761588527.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018007,0.998848,0.044475],[-0.999322,-0.019408,0.031272],[0.032099,-0.043882,0.998521]]
2025-10-27T18:08:47.428Z,1761588527.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:47.633Z,1761588527.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025095,0.998073,0.056749],[-0.999276,-0.026668,0.027126],[0.028587,-0.056027,0.998020]]
2025-10-27T18:08:47.680Z,1761588527.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:47.932Z,1761588527.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:48.038Z,1761588528.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037027,0.994946,0.093338],[-0.998312,-0.041009,0.041115],[0.044735,-0.091658,0.994785]]
2025-10-27T18:08:48.184Z,1761588528.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:48.436Z,1761588528.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:48.446Z,1761588528.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050400,0.992732,0.109284],[-0.997599,-0.055245,0.041770],[0.047504,-0.106917,0.993133]]
2025-10-27T18:08:48.507Z,1761588528.507 [NAL9602](INFO): SBD MO Status=1, MOMSN=3075, MT Status=0, MTMSN=0
2025-10-27T18:08:48.568Z,1761588528.568 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0022.lzma
2025-10-27T18:08:48.568Z,1761588528.568 [NAL9602](INFO): Packets left to send: 1
2025-10-27T18:08:48.689Z,1761588528.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:48.877Z,1761588528.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053201,0.989947,0.131048],[-0.998243,-0.056149,0.018904],[0.026072,-0.129812,0.991196]]
2025-10-27T18:08:48.940Z,1761588528.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:49.192Z,1761588529.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:49.444Z,1761588529.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:49.696Z,1761588529.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:49.948Z,1761588529.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:49.973Z,1761588529.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017633,0.992033,0.124736],[-0.997967,-0.025105,0.058586],[0.061251,-0.123449,0.990459]]
2025-10-27T18:08:50.200Z,1761588530.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:50.452Z,1761588530.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:50.704Z,1761588530.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:50.956Z,1761588530.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:51.208Z,1761588531.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:51.460Z,1761588531.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:51.712Z,1761588531.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:51.964Z,1761588531.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:52.216Z,1761588532.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:52.341Z,1761588532.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050524,0.984222,0.169570],[-0.998641,-0.051966,0.004076],[0.012824,-0.169133,0.985510]]
2025-10-27T18:08:52.469Z,1761588532.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:52.721Z,1761588532.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:52.751Z,1761588532.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060896,0.991011,0.119118],[-0.996897,-0.066349,0.042357],[0.049880,-0.116169,0.991976]]
2025-10-27T18:08:52.972Z,1761588532.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:53.144Z,1761588533.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055382,0.996413,0.063982],[-0.995369,-0.060139,0.074986],[0.078565,-0.059532,0.995130]]
2025-10-27T18:08:53.225Z,1761588533.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:53.476Z,1761588533.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:53.560Z,1761588533.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069289,0.997020,0.033906],[-0.992680,-0.072278,0.096756],[0.098918,-0.026953,0.994730]]
2025-10-27T18:08:53.728Z,1761588533.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:53.949Z,1761588533.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072628,0.997345,0.005321],[-0.993419,-0.072814,0.088415],[0.088567,0.001135,0.996070]]
2025-10-27T18:08:53.980Z,1761588533.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:54.232Z,1761588534.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:54.256Z,1761588534.256 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:08:54.256Z,1761588534.256 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:08:54.354Z,1761588534.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044693,0.998982,-0.006110],[-0.997223,-0.044248,0.059903],[0.059572,0.008770,0.998186]]
2025-10-27T18:08:54.484Z,1761588534.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:54.736Z,1761588534.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:54.777Z,1761588534.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049303,0.998101,0.036938],[-0.997361,-0.051173,0.051510],[0.053303,-0.034301,0.997989]]
2025-10-27T18:08:54.988Z,1761588534.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:55.161Z,1761588535.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066758,0.993072,0.096703],[-0.995496,-0.072830,0.060688],[0.067310,-0.092216,0.993461]]
2025-10-27T18:08:55.217Z,1761588535.217 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:08:55.240Z,1761588535.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:55.492Z,1761588535.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:55.569Z,1761588535.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059283,0.982814,0.174819],[-0.996251,-0.069305,0.051784],[0.063010,-0.171093,0.983238]]
2025-10-27T18:08:55.744Z,1761588535.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:55.970Z,1761588535.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057997,0.977425,0.203166],[-0.996315,-0.069551,0.050193],[0.063191,-0.199506,0.977857]]
2025-10-27T18:08:55.996Z,1761588535.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:56.248Z,1761588536.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:56.379Z,1761588536.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055880,0.986028,0.156928],[-0.996858,-0.063935,0.046757],[0.056137,-0.153822,0.986503]]
2025-10-27T18:08:56.384Z,1761588536.384 [NAL9602](INFO): SBD MO Status=1, MOMSN=3076, MT Status=0, MTMSN=0
2025-10-27T18:08:56.431Z,1761588536.431 [NAL9602](INFO): Sent 195 bytes from file Logs/20251027T165046/Express0022.lzma
2025-10-27T18:08:56.431Z,1761588536.431 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:08:56.500Z,1761588536.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:56.752Z,1761588536.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:57.004Z,1761588537.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:57.007Z,1761588537.007 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:08:57.256Z,1761588537.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:57.508Z,1761588537.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:57.650Z,1761588537.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073443,0.996519,0.039452],[-0.994739,-0.070364,-0.074453],[-0.071418,-0.044712,0.996444]]
2025-10-27T18:08:57.760Z,1761588537.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:58.012Z,1761588538.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:58.013Z,1761588538.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:08:58.059Z,1761588538.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095284,0.993024,0.069460],[-0.995435,-0.094670,-0.012095],[-0.005435,-0.070296,0.997511]]
2025-10-27T18:08:58.264Z,1761588538.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:58.455Z,1761588538.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074913,0.992204,0.099594],[-0.994401,-0.081795,0.066905],[0.074530,-0.094024,0.992776]]
2025-10-27T18:08:58.516Z,1761588538.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:58.768Z,1761588538.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:58.870Z,1761588538.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048854,0.992457,0.112435],[-0.997128,-0.054984,0.052073],[0.057862,-0.109568,0.992294]]
2025-10-27T18:08:59.020Z,1761588539.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:59.261Z,1761588539.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038906,0.995386,0.087707],[-0.999218,-0.039375,0.003615],[0.007051,-0.087498,0.996140]]
2025-10-27T18:08:59.272Z,1761588539.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:59.525Z,1761588539.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:08:59.667Z,1761588539.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056481,0.994478,0.088454],[-0.998341,-0.057245,0.006127],[0.011156,-0.087961,0.996061]]
2025-10-27T18:08:59.776Z,1761588539.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:00.028Z,1761588540.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:00.073Z,1761588540.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084830,0.989769,0.114721],[-0.995156,-0.089903,0.039787],[0.049693,-0.110790,0.992601]]
2025-10-27T18:09:00.280Z,1761588540.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:00.473Z,1761588540.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061131,0.990681,0.121713],[-0.996851,-0.066769,0.042787],[0.050515,-0.118714,0.991643]]
2025-10-27T18:09:00.532Z,1761588540.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:00.784Z,1761588540.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:00.877Z,1761588540.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036124,0.991768,0.122846],[-0.998008,-0.042165,0.046937],[0.051730,-0.120905,0.991315]]
2025-10-27T18:09:01.037Z,1761588541.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:01.282Z,1761588541.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052312,0.991531,0.118867],[-0.991374,-0.065886,0.113296],[0.120168,-0.111915,0.986425]]
2025-10-27T18:09:01.288Z,1761588541.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:01.311Z,1761588541.311 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:09:01.311Z,1761588541.311 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:09:01.311Z,1761588541.311 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateRudder:A] Stopped
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:09:01.312Z,1761588541.312 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateCommandMode] Stopped
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:09:01.313Z,1761588541.313 [marl:UpdateSpeed] Stopped
2025-10-27T18:09:01.314Z,1761588541.314 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:09:01.540Z,1761588541.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:01.685Z,1761588541.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091028,0.990125,0.106616],[-0.983228,-0.106348,0.148166],[0.158041,-0.091341,0.983199]]
2025-10-27T18:09:01.716Z,1761588541.716 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:09:01.716Z,1761588541.716 [marl:UpdateRudder:B] Stopped
2025-10-27T18:09:01.716Z,1761588541.716 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:09:01.716Z,1761588541.716 [marl:UpdateRudder] Stopped
2025-10-27T18:09:01.716Z,1761588541.716 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:09:01.792Z,1761588541.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:02.045Z,1761588542.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:02.152Z,1761588542.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081776,0.992669,0.089001],[-0.991840,-0.089820,0.090475],[0.097806,-0.080876,0.991914]]
2025-10-27T18:09:02.296Z,1761588542.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:02.549Z,1761588542.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:02.697Z,1761588542.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048438,0.993748,0.100591],[-0.997926,-0.052422,0.037350],[0.042390,-0.098574,0.994227]]
2025-10-27T18:09:02.802Z,1761588542.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:03.052Z,1761588543.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:03.124Z,1761588543.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059667,0.994231,0.089138],[-0.997904,-0.061649,0.019655],[0.025036,-0.087778,0.995825]]
2025-10-27T18:09:03.304Z,1761588543.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:03.497Z,1761588543.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042723,0.993540,0.105135],[-0.998577,-0.039103,-0.036256],[-0.031911,-0.106534,0.993797]]
2025-10-27T18:09:03.556Z,1761588543.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:03.808Z,1761588543.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:03.902Z,1761588543.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065227,0.989471,0.129197],[-0.995938,-0.056499,-0.070106],[-0.062068,-0.133245,0.989138]]
2025-10-27T18:09:04.060Z,1761588544.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:04.306Z,1761588544.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125464,0.982016,0.141079],[-0.992044,-0.125675,-0.007452],[0.010412,-0.140892,0.989970]]
2025-10-27T18:09:04.312Z,1761588544.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:04.565Z,1761588544.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:04.743Z,1761588544.743 [NAL9602](INFO): SBD MO Status=0, MOMSN=3077, MT Status=0, MTMSN=0
2025-10-27T18:09:04.818Z,1761588544.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:04.889Z,1761588544.889 [marl:NeedComms:D] Stopped
2025-10-27T18:09:04.889Z,1761588544.889 [marl:NeedComms:E] Running Loop=1
2025-10-27T18:09:05.068Z,1761588545.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:05.114Z,1761588545.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078151,0.995135,0.059996],[-0.994664,-0.081896,0.062741],[0.067349,-0.054773,0.996225]]
2025-10-27T18:09:05.320Z,1761588545.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:05.526Z,1761588545.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076093,0.994267,0.075119],[-0.996082,-0.079204,0.039337],[0.045062,-0.071831,0.996398]]
2025-10-27T18:09:05.572Z,1761588545.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:05.824Z,1761588545.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:05.923Z,1761588545.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124843,0.984395,0.124022],[-0.987553,-0.135340,0.080140],[0.095675,-0.112473,0.989038]]
2025-10-27T18:09:05.929Z,1761588545.929 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180905.00,A,3646.63330,N,12151.88801,W,0.214,280.45,271025,,,A*7B
2025-10-27T18:09:05.931Z,1761588545.931 [NAL9602](INFO): GPS fix at 20251027T180905: (36.777222, -121.864800)
2025-10-27T18:09:05.953Z,1761588545.953 [marl:NeedComms:E] Stopped
2025-10-27T18:09:05.954Z,1761588545.954 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T18:09:05.954Z,1761588545.954 [marl:NeedComms] Stopped
2025-10-27T18:09:05.954Z,1761588545.954 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T18:09:05.954Z,1761588545.954 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T18:09:05.954Z,1761588545.954 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T18:09:05.955Z,1761588545.955 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:06.076Z,1761588546.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:06.325Z,1761588546.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125763,0.980221,0.152807],[-0.981606,-0.145255,0.123897],[0.143643,-0.134415,0.980459]]
2025-10-27T18:09:06.328Z,1761588546.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:06.580Z,1761588546.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:06.734Z,1761588546.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092712,0.988519,0.119311],[-0.987625,-0.106522,0.115111],[0.126498,-0.107162,0.986161]]
2025-10-27T18:09:06.834Z,1761588546.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:07.084Z,1761588547.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:07.136Z,1761588547.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072529,0.993743,0.084932],[-0.992620,-0.080219,0.090939],[0.097183,-0.077710,0.992228]]
2025-10-27T18:09:07.336Z,1761588547.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:07.545Z,1761588547.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064881,0.996406,0.054458],[-0.997532,-0.066228,0.023319],[0.026841,-0.052811,0.998244]]
2025-10-27T18:09:07.588Z,1761588547.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:07.840Z,1761588547.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:07.942Z,1761588547.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078929,0.996159,0.037920],[-0.996880,-0.078916,-0.001842],[0.001157,-0.037947,0.999279]]
2025-10-27T18:09:08.093Z,1761588548.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:08.344Z,1761588548.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:08.352Z,1761588548.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082444,0.993293,0.081071],[-0.995863,-0.085228,0.031497],[0.038196,-0.078139,0.996211]]
2025-10-27T18:09:08.597Z,1761588548.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:08.858Z,1761588548.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:08.866Z,1761588548.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101558,0.985658,0.134773],[-0.993929,-0.106295,0.028406],[0.042324,-0.131070,0.990469]]
2025-10-27T18:09:09.100Z,1761588549.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:09.224Z,1761588549.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098822,0.981971,0.161143],[-0.994776,-0.101647,0.009364],[0.025575,-0.159376,0.986887]]
2025-10-27T18:09:09.229Z,1761588549.229 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180908.00,A,3646.63333,N,12151.88786,W,0.369,280.45,271025,,,A*7E
2025-10-27T18:09:09.231Z,1761588549.231 [NAL9602](INFO): GPS fix at 20251027T180908: (36.777222, -121.864798)
2025-10-27T18:09:09.254Z,1761588549.254 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:09.352Z,1761588549.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:09.604Z,1761588549.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:09.626Z,1761588549.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072017,0.984525,0.159760],[-0.997082,-0.075129,0.013523],[0.025316,-0.158320,0.987063]]
2025-10-27T18:09:09.856Z,1761588549.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:10.110Z,1761588550.110 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:10.360Z,1761588550.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:10.439Z,1761588550.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074540,0.993661,0.084152],[-0.996614,-0.077165,0.028387],[0.034700,-0.081751,0.996049]]
2025-10-27T18:09:10.612Z,1761588550.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:10.863Z,1761588550.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083646,0.996004,0.031307],[-0.996339,-0.084149,0.015097],[0.017671,-0.029930,0.999396]]
2025-10-27T18:09:10.864Z,1761588550.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:11.116Z,1761588551.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:11.242Z,1761588551.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079169,0.996555,0.024690],[-0.996684,-0.079597,0.016897],[0.018804,-0.023271,0.999552]]
2025-10-27T18:09:11.375Z,1761588551.375 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:11.620Z,1761588551.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:11.646Z,1761588551.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080975,0.995124,0.056308],[-0.995314,-0.083728,0.048370],[0.052849,-0.052127,0.997241]]
2025-10-27T18:09:11.872Z,1761588551.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:12.051Z,1761588552.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056258,0.992938,0.104449],[-0.996763,-0.061874,0.051328],[0.057428,-0.101223,0.993205]]
2025-10-27T18:09:12.121Z,1761588552.121 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180911.00,A,3646.63341,N,12151.88816,W,1.030,280.53,271025,,,A*7C
2025-10-27T18:09:12.124Z,1761588552.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:12.125Z,1761588552.125 [NAL9602](INFO): GPS fix at 20251027T180911: (36.777223, -121.864803)
2025-10-27T18:09:12.172Z,1761588552.172 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:12.376Z,1761588552.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:12.454Z,1761588552.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024672,0.990571,0.134762],[-0.999571,-0.026574,0.012338],[0.015803,-0.134400,0.990801]]
2025-10-27T18:09:12.629Z,1761588552.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:12.866Z,1761588552.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050052,0.985522,0.161990],[-0.998697,-0.050998,0.001683],[0.009919,-0.161695,0.986791]]
2025-10-27T18:09:12.896Z,1761588552.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:13.144Z,1761588553.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:13.325Z,1761588553.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080206,0.980274,0.180636],[-0.995416,-0.088241,0.036879],[0.052091,-0.176850,0.982858]]
2025-10-27T18:09:13.397Z,1761588553.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:13.648Z,1761588553.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:13.731Z,1761588553.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086255,0.978327,0.188243],[-0.994086,-0.097028,0.048768],[0.065976,-0.182924,0.980911]]
2025-10-27T18:09:13.900Z,1761588553.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:14.130Z,1761588554.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081162,0.985837,0.146756],[-0.995228,-0.088162,0.041828],[0.054174,-0.142660,0.988288]]
2025-10-27T18:09:14.152Z,1761588554.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:14.404Z,1761588554.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:14.538Z,1761588554.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080111,0.992795,0.089111],[-0.995437,-0.084331,0.044640],[0.051833,-0.085128,0.995021]]
2025-10-27T18:09:14.584Z,1761588554.584 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:09:14.584Z,1761588554.584 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateRudder:A] Stopped
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:09:14.585Z,1761588554.585 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateCommandMode] Stopped
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:09:14.586Z,1761588554.586 [marl:UpdateSpeed] Stopped
2025-10-27T18:09:14.587Z,1761588554.587 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:09:14.657Z,1761588554.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:14.908Z,1761588554.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:14.938Z,1761588554.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096548,0.990423,0.098700],[-0.992552,-0.103206,0.064729],[0.074295,-0.091715,0.993010]]
2025-10-27T18:09:14.943Z,1761588554.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180914.00,A,3646.63378,N,12151.88955,W,0.991,292.34,271025,,,A*74
2025-10-27T18:09:14.946Z,1761588554.946 [NAL9602](INFO): GPS fix at 20251027T180914: (36.777230, -121.864826)
2025-10-27T18:09:15.047Z,1761588555.047 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:09:15.051Z,1761588555.051 [marl:UpdateRudder:B] Stopped
2025-10-27T18:09:15.051Z,1761588555.051 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:09:15.051Z,1761588555.051 [marl:UpdateRudder] Stopped
2025-10-27T18:09:15.051Z,1761588555.051 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:09:15.053Z,1761588555.053 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:15.160Z,1761588555.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:15.344Z,1761588555.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120294,0.981352,0.149927],[-0.987412,-0.133900,0.084196],[0.102701,-0.137911,0.985106]]
2025-10-27T18:09:15.412Z,1761588555.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:15.664Z,1761588555.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:15.916Z,1761588555.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:16.150Z,1761588556.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154861,0.973153,0.170270],[-0.984104,-0.167118,0.060092],[0.086934,-0.158257,0.983564]]
2025-10-27T18:09:16.168Z,1761588556.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:16.421Z,1761588556.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:16.584Z,1761588556.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140359,0.976187,0.165403],[-0.972725,-0.167118,0.160867],[0.184678,-0.138313,0.973018]]
2025-10-27T18:09:16.672Z,1761588556.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:16.928Z,1761588556.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:17.012Z,1761588557.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135029,0.982000,0.132072],[-0.966616,-0.159846,0.200258],[0.217765,-0.100622,0.970801]]
2025-10-27T18:09:17.176Z,1761588557.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:17.399Z,1761588557.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106981,0.991551,0.073362],[-0.970002,-0.120286,0.211252],[0.218292,-0.048561,0.974675]]
2025-10-27T18:09:17.428Z,1761588557.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:17.683Z,1761588557.683 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:17.801Z,1761588557.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119962,0.991177,0.056373],[-0.977942,-0.127759,0.165246],[0.170990,-0.035306,0.984640]]
2025-10-27T18:09:17.821Z,1761588557.821 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180917.00,A,3646.63375,N,12151.88920,W,0.350,224.07,271025,,,A*72
2025-10-27T18:09:17.823Z,1761588557.823 [NAL9602](INFO): GPS fix at 20251027T180917: (36.777229, -121.864820)
2025-10-27T18:09:17.874Z,1761588557.874 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:17.932Z,1761588557.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:18.184Z,1761588558.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:18.208Z,1761588558.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166709,0.976602,0.135856],[-0.973790,-0.184695,0.132741],[0.154727,-0.110166,0.981796]]
2025-10-27T18:09:18.436Z,1761588558.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:18.610Z,1761588558.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175065,0.964137,0.199479],[-0.971315,-0.202246,0.125074],[0.160933,-0.171860,0.971887]]
2025-10-27T18:09:18.690Z,1761588558.690 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:18.940Z,1761588558.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:19.039Z,1761588559.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161147,0.968954,0.187507],[-0.976566,-0.184012,0.111618],[0.142656,-0.165126,0.975901]]
2025-10-27T18:09:19.192Z,1761588559.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:19.444Z,1761588559.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:19.508Z,1761588559.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184356,0.972178,0.144511],[-0.978087,-0.195939,0.070385],[0.096742,-0.128368,0.986997]]
2025-10-27T18:09:19.696Z,1761588559.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:19.880Z,1761588559.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214094,0.968087,0.130270],[-0.972531,-0.223725,0.064267],[0.091360,-0.112932,0.989394]]
2025-10-27T18:09:19.948Z,1761588559.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:20.200Z,1761588560.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:20.283Z,1761588560.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240933,0.959566,0.145549],[-0.963287,-0.254729,0.084796],[0.118443,-0.119775,0.985710]]
2025-10-27T18:09:20.452Z,1761588560.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:20.686Z,1761588560.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260049,0.956062,0.135349],[-0.957983,-0.273019,0.087920],[0.121010,-0.106799,0.986889]]
2025-10-27T18:09:20.704Z,1761588560.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:20.956Z,1761588560.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:21.089Z,1761588561.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279558,0.954868,0.100367],[-0.958114,-0.284211,0.035233],[0.062169,-0.086314,0.994326]]
2025-10-27T18:09:21.095Z,1761588561.095 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180920.00,A,3646.63403,N,12151.89088,W,2.624,277.15,271025,,,A*7B
2025-10-27T18:09:21.097Z,1761588561.097 [NAL9602](INFO): GPS fix at 20251027T180920: (36.777234, -121.864848)
2025-10-27T18:09:21.208Z,1761588561.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:21.218Z,1761588561.218 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:21.460Z,1761588561.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:21.522Z,1761588561.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308180,0.943369,0.122804],[-0.949892,-0.312231,0.014748],[0.052256,-0.112106,0.992321]]
2025-10-27T18:09:21.712Z,1761588561.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:21.904Z,1761588561.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346891,0.916792,0.197885],[-0.928128,-0.365933,0.068351],[0.135076,-0.159952,0.977839]]
2025-10-27T18:09:21.964Z,1761588561.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:22.216Z,1761588562.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:22.298Z,1761588562.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370107,0.888993,0.269653],[-0.902559,-0.412842,0.122269],[0.220020,-0.198125,0.955164]]
2025-10-27T18:09:22.468Z,1761588562.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:22.702Z,1761588562.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365365,0.877561,0.310475],[-0.894377,-0.423409,0.144271],[0.258065,-0.224970,0.939570]]
2025-10-27T18:09:22.720Z,1761588562.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:22.973Z,1761588562.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:23.106Z,1761588563.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339926,0.883523,0.322237],[-0.902503,-0.402815,0.152409],[0.264459,-0.239012,0.934310]]
2025-10-27T18:09:23.224Z,1761588563.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:23.492Z,1761588563.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:23.530Z,1761588563.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322779,0.903718,0.281260],[-0.906553,-0.380594,0.182512],[0.271985,-0.196066,0.942116]]
2025-10-27T18:09:23.745Z,1761588563.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:23.937Z,1761588563.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337642,0.917841,0.208724],[-0.895204,-0.381646,0.230121],[0.290873,-0.109152,0.950515]]
2025-10-27T18:09:23.942Z,1761588563.942 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180923.00,A,3646.63394,N,12151.89168,W,0.739,264.33,271025,,,A*77
2025-10-27T18:09:23.957Z,1761588563.957 [NAL9602](INFO): GPS fix at 20251027T180923: (36.777232, -121.864861)
2025-10-27T18:09:24.006Z,1761588564.006 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:24.032Z,1761588564.032 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:24.257Z,1761588564.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:24.341Z,1761588564.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361141,0.919742,0.153791],[-0.880226,-0.390672,0.269403],[0.307863,-0.038078,0.950668]]
2025-10-27T18:09:24.509Z,1761588564.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:24.736Z,1761588564.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349702,0.923448,0.157965],[-0.878125,-0.381847,0.288252],[0.326504,-0.037910,0.944435]]
2025-10-27T18:09:24.760Z,1761588564.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:25.014Z,1761588565.014 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:25.137Z,1761588565.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318195,0.924674,0.209118],[-0.881854,-0.369660,0.292719],[0.347972,-0.091270,0.933052]]
2025-10-27T18:09:25.268Z,1761588565.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:25.520Z,1761588565.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:25.539Z,1761588565.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310970,0.922981,0.226725],[-0.886883,-0.367561,0.279888],[0.341666,-0.114041,0.932877]]
2025-10-27T18:09:25.776Z,1761588565.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:25.942Z,1761588565.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335674,0.917831,0.211919],[-0.893128,-0.381615,0.238102],[0.299408,-0.109346,0.947839]]
2025-10-27T18:09:26.024Z,1761588566.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:26.276Z,1761588566.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:26.346Z,1761588566.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372514,0.900119,0.225876],[-0.884084,-0.418212,0.208554],[0.282187,-0.122004,0.951570]]
2025-10-27T18:09:26.528Z,1761588566.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:26.780Z,1761588566.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:26.927Z,1761588566.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381577,0.880993,0.279733],[-0.866406,-0.446343,0.223870],[0.322085,-0.156939,0.933612]]
2025-10-27T18:09:27.032Z,1761588567.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:27.284Z,1761588567.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:27.366Z,1761588567.366 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180926.00,A,3646.63406,N,12151.89276,W,2.546,282.09,271025,,,A*7B
2025-10-27T18:09:27.368Z,1761588567.368 [NAL9602](INFO): GPS fix at 20251027T180926: (36.777234, -121.864879)
2025-10-27T18:09:27.412Z,1761588567.412 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:27.536Z,1761588567.536 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:09:27.536Z,1761588567.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:27.761Z,1761588567.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396669,0.836853,0.377267],[-0.836191,-0.498971,0.227623],[0.378733,-0.225176,0.897695]]
2025-10-27T18:09:27.789Z,1761588567.789 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:09:27.789Z,1761588567.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:28.040Z,1761588568.040 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:09:28.040Z,1761588568.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:28.150Z,1761588568.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426194,0.830219,0.359297],[-0.827696,-0.518156,0.215485],[0.365072,-0.205550,0.908004]]
2025-10-27T18:09:28.191Z,1761588568.191 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:09:28.191Z,1761588568.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateRudder:A] Stopped
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:09:28.192Z,1761588568.192 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateCommandMode] Stopped
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:09:28.193Z,1761588568.193 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:09:28.194Z,1761588568.194 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:09:28.194Z,1761588568.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:09:28.194Z,1761588568.194 [marl:UpdateSpeed] Stopped
2025-10-27T18:09:28.194Z,1761588568.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:09:28.292Z,1761588568.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:28.544Z,1761588568.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:28.556Z,1761588568.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440944,0.813216,0.379801],[-0.820507,-0.536744,0.196658],[0.363782,-0.224914,0.903923]]
2025-10-27T18:09:28.608Z,1761588568.608 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:09:28.608Z,1761588568.608 [marl:UpdateRudder:B] Stopped
2025-10-27T18:09:28.608Z,1761588568.608 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:09:28.608Z,1761588568.608 [marl:UpdateRudder] Stopped
2025-10-27T18:09:28.608Z,1761588568.608 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:09:28.632Z,1761588568.632 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-10-27T18:09:28.798Z,1761588568.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:28.958Z,1761588568.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440580,0.781875,0.441090],[-0.814341,-0.554878,0.170175],[0.377806,-0.284222,0.881181]]
2025-10-27T18:09:29.048Z,1761588569.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:29.300Z,1761588569.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:29.365Z,1761588569.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426478,0.768045,0.477727],[-0.814202,-0.556025,0.167069],[0.393945,-0.317715,0.862476]]
2025-10-27T18:09:29.552Z,1761588569.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:29.635Z,1761588569.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:09:29.793Z,1761588569.793 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180929.00,A,3646.63286,N,12151.89651,W,5.210,255.64,271025,,,A*79
2025-10-27T18:09:29.796Z,1761588569.796 [NAL9602](INFO): GPS fix at 20251027T180929: (36.777214, -121.864942)
2025-10-27T18:09:29.804Z,1761588569.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:29.820Z,1761588569.820 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761588608.00. Resetting abort timer.
2025-10-27T18:09:30.056Z,1761588570.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:30.169Z,1761588570.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403190,0.800040,0.444268],[-0.816296,-0.533864,0.220567],[0.413641,-0.273724,0.868318]]
2025-10-27T18:09:30.308Z,1761588570.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:30.564Z,1761588570.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:30.580Z,1761588570.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393901,0.811961,0.430767],[-0.815466,-0.524949,0.243810],[0.424095,-0.255239,0.868905]]
2025-10-27T18:09:30.820Z,1761588570.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:31.015Z,1761588571.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391756,0.830814,0.395316],[-0.824900,-0.507464,0.249038],[0.407513,-0.228534,0.884141]]
2025-10-27T18:09:31.068Z,1761588571.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:31.321Z,1761588571.321 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:09:30.5551

2025-10-27T18:09:31.321Z,1761588571.321 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:09:31.321Z,1761588571.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:31.414Z,1761588571.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404929,0.833051,0.376906],[-0.824109,-0.511077,0.244220],[0.396076,-0.211720,0.893475]]
2025-10-27T18:09:31.572Z,1761588571.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:31.818Z,1761588571.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413920,0.831287,0.370987],[-0.817863,-0.518546,0.249418],[0.399712,-0.200177,0.894516]]
2025-10-27T18:09:31.824Z,1761588571.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:32.077Z,1761588572.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:32.223Z,1761588572.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416546,0.824373,0.383273],[-0.808614,-0.528641,0.258230],[0.415492,-0.202355,0.886803]]
2025-10-27T18:09:32.329Z,1761588572.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:32.580Z,1761588572.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:32.626Z,1761588572.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413895,0.816097,0.403333],[-0.801978,-0.536527,0.262621],[0.430724,-0.214767,0.876557]]
2025-10-27T18:09:32.834Z,1761588572.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:33.030Z,1761588573.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407204,0.809083,0.423757],[-0.803139,-0.538133,0.255697],[0.434917,-0.236215,0.868936]]
2025-10-27T18:09:33.084Z,1761588573.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:33.336Z,1761588573.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:33.434Z,1761588573.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399158,0.808582,0.432283],[-0.811819,-0.530817,0.243278],[0.426173,-0.253829,0.868301]]
2025-10-27T18:09:33.588Z,1761588573.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:33.840Z,1761588573.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:33.839Z,1761588573.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392701,0.817130,0.422001],[-0.822431,-0.517380,0.236486],[0.411575,-0.254198,0.875208]]
2025-10-27T18:09:34.092Z,1761588574.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:34.241Z,1761588574.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391832,0.830460,0.395984],[-0.829496,-0.505064,0.238425],[0.398000,-0.235045,0.886764]]
2025-10-27T18:09:34.345Z,1761588574.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:34.597Z,1761588574.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:34.646Z,1761588574.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399400,0.838762,0.370079],[-0.832313,-0.500988,0.237204],[0.384363,-0.213282,0.898207]]
2025-10-27T18:09:34.851Z,1761588574.851 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:35.050Z,1761588575.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409645,0.840928,0.353597],[-0.835972,-0.501203,0.223486],[0.365160,-0.204047,0.908308]]
2025-10-27T18:09:35.100Z,1761588575.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:35.352Z,1761588575.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:35.492Z,1761588575.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419174,0.840762,0.342654],[-0.841127,-0.501690,0.202022],[0.341758,-0.203533,0.917483]]
2025-10-27T18:09:35.604Z,1761588575.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:35.856Z,1761588575.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:35.881Z,1761588575.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428578,0.840370,0.331813],[-0.844938,-0.502862,0.182237],[0.320002,-0.202259,0.925576]]
2025-10-27T18:09:36.108Z,1761588576.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:36.281Z,1761588576.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441804,0.837761,0.320884],[-0.843794,-0.509527,0.168506],[0.304667,-0.196313,0.932008]]
2025-10-27T18:09:36.360Z,1761588576.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:36.612Z,1761588576.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:36.686Z,1761588576.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459846,0.828894,0.318554],[-0.836498,-0.524736,0.157870],[0.298014,-0.193874,0.934666]]
2025-10-27T18:09:36.864Z,1761588576.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:37.093Z,1761588577.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479146,0.812577,0.331871],[-0.825009,-0.546002,0.145747],[0.299633,-0.203962,0.931997]]
2025-10-27T18:09:37.116Z,1761588577.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:37.368Z,1761588577.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:37.508Z,1761588577.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495597,0.792237,0.356011],[-0.812798,-0.567524,0.131437],[0.306174,-0.224225,0.925192]]
2025-10-27T18:09:37.620Z,1761588577.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:37.872Z,1761588577.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:37.898Z,1761588577.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504531,0.776139,0.378229],[-0.805611,-0.580756,0.117104],[0.310548,-0.245622,0.918275]]
2025-10-27T18:09:38.125Z,1761588578.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:38.302Z,1761588578.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505636,0.769291,0.390543],[-0.806898,-0.581899,0.101533],[0.305365,-0.263790,0.914968]]
2025-10-27T18:09:38.388Z,1761588578.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:38.640Z,1761588578.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:38.705Z,1761588578.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505484,0.771061,0.387236],[-0.813052,-0.575895,0.085387],[0.288846,-0.271681,0.918018]]
2025-10-27T18:09:38.892Z,1761588578.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:39.116Z,1761588579.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516728,0.770571,0.373113],[-0.812355,-0.578886,0.070504],[0.270318,-0.266669,0.925103]]
2025-10-27T18:09:39.144Z,1761588579.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:39.399Z,1761588579.399 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:39.514Z,1761588579.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531027,0.769890,0.353949],[-0.809484,-0.584399,0.056690],[0.250492,-0.256412,0.933545]]
2025-10-27T18:09:39.648Z,1761588579.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:39.900Z,1761588579.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:39.918Z,1761588579.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545836,0.766590,0.338235],[-0.804145,-0.592684,0.045576],[0.235404,-0.247113,0.939958]]
2025-10-27T18:09:40.152Z,1761588580.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:40.404Z,1761588580.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:40.656Z,1761588580.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:40.908Z,1761588580.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:41.130Z,1761588581.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566779,0.747113,0.347252],[-0.790744,-0.611625,0.025271],[0.231268,-0.260264,0.937431]]
2025-10-27T18:09:41.160Z,1761588581.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:41.412Z,1761588581.412 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:09:41.412Z,1761588581.412 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:09:41.413Z,1761588581.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:41.534Z,1761588581.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562672,0.748079,0.351820],[-0.794439,-0.607010,0.020131],[0.228618,-0.268173,0.935851]]
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateRudder:A] Stopped
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:09:41.621Z,1761588581.621 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode] Stopped
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:09:41.622Z,1761588581.622 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:09:41.623Z,1761588581.623 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:09:41.627Z,1761588581.627 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:09:41.627Z,1761588581.627 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:09:41.627Z,1761588581.627 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:09:41.627Z,1761588581.627 [marl:UpdateSpeed] Stopped
2025-10-27T18:09:41.627Z,1761588581.627 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:09:41.664Z,1761588581.664 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:09:41.664Z,1761588581.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:41.916Z,1761588581.916 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:09:41.916Z,1761588581.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:41.938Z,1761588581.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557169,0.755217,0.345267],[-0.800607,-0.598917,0.018071],[0.220434,-0.266355,0.938330]]
2025-10-27T18:09:42.013Z,1761588582.013 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:09:42.013Z,1761588582.013 [marl:UpdateRudder:B] Stopped
2025-10-27T18:09:42.013Z,1761588582.013 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:09:42.013Z,1761588582.013 [marl:UpdateRudder] Stopped
2025-10-27T18:09:42.013Z,1761588582.013 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:09:42.168Z,1761588582.168 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:09:42.168Z,1761588582.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:42.343Z,1761588582.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551839,0.767970,0.325110],[-0.808024,-0.588831,0.019394],[0.206329,-0.251995,0.945477]]
2025-10-27T18:09:42.420Z,1761588582.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:42.672Z,1761588582.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:42.758Z,1761588582.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548087,0.782483,0.295502],[-0.815055,-0.578988,0.021412],[0.187846,-0.229115,0.955102]]
2025-10-27T18:09:42.925Z,1761588582.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:43.150Z,1761588583.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548056,0.794394,0.261864],[-0.819516,-0.572635,0.021985],[0.167417,-0.202553,0.964854]]
2025-10-27T18:09:43.176Z,1761588583.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:43.428Z,1761588583.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:43.554Z,1761588583.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552726,0.800828,0.230583],[-0.820316,-0.571600,0.018837],[0.146886,-0.178739,0.972870]]
2025-10-27T18:09:43.680Z,1761588583.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:43.932Z,1761588583.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:43.973Z,1761588583.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562949,0.800521,0.205559],[-0.816730,-0.576933,0.010070],[0.126655,-0.162218,0.978593]]
2025-10-27T18:09:44.184Z,1761588584.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:44.362Z,1761588584.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577547,0.793194,0.193088],[-0.809192,-0.587503,-0.006956],[0.107923,-0.160263,0.981157]]
2025-10-27T18:09:44.436Z,1761588584.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:44.688Z,1761588584.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:44.768Z,1761588584.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596000,0.778756,0.195762],[-0.797552,-0.602417,-0.031697],[0.093247,-0.175022,0.980139]]
2025-10-27T18:09:44.940Z,1761588584.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:45.192Z,1761588585.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:45.445Z,1761588585.445 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:09:44.7037

2025-10-27T18:09:45.445Z,1761588585.445 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:09:45.446Z,1761588585.446 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:45.696Z,1761588585.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:45.708Z,1761588585.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639913,0.730494,0.238516],[-0.763899,-0.638428,-0.094169],[0.083485,-0.242462,0.966562]]
2025-10-27T18:09:45.950Z,1761588585.950 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:46.157Z,1761588586.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658847,0.702901,0.268049],[-0.747473,-0.651876,-0.127835],[0.084880,-0.284583,0.954886]]
2025-10-27T18:09:46.200Z,1761588586.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:46.453Z,1761588586.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:46.684Z,1761588586.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675874,0.667741,0.311956],[-0.732821,-0.653961,-0.187903],[0.078537,-0.355607,0.931330]]
2025-10-27T18:09:46.704Z,1761588586.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:46.957Z,1761588586.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:47.097Z,1761588587.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679492,0.660970,0.318448],[-0.730562,-0.649536,-0.210671],[0.067596,-0.375796,0.924234]]
2025-10-27T18:09:47.208Z,1761588587.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:47.461Z,1761588587.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:47.504Z,1761588587.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687426,0.657304,0.308863],[-0.724285,-0.651774,-0.224949],[0.053449,-0.378340,0.924122]]
2025-10-27T18:09:47.712Z,1761588587.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:47.922Z,1761588587.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699843,0.654334,0.286473],[-0.713261,-0.661758,-0.230944],[0.038461,-0.365955,0.929838]]
2025-10-27T18:09:47.964Z,1761588587.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:48.216Z,1761588588.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:48.356Z,1761588588.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716348,0.647724,0.259420],[-0.697271,-0.678222,-0.232009],[0.025666,-0.347085,0.937482]]
2025-10-27T18:09:48.469Z,1761588588.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:48.720Z,1761588588.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:48.774Z,1761588588.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735455,0.634664,0.237294],[-0.677359,-0.697487,-0.233874],[0.017078,-0.332737,0.942865]]
2025-10-27T18:09:48.975Z,1761588588.975 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:49.224Z,1761588589.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:49.236Z,1761588589.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755353,0.615185,0.225808],[-0.655181,-0.715998,-0.241008],[0.013414,-0.329991,0.943889]]
2025-10-27T18:09:49.477Z,1761588589.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:49.729Z,1761588589.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:49.794Z,1761588589.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775490,0.590705,0.222896],[-0.631183,-0.733702,-0.251572],[0.014934,-0.335780,0.941822]]
2025-10-27T18:09:49.980Z,1761588589.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:50.232Z,1761588590.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:50.233Z,1761588590.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801951,0.549889,0.233445],[-0.597055,-0.750843,-0.282417],[0.019983,-0.365864,0.930454]]
2025-10-27T18:09:50.484Z,1761588590.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:50.736Z,1761588590.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:50.764Z,1761588590.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808791,0.536651,0.240549],[-0.587677,-0.752962,-0.296116],[0.022213,-0.380861,0.924366]]
2025-10-27T18:09:50.988Z,1761588590.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:51.224Z,1761588591.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814439,0.526417,0.244079],[-0.579758,-0.755566,-0.304961],[0.023881,-0.389878,0.920557]]
2025-10-27T18:09:51.240Z,1761588591.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:51.492Z,1761588591.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:51.662Z,1761588591.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819140,0.520116,0.241846],[-0.573108,-0.759499,-0.307749],[0.023617,-0.390693,0.920218]]
2025-10-27T18:09:51.744Z,1761588591.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:51.997Z,1761588591.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:52.084Z,1761588592.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823208,0.517561,0.233364],[-0.567372,-0.764752,-0.305359],[0.020423,-0.383778,0.923200]]
2025-10-27T18:09:52.248Z,1761588592.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:52.487Z,1761588592.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827532,0.516852,0.219214],[-0.561236,-0.771552,-0.299537],[0.014319,-0.370907,0.928560]]
2025-10-27T18:09:52.500Z,1761588592.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:52.752Z,1761588592.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:52.886Z,1761588592.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832982,0.515647,0.200625],[-0.553264,-0.780418,-0.291284],[0.006372,-0.353633,0.935363]]
2025-10-27T18:09:53.004Z,1761588593.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:53.256Z,1761588593.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:53.290Z,1761588593.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840520,0.510153,0.182400],[-0.541779,-0.790776,-0.284865],[-0.001087,-0.338256,0.941054]]
2025-10-27T18:09:53.508Z,1761588593.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:53.761Z,1761588593.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:53.810Z,1761588593.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850912,0.498080,0.166927],[-0.525279,-0.803420,-0.280354],[-0.005526,-0.326240,0.945271]]
2025-10-27T18:09:54.012Z,1761588594.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:54.225Z,1761588594.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875703,0.459067,0.149674],[-0.482801,-0.828004,-0.285155],[-0.006974,-0.321974,0.946723]]
2025-10-27T18:09:54.264Z,1761588594.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:54.517Z,1761588594.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:54.589Z,1761588594.589 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:09:54.589Z,1761588594.589 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:09:54.638Z,1761588594.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882000,0.446761,0.149934],[-0.471179,-0.830566,-0.296901],[-0.008114,-0.332512,0.943064]]
2025-10-27T18:09:54.769Z,1761588594.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:55.020Z,1761588595.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:55.029Z,1761588595.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886952,0.436673,0.150444],[-0.461743,-0.830991,-0.310236],[-0.010454,-0.344631,0.938680]]
2025-10-27T18:09:55.272Z,1761588595.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:55.430Z,1761588595.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892243,0.427505,0.145400],[-0.451278,-0.832931,-0.320271],[-0.015810,-0.351375,0.936101]]
2025-10-27T18:09:55.524Z,1761588595.524 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:09:55.524Z,1761588595.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:55.541Z,1761588595.541 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:09:55.541Z,1761588595.541 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:09:55.541Z,1761588595.541 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateRudder:A] Stopped
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:09:55.542Z,1761588595.542 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateCommandMode] Stopped
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:09:55.543Z,1761588595.543 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:09:55.544Z,1761588595.544 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:09:55.544Z,1761588595.544 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:09:55.544Z,1761588595.544 [marl:UpdateSpeed] Stopped
2025-10-27T18:09:55.544Z,1761588595.544 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:09:55.545Z,1761588595.545 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:09:55.776Z,1761588595.776 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:09:55.776Z,1761588595.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:55.875Z,1761588595.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899382,0.416711,0.132150],[-0.436490,-0.839219,-0.324326],[-0.024247,-0.349376,0.936669]]
2025-10-27T18:09:55.908Z,1761588595.908 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:09:55.908Z,1761588595.908 [marl:UpdateRudder:B] Stopped
2025-10-27T18:09:55.908Z,1761588595.908 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:09:55.908Z,1761588595.908 [marl:UpdateRudder] Stopped
2025-10-27T18:09:55.908Z,1761588595.908 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:09:56.028Z,1761588596.028 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:09:56.028Z,1761588596.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:56.274Z,1761588596.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908195,0.402687,0.114131],[-0.417127,-0.848359,-0.326025],[-0.034462,-0.343702,0.938446]]
2025-10-27T18:09:56.280Z,1761588596.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:56.532Z,1761588596.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:56.784Z,1761588596.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:57.036Z,1761588597.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:57.127Z,1761588597.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927148,0.364461,0.086982],[-0.371797,-0.866020,-0.334330],[-0.046522,-0.342313,0.938433]]
2025-10-27T18:09:57.288Z,1761588597.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:57.540Z,1761588597.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:57.565Z,1761588597.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935732,0.342856,0.082795],[-0.349732,-0.871459,-0.343870],[-0.045746,-0.350726,0.935360]]
2025-10-27T18:09:57.792Z,1761588597.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:58.044Z,1761588598.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:58.080Z,1761588598.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941977,0.325148,0.083418],[-0.332867,-0.872692,-0.357223],[-0.043352,-0.364263,0.930287]]
2025-10-27T18:09:58.296Z,1761588598.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:58.501Z,1761588598.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945513,0.314291,0.085011],[-0.322866,-0.871410,-0.369327],[-0.041996,-0.376650,0.925403]]
2025-10-27T18:09:58.548Z,1761588598.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:58.802Z,1761588598.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:59.052Z,1761588599.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:59.304Z,1761588599.304 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:09:58.5536

2025-10-27T18:09:59.305Z,1761588599.305 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:09:59.305Z,1761588599.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:59.382Z,1761588599.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950349,0.300275,0.081676],[-0.308356,-0.873389,-0.376972],[-0.041860,-0.383441,0.922616]]
2025-10-27T18:09:59.557Z,1761588599.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:59.756Z,1761588599.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:09:59.808Z,1761588599.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:09:59.810Z,1761588599.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956227,0.283994,0.070553],[-0.289518,-0.883110,-0.369183],[-0.042540,-0.373449,0.926675]]
2025-10-27T18:10:00.060Z,1761588600.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:00.216Z,1761588600.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962448,0.265052,0.058661],[-0.267957,-0.892925,-0.361780],[-0.043511,-0.363913,0.930416]]
2025-10-27T18:10:00.312Z,1761588600.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:00.564Z,1761588600.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:00.631Z,1761588600.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973549,0.223798,0.046016],[-0.224803,-0.902267,-0.367938],[-0.040825,-0.368550,0.928711]]
2025-10-27T18:10:00.760Z,1761588600.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:10:00.820Z,1761588600.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:01.068Z,1761588601.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:01.320Z,1761588601.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:01.464Z,1761588601.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979860,0.194210,0.046441],[-0.196821,-0.900070,-0.388762],[-0.033702,-0.390073,0.920167]]
2025-10-27T18:10:01.572Z,1761588601.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:01.825Z,1761588601.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:01.846Z,1761588601.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981863,0.183768,0.046625],[-0.187166,-0.900337,-0.392890],[-0.030223,-0.394491,0.918403]]
2025-10-27T18:10:02.076Z,1761588602.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:02.248Z,1761588602.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983503,0.175204,0.045008],[-0.178763,-0.903299,-0.389992],[-0.027672,-0.391604,0.919718]]
2025-10-27T18:10:02.328Z,1761588602.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:02.580Z,1761588602.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:02.652Z,1761588602.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984987,0.167534,0.041624],[-0.170726,-0.909702,-0.378542],[-0.025553,-0.379965,0.924648]]
2025-10-27T18:10:02.834Z,1761588602.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:03.054Z,1761588603.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986318,0.160369,0.038193],[-0.163123,-0.915922,-0.366711],[-0.023827,-0.367924,0.929551]]
2025-10-27T18:10:03.084Z,1761588603.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:03.336Z,1761588603.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:03.488Z,1761588603.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987559,0.153270,0.035150],[-0.155639,-0.920808,-0.357616],[-0.022446,-0.358638,0.933207]]
2025-10-27T18:10:03.588Z,1761588603.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:03.840Z,1761588603.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:03.897Z,1761588603.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988823,0.145617,0.032022],[-0.147469,-0.923553,-0.353981],[-0.021972,-0.354747,0.934704]]
2025-10-27T18:10:04.092Z,1761588604.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:04.309Z,1761588604.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990487,0.135084,0.026233],[-0.135652,-0.926475,-0.351059],[-0.023118,-0.351278,0.935986]]
2025-10-27T18:10:04.344Z,1761588604.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:04.596Z,1761588604.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:04.724Z,1761588604.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992544,0.120542,0.018064],[-0.119241,-0.929547,-0.348891],[-0.025265,-0.348444,0.936989]]
2025-10-27T18:10:04.850Z,1761588604.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:05.100Z,1761588605.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:05.114Z,1761588605.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994649,0.102966,0.008449],[-0.099441,-0.931997,-0.348558],[-0.028015,-0.347533,0.937249]]
2025-10-27T18:10:05.352Z,1761588605.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:05.513Z,1761588605.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996579,0.082645,-0.000713],[-0.077188,-0.933796,-0.349382],[-0.029540,-0.348131,0.936980]]
2025-10-27T18:10:05.604Z,1761588605.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:05.856Z,1761588605.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:05.916Z,1761588605.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998184,0.059778,-0.007422],[-0.053298,-0.933877,-0.353601],[-0.028068,-0.352563,0.935367]]
2025-10-27T18:10:06.108Z,1761588606.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:06.320Z,1761588606.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999310,0.035275,-0.011629],[-0.028681,-0.931801,-0.361835],[-0.023599,-0.361251,0.932170]]
2025-10-27T18:10:06.360Z,1761588606.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:06.612Z,1761588606.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:06.720Z,1761588606.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999822,0.011415,-0.014998],[-0.004988,-0.927614,-0.373507],[-0.018176,-0.373366,0.927506]]
2025-10-27T18:10:06.864Z,1761588606.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:07.116Z,1761588607.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:07.119Z,1761588607.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999774,-0.008783,-0.019370],[0.015596,-0.921981,-0.386920],[-0.014461,-0.387135,0.921910]]
2025-10-27T18:10:07.368Z,1761588607.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:07.525Z,1761588607.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999442,-0.022084,-0.025054],[0.030250,-0.916515,-0.398854],[-0.014154,-0.399389,0.916672]]
2025-10-27T18:10:07.620Z,1761588607.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:07.872Z,1761588607.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:07.935Z,1761588607.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999119,-0.028565,-0.030748],[0.038592,-0.913247,-0.405575],[-0.016495,-0.406404,0.913545]]
2025-10-27T18:10:08.124Z,1761588608.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:08.328Z,1761588608.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998877,-0.031822,-0.035096],[0.043288,-0.914059,-0.403264],[-0.019247,-0.404330,0.914410]]
2025-10-27T18:10:08.376Z,1761588608.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:08.632Z,1761588608.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:08.737Z,1761588608.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998704,-0.035554,-0.036415],[0.047068,-0.917405,-0.395160],[-0.019358,-0.396362,0.917890]]
2025-10-27T18:10:08.830Z,1761588608.830 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:10:08.830Z,1761588608.830 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:10:08.850Z,1761588608.850 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:10:08.855Z,1761588608.855 [marl:UpdateRudder:A] Stopped
2025-10-27T18:10:08.855Z,1761588608.855 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:10:08.855Z,1761588608.855 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:10:08.855Z,1761588608.855 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:10:08.855Z,1761588608.855 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateCommandMode] Stopped
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:10:08.856Z,1761588608.856 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:10:08.857Z,1761588608.857 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:10:08.857Z,1761588608.857 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:10:08.857Z,1761588608.857 [marl:UpdateSpeed] Stopped
2025-10-27T18:10:08.857Z,1761588608.857 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:10:08.880Z,1761588608.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:09.132Z,1761588609.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:09.162Z,1761588609.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998216,-0.046896,-0.036952],[0.057486,-0.922070,-0.382730],[-0.016124,-0.384171,0.923121]]
2025-10-27T18:10:09.226Z,1761588609.226 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:10:09.226Z,1761588609.226 [marl:UpdateRudder:B] Stopped
2025-10-27T18:10:09.226Z,1761588609.226 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:10:09.227Z,1761588609.227 [marl:UpdateRudder] Stopped
2025-10-27T18:10:09.227Z,1761588609.227 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:10:09.384Z,1761588609.384 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:10:09.384Z,1761588609.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:09.566Z,1761588609.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996896,-0.066823,-0.041622],[0.077511,-0.925624,-0.370422],[-0.013774,-0.372499,0.927930]]
2025-10-27T18:10:09.636Z,1761588609.636 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:10:09.637Z,1761588609.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:09.888Z,1761588609.888 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:10:09.889Z,1761588609.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:09.971Z,1761588609.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995067,-0.087146,-0.047409],[0.098448,-0.926413,-0.363410],[-0.012251,-0.366285,0.930422]]
2025-10-27T18:10:10.140Z,1761588610.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:10.374Z,1761588610.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992871,-0.105989,-0.054528],[0.118593,-0.924279,-0.362827],[-0.011943,-0.366707,0.930260]]
2025-10-27T18:10:10.392Z,1761588610.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:10.644Z,1761588610.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:10.871Z,1761588610.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990308,-0.123849,-0.062857],[0.138331,-0.920018,-0.366649],[-0.012420,-0.371790,0.928234]]
2025-10-27T18:10:10.896Z,1761588610.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:11.148Z,1761588611.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:11.278Z,1761588611.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987770,-0.138819,-0.070991],[0.155353,-0.914989,-0.372372],[-0.013264,-0.378847,0.925364]]
2025-10-27T18:10:11.401Z,1761588611.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:11.652Z,1761588611.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:11.678Z,1761588611.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985835,-0.148733,-0.077511],[0.167113,-0.910303,-0.378711],[-0.014232,-0.386300,0.922263]]
2025-10-27T18:10:11.904Z,1761588611.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:12.082Z,1761588612.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984137,-0.156760,-0.083074],[0.176760,-0.906490,-0.383447],[-0.015197,-0.392048,0.919819]]
2025-10-27T18:10:12.156Z,1761588612.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:12.408Z,1761588612.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:12.485Z,1761588612.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982300,-0.165340,-0.088033],[0.186593,-0.904954,-0.382414],[-0.016437,-0.392072,0.919788]]
2025-10-27T18:10:12.660Z,1761588612.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:12.897Z,1761588612.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980170,-0.175584,-0.091855],[0.197410,-0.905506,-0.375618],[-0.017222,-0.386302,0.922212]]
2025-10-27T18:10:12.912Z,1761588612.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:13.165Z,1761588613.165 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:10:12.4036

2025-10-27T18:10:13.165Z,1761588613.165 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:10:13.165Z,1761588613.165 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:13.417Z,1761588613.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:13.437Z,1761588613.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977640,-0.188229,-0.093760],[0.209677,-0.906494,-0.366475],[-0.016011,-0.377940,0.925692]]
2025-10-27T18:10:13.668Z,1761588613.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:13.824Z,1761588613.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974272,-0.204920,-0.093815],[0.225062,-0.906540,-0.357118],[-0.011867,-0.369044,0.929336]]
2025-10-27T18:10:13.921Z,1761588613.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:14.172Z,1761588614.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:14.314Z,1761588614.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963399,-0.248548,-0.100426],[0.268055,-0.897135,-0.351134],[-0.002822,-0.365202,0.930924]]
2025-10-27T18:10:14.424Z,1761588614.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:14.676Z,1761588614.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:14.717Z,1761588614.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957043,-0.269118,-0.107905],[0.289945,-0.888190,-0.356443],[0.000085,-0.372418,0.928065]]
2025-10-27T18:10:14.929Z,1761588614.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:15.117Z,1761588615.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950501,-0.287321,-0.118299],[0.310721,-0.877863,-0.364430],[0.000858,-0.383149,0.923686]]
2025-10-27T18:10:15.180Z,1761588615.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:15.433Z,1761588615.433 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:15.521Z,1761588615.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944992,-0.300588,-0.128984],[0.327093,-0.867654,-0.374416],[0.000632,-0.396010,0.918246]]
2025-10-27T18:10:15.684Z,1761588615.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:15.938Z,1761588615.938 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:15.943Z,1761588615.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940648,-0.311039,-0.135776],[0.339378,-0.859894,-0.381322],[0.001853,-0.404769,0.914417]]
2025-10-27T18:10:16.188Z,1761588616.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:16.331Z,1761588616.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936280,-0.322604,-0.138944],[0.351221,-0.854453,-0.382824],[0.004779,-0.407231,0.913313]]
2025-10-27T18:10:16.441Z,1761588616.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:16.692Z,1761588616.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:16.744Z,1761588616.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930481,-0.338345,-0.140454],[0.366245,-0.850417,-0.377698],[0.008348,-0.402882,0.915214]]
2025-10-27T18:10:16.944Z,1761588616.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:17.138Z,1761588617.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923847,-0.355478,-0.141923],[0.382587,-0.846392,-0.370470],[0.011571,-0.396556,0.917938]]
2025-10-27T18:10:17.196Z,1761588617.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:17.448Z,1761588617.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:17.700Z,1761588617.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:17.954Z,1761588617.954 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:17.955Z,1761588617.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911489,-0.383944,-0.147561],[0.411074,-0.837817,-0.359278],[0.014314,-0.388137,0.921491]]
2025-10-27T18:10:18.208Z,1761588618.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:18.349Z,1761588618.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907238,-0.392446,-0.151346],[0.420382,-0.833955,-0.357488],[0.014079,-0.387950,0.921573]]
2025-10-27T18:10:18.460Z,1761588618.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:18.712Z,1761588618.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:18.759Z,1761588618.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903263,-0.400462,-0.154099],[0.428861,-0.830881,-0.354563],[0.013951,-0.386351,0.922246]]
2025-10-27T18:10:18.964Z,1761588618.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:19.158Z,1761588619.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899021,-0.409550,-0.155017],[0.437636,-0.827868,-0.350869],[0.015364,-0.383280,0.923505]]
2025-10-27T18:10:19.216Z,1761588619.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:19.468Z,1761588619.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:19.565Z,1761588619.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893998,-0.420164,-0.155656],[0.447696,-0.823432,-0.348608],[0.018301,-0.381342,0.924253]]
2025-10-27T18:10:19.720Z,1761588619.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:19.968Z,1761588619.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886887,-0.434369,-0.157338],[0.461451,-0.816506,-0.346959],[0.022241,-0.380317,0.924589]]
2025-10-27T18:10:19.972Z,1761588619.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:20.224Z,1761588620.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:20.370Z,1761588620.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878828,-0.449115,-0.161113],[0.476432,-0.807611,-0.347531],[0.025965,-0.382179,0.923723]]
2025-10-27T18:10:20.476Z,1761588620.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:20.728Z,1761588620.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:20.792Z,1761588620.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871598,-0.460936,-0.166900],[0.489412,-0.798615,-0.350271],[0.028163,-0.386978,0.921659]]
2025-10-27T18:10:20.980Z,1761588620.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:21.188Z,1761588621.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865640,-0.469437,-0.174057],[0.499873,-0.790799,-0.353218],[0.028170,-0.392766,0.919207]]
2025-10-27T18:10:21.232Z,1761588621.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:21.489Z,1761588621.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:21.592Z,1761588621.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860231,-0.476836,-0.180640],[0.509196,-0.784645,-0.353627],[0.026884,-0.396182,0.917778]]
2025-10-27T18:10:21.736Z,1761588621.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:21.988Z,1761588621.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:21.995Z,1761588621.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854277,-0.485368,-0.186087],[0.519194,-0.779176,-0.351172],[0.025454,-0.396614,0.917633]]
2025-10-27T18:10:22.035Z,1761588622.035 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:10:22.035Z,1761588622.035 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:10:22.035Z,1761588622.035 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:10:22.036Z,1761588622.036 [marl:UpdateRudder:A] Stopped
2025-10-27T18:10:22.036Z,1761588622.036 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:10:22.036Z,1761588622.036 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:10:22.036Z,1761588622.036 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:10:22.036Z,1761588622.036 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateCommandMode] Stopped
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:10:22.037Z,1761588622.037 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:10:22.038Z,1761588622.038 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:10:22.038Z,1761588622.038 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:10:22.038Z,1761588622.038 [marl:UpdateSpeed] Stopped
2025-10-27T18:10:22.038Z,1761588622.038 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:10:22.241Z,1761588622.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:22.398Z,1761588622.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847342,-0.495945,-0.189867],[0.530411,-0.772897,-0.348274],[0.025978,-0.395815,0.917963]]
2025-10-27T18:10:22.466Z,1761588622.466 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:10:22.466Z,1761588622.466 [marl:UpdateRudder:B] Stopped
2025-10-27T18:10:22.466Z,1761588622.466 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:10:22.466Z,1761588622.466 [marl:UpdateRudder] Stopped
2025-10-27T18:10:22.466Z,1761588622.466 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:10:22.492Z,1761588622.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:22.744Z,1761588622.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:22.856Z,1761588622.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839576,-0.508616,-0.190842],[0.542415,-0.765494,-0.346129],[0.029959,-0.394117,0.918572]]
2025-10-27T18:10:22.997Z,1761588622.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:23.208Z,1761588623.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831233,-0.522165,-0.190774],[0.554707,-0.756364,-0.346718],[0.036750,-0.394027,0.918364]]
2025-10-27T18:10:23.248Z,1761588623.248 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:10:23.248Z,1761588623.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:23.500Z,1761588623.500 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:10:23.500Z,1761588623.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:23.752Z,1761588623.752 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:10:23.753Z,1761588623.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:24.004Z,1761588624.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:24.016Z,1761588624.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815026,-0.547941,-0.188394],[0.577325,-0.740299,-0.344462],[0.049277,-0.389510,0.919703]]
2025-10-27T18:10:24.256Z,1761588624.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:24.433Z,1761588624.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808795,-0.558436,-0.184391],[0.585949,-0.738483,-0.333626],[0.050139,-0.377879,0.924497]]
2025-10-27T18:10:24.513Z,1761588624.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:24.764Z,1761588624.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:24.857Z,1761588624.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805986,-0.565635,-0.174482],[0.590129,-0.744816,-0.311444],[0.046207,-0.353986,0.934108]]
2025-10-27T18:10:25.016Z,1761588625.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:25.225Z,1761588625.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808522,-0.567236,-0.156641],[0.587127,-0.759630,-0.279720],[0.039679,-0.318128,0.947217]]
2025-10-27T18:10:25.268Z,1761588625.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:25.521Z,1761588625.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:25.630Z,1761588625.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815039,-0.563714,-0.133933],[0.578523,-0.778999,-0.241810],[0.031978,-0.274568,0.961036]]
2025-10-27T18:10:25.775Z,1761588625.775 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:26.024Z,1761588626.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:26.039Z,1761588626.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824847,-0.554805,-0.108710],[0.564786,-0.800014,-0.202472],[0.025363,-0.228406,0.973235]]
2025-10-27T18:10:26.276Z,1761588626.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:26.442Z,1761588626.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835887,-0.542575,-0.083100],[0.548494,-0.819806,-0.164537],[0.021148,-0.183115,0.982864]]
2025-10-27T18:10:26.528Z,1761588626.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:26.780Z,1761588626.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:26.863Z,1761588626.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846948,-0.528402,-0.058905],[0.531307,-0.837026,-0.130768],[0.019793,-0.142051,0.989661]]
2025-10-27T18:10:27.033Z,1761588627.033 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:10:26.2535

2025-10-27T18:10:27.034Z,1761588627.034 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:10:27.034Z,1761588627.034 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:27.245Z,1761588627.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856667,-0.514630,-0.035742],[0.515425,-0.850998,-0.100695],[0.021404,-0.104685,0.994275]]
2025-10-27T18:10:27.284Z,1761588627.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:27.537Z,1761588627.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:27.788Z,1761588627.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:28.040Z,1761588628.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:28.292Z,1761588628.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:28.458Z,1761588628.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881519,-0.471879,0.015973],[0.470811,-0.881063,-0.045449],[0.035520,-0.032544,0.998839]]
2025-10-27T18:10:28.544Z,1761588628.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:28.798Z,1761588628.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:28.867Z,1761588628.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890430,-0.454456,0.024589],[0.453476,-0.890506,-0.036861],[0.038649,-0.021672,0.999018]]
2025-10-27T18:10:29.054Z,1761588629.054 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:29.265Z,1761588629.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899240,-0.436541,0.028259],[0.435828,-0.899591,-0.028096],[0.037686,-0.012949,0.999206]]
2025-10-27T18:10:29.300Z,1761588629.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:29.552Z,1761588629.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:29.671Z,1761588629.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907621,-0.418909,0.027196],[0.418509,-0.908007,-0.019311],[0.032784,-0.006145,0.999444]]
2025-10-27T18:10:29.804Z,1761588629.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:30.056Z,1761588630.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:30.074Z,1761588630.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915237,-0.402258,0.023010],[0.402150,-0.915526,-0.009344],[0.024824,0.000702,0.999692]]
2025-10-27T18:10:30.199Z,1761588630.199 [Radio_Surface](INFO): Powering down
2025-10-27T18:10:30.308Z,1761588630.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:30.478Z,1761588630.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922520,-0.385531,0.017955],[0.385577,-0.922675,-0.000970],[0.016941,0.006028,0.999838]]
2025-10-27T18:10:30.564Z,1761588630.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:30.818Z,1761588630.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:30.882Z,1761588630.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929870,-0.367608,0.014363],[0.367673,-0.929953,0.002098],[0.012586,0.007232,0.999895]]
2025-10-27T18:10:30.904Z,1761588630.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:10:31.068Z,1761588631.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:31.288Z,1761588631.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936273,-0.351004,0.013725],[0.351059,-0.936352,0.001762],[0.012233,0.006468,0.999904]]
2025-10-27T18:10:31.320Z,1761588631.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:31.572Z,1761588631.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:31.824Z,1761588631.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:31.909Z,1761588631.909 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T18:10:31.909Z,1761588631.909 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:10:32.076Z,1761588632.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:32.094Z,1761588632.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947156,-0.319845,0.024370],[0.319761,-0.947470,-0.007358],[0.025443,0.000823,0.999676]]
2025-10-27T18:10:32.328Z,1761588632.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:32.498Z,1761588632.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952739,-0.301921,0.033643],[0.301546,-0.953320,-0.015839],[0.036855,-0.004945,0.999308]]
2025-10-27T18:10:32.580Z,1761588632.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:32.836Z,1761588632.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:33.084Z,1761588633.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:33.306Z,1761588633.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964435,-0.259311,0.051209],[0.258096,-0.965679,-0.029173],[0.057017,-0.014919,0.998262]]
2025-10-27T18:10:33.336Z,1761588633.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:33.588Z,1761588633.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:33.710Z,1761588633.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968854,-0.240852,0.057543],[0.239493,-0.970448,-0.029554],[0.062960,-0.014852,0.997905]]
2025-10-27T18:10:33.840Z,1761588633.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:34.092Z,1761588634.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:34.114Z,1761588634.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972189,-0.225848,0.061975],[0.224442,-0.974059,-0.028878],[0.066889,-0.014165,0.997660]]
2025-10-27T18:10:34.344Z,1761588634.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:34.520Z,1761588634.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974874,-0.212950,0.065372],[0.211491,-0.976962,-0.028572],[0.069950,-0.014029,0.997452]]
2025-10-27T18:10:34.597Z,1761588634.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:34.850Z,1761588634.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:34.930Z,1761588634.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976975,-0.201905,0.068957],[0.200300,-0.979290,-0.029520],[0.073489,-0.015028,0.997183]]
2025-10-27T18:10:34.974Z,1761588634.974 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:10:34.974Z,1761588634.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:10:34.974Z,1761588634.974 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:10:34.975Z,1761588634.975 [marl:UpdateRudder:A] Stopped
2025-10-27T18:10:34.975Z,1761588634.975 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:10:34.975Z,1761588634.975 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode] Stopped
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:10:34.976Z,1761588634.976 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed] Stopped
2025-10-27T18:10:34.977Z,1761588634.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:10:35.100Z,1761588635.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:35.326Z,1761588635.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978493,-0.192590,0.073891],[0.190682,-0.981126,-0.032124],[0.078683,-0.017343,0.996749]]
2025-10-27T18:10:35.352Z,1761588635.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:35.387Z,1761588635.387 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:10:35.387Z,1761588635.387 [marl:UpdateRudder:B] Stopped
2025-10-27T18:10:35.387Z,1761588635.387 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:10:35.387Z,1761588635.387 [marl:UpdateRudder] Stopped
2025-10-27T18:10:35.388Z,1761588635.388 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:10:35.604Z,1761588635.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:35.740Z,1761588635.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979344,-0.185335,0.080841],[0.183025,-0.982479,-0.035172],[0.085943,-0.019649,0.996106]]
2025-10-27T18:10:35.866Z,1761588635.866 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:36.116Z,1761588636.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:36.137Z,1761588636.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980051,-0.177520,0.089368],[0.174879,-0.983909,-0.036618],[0.094431,-0.020259,0.995325]]
2025-10-27T18:10:36.368Z,1761588636.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:36.538Z,1761588636.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981095,-0.166556,0.098549],[0.163227,-0.985737,-0.040989],[0.103970,-0.024128,0.994288]]
2025-10-27T18:10:36.621Z,1761588636.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:36.872Z,1761588636.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:36.942Z,1761588636.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982426,-0.152369,0.107813],[0.148323,-0.987930,-0.044650],[0.113315,-0.027874,0.993168]]
2025-10-27T18:10:37.124Z,1761588637.124 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:10:37.124Z,1761588637.124 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:10:37.124Z,1761588637.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:37.354Z,1761588637.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984065,-0.135433,0.115216],[0.131040,-0.990359,-0.044916],[0.120188,-0.029102,0.992324]]
2025-10-27T18:10:37.376Z,1761588637.376 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:10:37.377Z,1761588637.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:37.628Z,1761588637.628 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:10:37.628Z,1761588637.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:37.766Z,1761588637.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985985,-0.117487,0.118450],[0.113287,-0.992690,-0.041614],[0.122473,-0.027612,0.992088]]
2025-10-27T18:10:37.880Z,1761588637.880 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:10:37.880Z,1761588637.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:38.132Z,1761588638.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:38.165Z,1761588638.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988105,-0.099661,0.117114],[0.096074,-0.994727,-0.035900],[0.120074,-0.024221,0.992469]]
2025-10-27T18:10:38.385Z,1761588638.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:38.565Z,1761588638.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990329,-0.079784,0.113505],[0.076737,-0.996570,-0.030972],[0.115587,-0.021963,0.993054]]
2025-10-27T18:10:38.636Z,1761588638.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:38.889Z,1761588638.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:38.970Z,1761588638.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992063,-0.057432,0.111857],[0.054981,-0.998177,-0.024881],[0.113082,-0.018533,0.993413]]
2025-10-27T18:10:39.140Z,1761588639.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:39.393Z,1761588639.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:39.414Z,1761588639.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993047,-0.036609,0.111885],[0.034732,-0.999222,-0.018674],[0.112482,-0.014659,0.993546]]
2025-10-27T18:10:39.644Z,1761588639.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:39.896Z,1761588639.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:40.148Z,1761588640.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:40.204Z,1761588640.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992762,0.003934,0.120031],[-0.004440,-0.999982,-0.003946],[0.120013,-0.004450,0.992762]]
2025-10-27T18:10:40.401Z,1761588640.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:40.614Z,1761588640.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991444,0.026321,0.127847],[-0.026195,-0.999653,0.002668],[0.127873,-0.000704,0.991790]]
2025-10-27T18:10:40.654Z,1761588640.654 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:40.904Z,1761588640.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:41.009Z,1761588641.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989576,0.047726,0.135871],[-0.046927,-0.998857,0.009079],[0.136149,0.002608,0.990685]]
2025-10-27T18:10:41.159Z,1761588641.159 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:10:40.4034

2025-10-27T18:10:41.159Z,1761588641.159 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:10:41.160Z,1761588641.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:41.409Z,1761588641.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:41.420Z,1761588641.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988048,0.059720,0.142107],[-0.058202,-0.998195,0.014813],[0.142735,0.006365,0.989740]]
2025-10-27T18:10:41.660Z,1761588641.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:41.822Z,1761588641.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986441,0.071592,0.147681],[-0.070019,-0.997420,0.015829],[0.148433,0.005274,0.988908]]
2025-10-27T18:10:41.912Z,1761588641.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:42.164Z,1761588642.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:42.222Z,1761588642.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984900,0.083835,0.151473],[-0.082682,-0.996479,0.013905],[0.152106,0.001171,0.988364]]
2025-10-27T18:10:42.416Z,1761588642.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:42.628Z,1761588642.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983489,0.095568,0.153679],[-0.095289,-0.995407,0.009199],[0.153852,-0.005597,0.988078]]
2025-10-27T18:10:42.669Z,1761588642.669 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:42.920Z,1761588642.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:43.029Z,1761588643.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982152,0.107280,0.154497],[-0.107818,-0.994159,0.004920],[0.154122,-0.011826,0.987981]]
2025-10-27T18:10:43.172Z,1761588643.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:43.424Z,1761588643.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:43.436Z,1761588643.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980650,0.120410,0.154357],[-0.121647,-0.992572,0.001441],[0.153384,-0.017364,0.988014]]
2025-10-27T18:10:43.676Z,1761588643.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:43.837Z,1761588643.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978250,0.138995,0.153972],[-0.140513,-0.990078,0.001035],[0.152589,-0.020623,0.988075]]
2025-10-27T18:10:43.928Z,1761588643.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:44.180Z,1761588644.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:44.241Z,1761588644.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974983,0.161249,0.152993],[-0.162691,-0.986672,0.003134],[0.151459,-0.021835,0.988222]]
2025-10-27T18:10:44.432Z,1761588644.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:44.649Z,1761588644.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971190,0.184224,0.151166],[-0.184972,-0.982700,0.009224],[0.150251,-0.019003,0.988465]]
2025-10-27T18:10:44.684Z,1761588644.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:44.937Z,1761588644.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:45.051Z,1761588645.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967051,0.206509,0.148886],[-0.206068,-0.978362,0.018553],[0.149496,-0.012739,0.988680]]
2025-10-27T18:10:45.188Z,1761588645.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:45.440Z,1761588645.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:45.692Z,1761588645.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:45.945Z,1761588645.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:46.196Z,1761588646.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:46.262Z,1761588646.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953026,0.264336,0.147878],[-0.260537,-0.964421,0.044855],[0.154473,0.004221,0.987988]]
2025-10-27T18:10:46.448Z,1761588646.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:46.676Z,1761588646.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942852,0.294890,0.155149],[-0.290482,-0.955527,0.050878],[0.163252,0.002902,0.986580]]
2025-10-27T18:10:46.700Z,1761588646.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:46.952Z,1761588646.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:47.204Z,1761588647.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:47.456Z,1761588647.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:47.480Z,1761588647.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934346,0.315573,0.165562],[-0.310891,-0.948901,0.054164],[0.174195,-0.000864,0.984711]]
2025-10-27T18:10:47.708Z,1761588647.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:47.894Z,1761588647.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930676,0.323391,0.171054],[-0.318778,-0.946258,0.054560],[0.179506,-0.003750,0.983750]]
2025-10-27T18:10:47.960Z,1761588647.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:48.212Z,1761588648.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:48.287Z,1761588648.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926807,0.331420,0.176609],[-0.327205,-0.943447,0.053343],[0.184300,-0.008349,0.982835]]
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateRudder:A] Stopped
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:10:48.334Z,1761588648.334 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:10:48.335Z,1761588648.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:10:48.335Z,1761588648.335 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:10:48.335Z,1761588648.335 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:10:48.335Z,1761588648.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:10:48.335Z,1761588648.335 [marl:UpdateCommandMode] Stopped
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed] Stopped
2025-10-27T18:10:48.336Z,1761588648.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:10:48.464Z,1761588648.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:48.692Z,1761588648.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922877,0.339564,0.181642],[-0.336075,-0.940474,0.050621],[0.188018,-0.014328,0.982061]]
2025-10-27T18:10:48.716Z,1761588648.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:48.753Z,1761588648.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:10:48.753Z,1761588648.753 [marl:UpdateRudder:B] Stopped
2025-10-27T18:10:48.754Z,1761588648.754 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:10:48.754Z,1761588648.754 [marl:UpdateRudder] Stopped
2025-10-27T18:10:48.754Z,1761588648.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:10:48.968Z,1761588648.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:49.149Z,1761588649.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918947,0.348015,0.185533],[-0.345820,-0.937215,0.045139],[0.189593,-0.022681,0.981601]]
2025-10-27T18:10:49.237Z,1761588649.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:49.488Z,1761588649.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:49.513Z,1761588649.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914640,0.358340,0.187155],[-0.357385,-0.933100,0.040012],[0.188972,-0.030290,0.981515]]
2025-10-27T18:10:49.741Z,1761588649.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:49.992Z,1761588649.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:50.245Z,1761588650.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:50.323Z,1761588650.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904414,0.385939,0.181897],[-0.386299,-0.921713,0.034912],[0.181130,-0.038692,0.982698]]
2025-10-27T18:10:50.496Z,1761588650.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:50.748Z,1761588650.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:50.000Z,1761588651.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:51.129Z,1761588651.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888330,0.428409,0.165335],[-0.427609,-0.902976,0.042253],[0.167395,-0.033165,0.985332]]
2025-10-27T18:10:51.252Z,1761588651.252 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:10:51.252Z,1761588651.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:51.504Z,1761588651.504 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:10:51.504Z,1761588651.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:51.537Z,1761588651.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877959,0.453989,0.151928],[-0.451774,-0.890684,0.050819],[0.158391,-0.024020,0.987084]]
2025-10-27T18:10:51.757Z,1761588651.757 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:10:51.758Z,1761588651.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:51.940Z,1761588651.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866816,0.480022,0.134937],[-0.476251,-0.877184,0.061109],[0.147699,-0.011293,0.988968]]
2025-10-27T18:10:52.008Z,1761588652.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:52.260Z,1761588652.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:52.342Z,1761588652.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855833,0.504701,0.113255],[-0.499225,-0.863264,0.074489],[0.135363,0.007211,0.990770]]
2025-10-27T18:10:52.512Z,1761588652.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:52.753Z,1761588652.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845997,0.525280,0.091492],[-0.518932,-0.850579,0.085003],[0.122472,0.024434,0.992171]]
2025-10-27T18:10:52.764Z,1761588652.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:53.017Z,1761588653.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:53.151Z,1761588653.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838166,0.540406,0.073746],[-0.534092,-0.840636,0.089863],[0.110556,0.035933,0.993220]]
2025-10-27T18:10:53.268Z,1761588653.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:53.520Z,1761588653.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:53.553Z,1761588653.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832634,0.550224,0.063034],[-0.544465,-0.834081,0.088695],[0.101378,0.039531,0.994062]]
2025-10-27T18:10:53.772Z,1761588653.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:53.957Z,1761588653.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829563,0.555184,0.059970],[-0.550186,-0.830980,0.082264],[0.095506,0.035249,0.994805]]
2025-10-27T18:10:54.024Z,1761588654.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:54.280Z,1761588654.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:54.528Z,1761588654.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:54.738Z,1761588654.738 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:10:54.738Z,1761588654.738 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:10:54.780Z,1761588654.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:54.817Z,1761588654.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827499,0.557369,0.067708],[-0.554312,-0.830183,0.059458],[0.089349,0.011670,0.995932]]
2025-10-27T18:10:55.032Z,1761588655.032 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:10:54.3033

2025-10-27T18:10:55.033Z,1761588655.033 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:10:55.033Z,1761588655.033 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:55.216Z,1761588655.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825971,0.559032,0.072493],[-0.556988,-0.829146,0.047770],[0.086812,-0.000921,0.996224]]
2025-10-27T18:10:55.284Z,1761588655.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:55.536Z,1761588655.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:55.618Z,1761588655.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822558,0.563802,0.074333],[-0.562441,-0.825863,0.040129],[0.084014,-0.008799,0.996426]]
2025-10-27T18:10:55.647Z,1761588655.647 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:10:55.789Z,1761588655.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:56.024Z,1761588656.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815222,0.574221,0.075381],[-0.573469,-0.818544,0.033441],[0.080905,-0.015967,0.996594]]
2025-10-27T18:10:56.040Z,1761588656.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:56.292Z,1761588656.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:56.425Z,1761588656.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804460,0.589270,0.074868],[-0.588880,-0.807680,0.029541],[0.077877,-0.020324,0.996756]]
2025-10-27T18:10:56.544Z,1761588656.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:56.800Z,1761588656.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:56.874Z,1761588656.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791156,0.607250,0.072940],[-0.607035,-0.794194,0.027632],[0.074708,-0.022416,0.996953]]
2025-10-27T18:10:57.048Z,1761588657.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:57.234Z,1761588657.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776017,0.626914,0.069118],[-0.626726,-0.778769,0.027081],[0.070805,-0.022303,0.997241]]
2025-10-27T18:10:57.300Z,1761588657.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:57.552Z,1761588657.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:57.639Z,1761588657.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759977,0.647030,0.061542],[-0.646648,-0.762251,0.028634],[0.065438,-0.018035,0.997694]]
2025-10-27T18:10:57.804Z,1761588657.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:58.042Z,1761588658.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744381,0.665686,0.052527],[-0.665136,-0.746124,0.029886],[0.059086,-0.012691,0.998172]]
2025-10-27T18:10:58.056Z,1761588658.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:58.308Z,1761588658.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:58.446Z,1761588658.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732763,0.679128,0.042930],[-0.678408,-0.733997,0.031807],[0.053111,-0.005818,0.998572]]
2025-10-27T18:10:58.560Z,1761588658.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:58.815Z,1761588658.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:58.887Z,1761588658.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723629,0.689230,0.036376],[-0.688469,-0.724541,0.032418],[0.048699,-0.001585,0.998812]]
2025-10-27T18:10:59.064Z,1761588659.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:59.254Z,1761588659.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714206,0.699174,0.032656],[-0.698475,-0.714952,0.031252],[0.045198,-0.000489,0.998978]]
2025-10-27T18:10:59.316Z,1761588659.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:59.568Z,1761588659.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:10:59.659Z,1761588659.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702641,0.710854,0.031323],[-0.710203,-0.703339,0.030434],[0.043665,-0.000861,0.999046]]
2025-10-27T18:10:59.820Z,1761588659.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:00.062Z,1761588660.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688841,0.724150,0.033248],[-0.723554,-0.689633,0.029597],[0.044361,-0.003669,0.999009]]
2025-10-27T18:11:00.072Z,1761588660.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:00.324Z,1761588660.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:00.465Z,1761588660.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672937,0.738891,0.034579],[-0.738229,-0.673811,0.031563],[0.046621,-0.004287,0.998903]]
2025-10-27T18:11:00.576Z,1761588660.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:00.830Z,1761588660.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:01.080Z,1761588661.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:01.274Z,1761588661.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635691,0.771325,0.030899],[-0.770318,-0.636440,0.039420],[0.050071,0.001257,0.998745]]
2025-10-27T18:11:01.332Z,1761588661.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:01.584Z,1761588661.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:01.679Z,1761588661.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615562,0.787771,0.022374],[-0.786562,-0.615888,0.044746],[0.049030,0.009946,0.998748]]
2025-10-27T18:11:01.708Z,1761588661.708 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:11:01.708Z,1761588661.708 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:11:01.708Z,1761588661.708 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:11:01.708Z,1761588661.708 [marl:UpdateRudder:A] Stopped
2025-10-27T18:11:01.708Z,1761588661.708 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode] Stopped
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:11:01.709Z,1761588661.709 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed] Stopped
2025-10-27T18:11:01.710Z,1761588661.710 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:11:01.836Z,1761588661.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:02.039Z,1761588662.039 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:11:02.081Z,1761588662.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595929,0.802964,0.010873],[-0.801744,-0.595683,0.048675],[0.045561,0.020289,0.998756]]
2025-10-27T18:11:02.088Z,1761588662.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:02.126Z,1761588662.126 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:11:02.126Z,1761588662.126 [marl:UpdateRudder:B] Stopped
2025-10-27T18:11:02.126Z,1761588662.126 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:11:02.126Z,1761588662.126 [marl:UpdateRudder] Stopped
2025-10-27T18:11:02.126Z,1761588662.126 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:11:02.340Z,1761588662.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:02.485Z,1761588662.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578885,0.815409,-0.000758],[-0.814411,-0.578130,0.049997],[0.040329,0.029560,0.998749]]
2025-10-27T18:11:02.592Z,1761588662.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:02.848Z,1761588662.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:02.892Z,1761588662.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565519,0.824691,-0.008497],[-0.824024,-0.564574,0.047337],[0.034241,0.033772,0.998843]]
2025-10-27T18:11:03.044Z,1761588663.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:11:03.096Z,1761588663.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:03.298Z,1761588663.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555563,0.831387,-0.012055],[-0.830991,-0.554687,0.042136],[0.028344,0.033427,0.999039]]
2025-10-27T18:11:03.350Z,1761588663.350 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:03.601Z,1761588663.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:03.834Z,1761588663.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548520,0.836081,-0.009720],[-0.835795,-0.547926,0.034977],[0.023918,0.027309,0.999341]]
2025-10-27T18:11:03.853Z,1761588663.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:04.104Z,1761588664.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:04.236Z,1761588664.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543495,0.839407,-0.002994],[-0.839134,-0.543219,0.027725],[0.021647,0.017581,0.999611]]
2025-10-27T18:11:04.356Z,1761588664.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:04.608Z,1761588664.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:04.640Z,1761588664.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540086,0.841585,0.006451],[-0.841326,-0.540087,0.021837],[0.021862,0.006366,0.999741]]
2025-10-27T18:11:04.861Z,1761588664.861 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:05.041Z,1761588665.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538536,0.842362,0.020103],[-0.842242,-0.538850,0.016371],[0.024623,-0.008116,0.999664]]
2025-10-27T18:11:05.112Z,1761588665.112 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:11:05.112Z,1761588665.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:05.365Z,1761588665.365 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:11:05.366Z,1761588665.366 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:05.446Z,1761588665.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540219,0.840553,0.040434],[-0.841000,-0.540955,0.009336],[0.029720,-0.028961,0.999139]]
2025-10-27T18:11:05.616Z,1761588665.616 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:11:05.616Z,1761588665.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:05.869Z,1761588665.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:05.879Z,1761588665.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545541,0.835328,0.067914],[-0.837276,-0.546780,-0.000417],[0.036786,-0.057090,0.997691]]
2025-10-27T18:11:06.120Z,1761588666.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:06.254Z,1761588666.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554410,0.825840,0.103044],[-0.831027,-0.556031,-0.014921],[0.044973,-0.093904,0.994565]]
2025-10-27T18:11:06.373Z,1761588666.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:06.624Z,1761588666.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:06.776Z,1761588666.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573206,0.794861,0.199076],[-0.817144,-0.572554,-0.066763],[0.060914,-0.200943,0.977707]]
2025-10-27T18:11:06.876Z,1761588666.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:07.128Z,1761588667.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:07.322Z,1761588667.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581004,0.774840,0.249113],[-0.810970,-0.577079,-0.096475],[0.069006,-0.258075,0.963657]]
2025-10-27T18:11:07.380Z,1761588667.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:07.632Z,1761588667.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:07.785Z,1761588667.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589279,0.752702,0.293582],[-0.804107,-0.581708,-0.122591],[0.078504,-0.308311,0.948041]]
2025-10-27T18:11:07.884Z,1761588667.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:08.136Z,1761588668.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:08.181Z,1761588668.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596601,0.731303,0.330549],[-0.797635,-0.585782,-0.143658],[0.088572,-0.349364,0.932792]]
2025-10-27T18:11:08.388Z,1761588668.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:08.586Z,1761588668.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602957,0.711298,0.361244],[-0.791706,-0.589253,-0.161194],[0.098208,-0.383192,0.918433]]
2025-10-27T18:11:08.640Z,1761588668.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:08.892Z,1761588668.892 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:11:08.1532

2025-10-27T18:11:08.893Z,1761588668.893 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:11:08.893Z,1761588668.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:09.135Z,1761588669.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614289,0.681903,0.397060],[-0.781074,-0.596967,-0.183175],[0.112124,-0.422656,0.899328]]
2025-10-27T18:11:09.144Z,1761588669.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:09.397Z,1761588669.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:09.648Z,1761588669.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:09.666Z,1761588669.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620150,0.675230,0.399348],[-0.775716,-0.603711,-0.183842],[0.116955,-0.423790,0.898178]]
2025-10-27T18:11:09.901Z,1761588669.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:10.087Z,1761588670.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626929,0.671080,0.395742],[-0.769560,-0.612579,-0.180346],[0.121397,-0.417611,0.900480]]
2025-10-27T18:11:10.152Z,1761588670.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:10.408Z,1761588670.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:10.539Z,1761588670.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635954,0.666817,0.388482],[-0.761281,-0.624608,-0.174114],[0.126547,-0.406473,0.904857]]
2025-10-27T18:11:10.656Z,1761588670.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:10.908Z,1761588670.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:10.937Z,1761588670.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647657,0.659773,0.381104],[-0.750282,-0.639377,-0.168147],[0.132730,-0.394837,0.909113]]
2025-10-27T18:11:11.160Z,1761588671.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:11.352Z,1761588671.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662580,0.648071,0.375489],[-0.735902,-0.656599,-0.165308],[0.139414,-0.385853,0.911966]]
2025-10-27T18:11:11.412Z,1761588671.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:11.665Z,1761588671.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:11.757Z,1761588671.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679084,0.632497,0.372549],[-0.719467,-0.674189,-0.166840],[0.145642,-0.381335,0.912892]]
2025-10-27T18:11:11.916Z,1761588671.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:12.151Z,1761588672.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695504,0.615260,0.371119],[-0.702532,-0.690654,-0.171596],[0.150739,-0.380070,0.912592]]
2025-10-27T18:11:12.168Z,1761588672.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:12.420Z,1761588672.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:12.554Z,1761588672.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711154,0.597455,0.370551],[-0.685761,-0.705628,-0.178383],[0.154895,-0.380967,0.911522]]
2025-10-27T18:11:12.672Z,1761588672.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:12.924Z,1761588672.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:12.957Z,1761588672.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726161,0.579158,0.370495],[-0.668993,-0.719490,-0.186503],[0.158552,-0.383290,0.909918]]
2025-10-27T18:11:13.176Z,1761588673.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:13.370Z,1761588673.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740567,0.560776,0.370257],[-0.652201,-0.732523,-0.195047],[0.161844,-0.385927,0.908222]]
2025-10-27T18:11:13.428Z,1761588673.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:13.680Z,1761588673.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:13.765Z,1761588673.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754417,0.542539,0.369467],[-0.635335,-0.744989,-0.203325],[0.164937,-0.388127,0.906727]]
2025-10-27T18:11:13.932Z,1761588673.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:14.165Z,1761588674.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765829,0.526502,0.369189],[-0.620661,-0.755368,-0.210238],[0.168183,-0.390147,0.905262]]
2025-10-27T18:11:14.184Z,1761588674.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:14.436Z,1761588674.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:14.570Z,1761588674.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774088,0.513419,0.370389],[-0.609337,-0.762952,-0.215899],[0.171742,-0.392817,0.903438]]
2025-10-27T18:11:14.688Z,1761588674.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:14.940Z,1761588674.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:14.977Z,1761588674.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780345,0.502420,0.372338],[-0.600275,-0.768721,-0.220768],[0.175306,-0.395780,0.901458]]
2025-10-27T18:11:15.192Z,1761588675.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:15.377Z,1761588675.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785553,0.493315,0.373559],[-0.592385,-0.774011,-0.223577],[0.178845,-0.396922,0.900259]]
2025-10-27T18:11:15.444Z,1761588675.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:15.696Z,1761588675.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:15.825Z,1761588675.825 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:11:15.826Z,1761588675.826 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:11:15.826Z,1761588675.826 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:11:15.826Z,1761588675.826 [marl:UpdateRudder:A] Stopped
2025-10-27T18:11:15.827Z,1761588675.827 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:11:15.827Z,1761588675.827 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:11:15.827Z,1761588675.827 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:11:15.828Z,1761588675.828 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:11:15.828Z,1761588675.828 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:11:15.829Z,1761588675.829 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:11:15.829Z,1761588675.829 [marl:UpdateCommandMode] Stopped
2025-10-27T18:11:15.829Z,1761588675.829 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:11:15.829Z,1761588675.829 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:11:15.830Z,1761588675.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:11:15.830Z,1761588675.830 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:11:15.830Z,1761588675.830 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:11:15.831Z,1761588675.831 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:11:15.831Z,1761588675.831 [marl:UpdateSpeed] Stopped
2025-10-27T18:11:15.832Z,1761588675.832 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:11:15.949Z,1761588675.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:16.185Z,1761588676.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795174,0.476681,0.374798],[-0.577508,-0.783784,-0.228401],[0.184886,-0.398068,0.898532]]
2025-10-27T18:11:16.200Z,1761588676.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:16.217Z,1761588676.217 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:11:16.218Z,1761588676.218 [marl:UpdateRudder:B] Stopped
2025-10-27T18:11:16.218Z,1761588676.218 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:11:16.218Z,1761588676.218 [marl:UpdateRudder] Stopped
2025-10-27T18:11:16.218Z,1761588676.218 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:11:16.452Z,1761588676.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:16.589Z,1761588676.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800133,0.470185,0.372442],[-0.569874,-0.789635,-0.227419],[0.187164,-0.394211,0.899760]]
2025-10-27T18:11:16.705Z,1761588676.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:16.956Z,1761588676.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:17.208Z,1761588677.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:17.401Z,1761588677.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813282,0.452579,0.365711],[-0.549671,-0.803745,-0.227719],[0.190878,-0.386220,0.902441]]
2025-10-27T18:11:17.460Z,1761588677.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:17.716Z,1761588677.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:17.802Z,1761588677.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822533,0.440018,0.360311],[-0.535129,-0.813313,-0.228382],[0.192554,-0.380665,0.904443]]
2025-10-27T18:11:17.964Z,1761588677.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:18.217Z,1761588678.217 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:18.297Z,1761588678.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832879,0.425114,0.354389],[-0.518212,-0.823849,-0.229628],[0.194345,-0.374901,0.906465]]
2025-10-27T18:11:18.469Z,1761588678.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:18.720Z,1761588678.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:18.972Z,1761588678.972 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:11:18.973Z,1761588678.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:19.137Z,1761588679.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864676,0.369944,0.339819],[-0.460911,-0.853279,-0.243875],[0.199740,-0.367500,0.908321]]
2025-10-27T18:11:19.224Z,1761588679.224 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:11:19.224Z,1761588679.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:19.476Z,1761588679.476 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:11:19.476Z,1761588679.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:19.538Z,1761588679.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874104,0.350631,0.336155],[-0.442329,-0.860553,-0.252576],[0.200718,-0.369468,0.907307]]
2025-10-27T18:11:19.728Z,1761588679.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:19.947Z,1761588679.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882418,0.332561,0.332779],[-0.425312,-0.866270,-0.262080],[0.201119,-0.372799,0.905855]]
2025-10-27T18:11:19.980Z,1761588679.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:20.232Z,1761588680.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:20.353Z,1761588680.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889479,0.316471,0.329655],[-0.410519,-0.870279,-0.272194],[0.200750,-0.377440,0.904012]]
2025-10-27T18:11:20.484Z,1761588680.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:20.736Z,1761588680.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:20.760Z,1761588680.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895179,0.302938,0.326930],[-0.398267,-0.872976,-0.281597],[0.200096,-0.382285,0.902120]]
2025-10-27T18:11:20.988Z,1761588680.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:21.185Z,1761588681.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900043,0.291315,0.324127],[-0.387610,-0.875074,-0.289834],[0.199202,-0.386498,0.900521]]
2025-10-27T18:11:21.240Z,1761588681.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:21.492Z,1761588681.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:21.586Z,1761588681.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904505,0.281801,0.320091],[-0.377798,-0.877673,-0.294889],[0.197835,-0.387658,0.900323]]
2025-10-27T18:11:21.744Z,1761588681.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:21.996Z,1761588681.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:22.002Z,1761588682.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909029,0.272973,0.314885],[-0.367652,-0.881074,-0.297558],[0.196212,-0.386257,0.901280]]
2025-10-27T18:11:22.248Z,1761588682.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:22.500Z,1761588682.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:22.502Z,1761588682.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913607,0.264250,0.309020],[-0.356978,-0.885137,-0.298494],[0.194648,-0.383020,0.902999]]
2025-10-27T18:11:22.753Z,1761588682.753 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:11:22.0032

2025-10-27T18:11:22.753Z,1761588682.753 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:11:22.754Z,1761588682.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:22.902Z,1761588682.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918512,0.254889,0.302270],[-0.344874,-0.890365,-0.297174],[0.193384,-0.377203,0.905716]]
2025-10-27T18:11:23.004Z,1761588683.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:23.256Z,1761588683.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:23.416Z,1761588683.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923594,0.244818,0.295023],[-0.331882,-0.895803,-0.295620],[0.191909,-0.370946,0.908609]]
2025-10-27T18:11:23.513Z,1761588683.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:23.760Z,1761588683.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:23.832Z,1761588683.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929141,0.233297,0.286828],[-0.317096,-0.901762,-0.293726],[0.190125,-0.363865,0.911841]]
2025-10-27T18:11:24.012Z,1761588684.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:24.264Z,1761588684.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:24.516Z,1761588684.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:24.625Z,1761588684.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940680,0.205886,0.269688],[-0.284444,-0.911844,-0.296027],[0.184966,-0.355178,0.916317]]
2025-10-27T18:11:24.768Z,1761588684.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:25.020Z,1761588685.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:25.099Z,1761588685.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946757,0.189440,0.260314],[-0.265640,-0.916478,-0.299172],[0.181897,-0.352393,0.918005]]
2025-10-27T18:11:25.273Z,1761588685.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:25.524Z,1761588685.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:25.550Z,1761588685.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958668,0.151464,0.240860],[-0.223679,-0.924389,-0.308986],[0.175848,-0.350090,0.920062]]
2025-10-27T18:11:25.776Z,1761588685.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:25.956Z,1761588685.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964095,0.130713,0.231161],[-0.201467,-0.927121,-0.316002],[0.173009,-0.351227,0.920167]]
2025-10-27T18:11:26.028Z,1761588686.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:26.281Z,1761588686.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:26.354Z,1761588686.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968836,0.109778,0.222050],[-0.179579,-0.928723,-0.324383],[0.170613,-0.354150,0.919494]]
2025-10-27T18:11:26.537Z,1761588686.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:26.790Z,1761588686.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:26.857Z,1761588686.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972915,0.088528,0.213541],[-0.157958,-0.929060,-0.334511],[0.168779,-0.359181,0.917879]]
2025-10-27T18:11:27.040Z,1761588687.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:27.268Z,1761588687.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976216,0.068426,0.205720],[-0.137814,-0.928360,-0.345188],[0.167362,-0.365330,0.915710]]
2025-10-27T18:11:27.292Z,1761588687.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:27.544Z,1761588687.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:27.689Z,1761588687.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978843,0.050124,0.198379],[-0.119464,-0.927124,-0.355203],[0.166117,-0.371387,0.913497]]
2025-10-27T18:11:27.796Z,1761588687.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:28.048Z,1761588688.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:28.093Z,1761588688.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980855,0.034534,0.191654],[-0.103529,-0.926026,-0.362984],[0.164941,-0.375876,0.911873]]
2025-10-27T18:11:28.300Z,1761588688.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:28.494Z,1761588688.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982391,0.021757,0.185564],[-0.090183,-0.925052,-0.368980],[0.163629,-0.379218,0.910725]]
2025-10-27T18:11:28.552Z,1761588688.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:28.807Z,1761588688.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:28.905Z,1761588688.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983558,0.012062,0.180192],[-0.079487,-0.924837,-0.371967],[0.162161,-0.380173,0.910589]]
2025-10-27T18:11:29.056Z,1761588689.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:29.309Z,1761588689.309 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:29.337Z,1761588689.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984473,0.005421,0.175453],[-0.071293,-0.925722,-0.371425],[0.160407,-0.378167,0.911734]]
2025-10-27T18:11:29.560Z,1761588689.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:29.723Z,1761588689.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985283,0.000829,0.170929],[-0.064807,-0.927139,-0.369070],[0.158169,-0.374716,0.913548]]
2025-10-27T18:11:29.777Z,1761588689.777 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:11:29.777Z,1761588689.777 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateRudder:A] Stopped
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:11:29.778Z,1761588689.778 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateCommandMode] Stopped
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:11:29.779Z,1761588689.779 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:11:29.780Z,1761588689.780 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:11:29.780Z,1761588689.780 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:11:29.780Z,1761588689.780 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:11:29.780Z,1761588689.780 [marl:UpdateSpeed] Stopped
2025-10-27T18:11:29.780Z,1761588689.780 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:11:29.812Z,1761588689.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:30.064Z,1761588690.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:30.126Z,1761588690.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986072,-0.002658,0.166301],[-0.059061,-0.929112,-0.365051],[0.155482,-0.369788,0.916014]]
2025-10-27T18:11:30.189Z,1761588690.189 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:11:30.189Z,1761588690.189 [marl:UpdateRudder:B] Stopped
2025-10-27T18:11:30.189Z,1761588690.189 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:11:30.189Z,1761588690.189 [marl:UpdateRudder] Stopped
2025-10-27T18:11:30.189Z,1761588690.189 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:11:30.320Z,1761588690.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:30.540Z,1761588690.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986846,-0.006150,0.161549],[-0.053125,-0.931444,-0.359985],[0.152688,-0.363832,0.918865]]
2025-10-27T18:11:30.568Z,1761588690.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:30.823Z,1761588690.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:30.933Z,1761588690.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987655,-0.012223,0.156169],[-0.044502,-0.933979,-0.354547],[0.150192,-0.357120,0.921905]]
2025-10-27T18:11:31.072Z,1761588691.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:31.325Z,1761588691.325 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:31.346Z,1761588691.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988495,-0.022977,0.149500],[-0.031099,-0.936404,-0.349544],[0.148024,-0.350172,0.924915]]
2025-10-27T18:11:31.576Z,1761588691.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:31.749Z,1761588691.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989188,-0.036249,0.142103],[-0.015513,-0.937671,-0.347178],[0.145831,-0.345628,0.926971]]
2025-10-27T18:11:31.829Z,1761588691.829 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:32.080Z,1761588692.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:32.332Z,1761588692.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:32.553Z,1761588692.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989880,-0.064287,0.126513],[0.015980,-0.936329,-0.350759],[0.141008,-0.345188,0.927881]]
2025-10-27T18:11:32.584Z,1761588692.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:32.837Z,1761588692.837 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:11:32.838Z,1761588692.838 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:11:32.839Z,1761588692.839 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:32.954Z,1761588692.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989844,-0.077231,0.119350],[0.029959,-0.934030,-0.355936],[0.138966,-0.348745,0.926858]]
2025-10-27T18:11:33.088Z,1761588693.088 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:11:33.088Z,1761588693.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:33.163Z,1761588693.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:11:33.340Z,1761588693.340 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:11:33.340Z,1761588693.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:33.358Z,1761588693.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989461,-0.091609,0.112141],[0.045208,-0.931162,-0.361793],[0.137565,-0.352911,0.925489]]
2025-10-27T18:11:33.596Z,1761588693.596 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:11:33.597Z,1761588693.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:33.765Z,1761588693.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988679,-0.107001,0.105191],[0.061168,-0.927566,-0.368618],[0.137014,-0.358010,0.923610]]
2025-10-27T18:11:33.844Z,1761588693.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:34.096Z,1761588694.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:34.167Z,1761588694.167 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:11:34.168Z,1761588694.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987358,-0.124084,0.098623],[0.078571,-0.923543,-0.375360],[0.137659,-0.362866,0.921617]]
2025-10-27T18:11:34.348Z,1761588694.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:34.580Z,1761588694.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985412,-0.143229,0.091911],[0.098107,-0.919396,-0.380903],[0.139059,-0.366329,0.920036]]
2025-10-27T18:11:34.600Z,1761588694.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:34.854Z,1761588694.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:34.974Z,1761588694.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982867,-0.163397,0.085287],[0.118607,-0.914879,-0.385912],[0.141085,-0.369185,0.918585]]
2025-10-27T18:11:35.104Z,1761588695.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:35.356Z,1761588695.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:35.377Z,1761588695.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979893,-0.183103,0.079261],[0.138244,-0.909515,-0.392010],[0.143867,-0.373170,0.916540]]
2025-10-27T18:11:35.615Z,1761588695.615 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:35.783Z,1761588695.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976744,-0.201239,0.073986],[0.156169,-0.904171,-0.397600],[0.146908,-0.376799,0.914571]]
2025-10-27T18:11:35.860Z,1761588695.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:36.112Z,1761588696.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:36.186Z,1761588696.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973699,-0.217341,0.068366],[0.172240,-0.898591,-0.403569],[0.149145,-0.381179,0.912391]]
2025-10-27T18:11:36.364Z,1761588696.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:36.590Z,1761588696.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970828,-0.231489,0.062492],[0.187004,-0.894116,-0.406923],[0.150073,-0.383366,0.911322]]
2025-10-27T18:11:36.616Z,1761588696.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:36.868Z,1761588696.868 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:11:36.1031

2025-10-27T18:11:36.869Z,1761588696.869 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:11:36.869Z,1761588696.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:36.997Z,1761588696.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968165,-0.244034,0.055722],[0.201073,-0.890779,-0.407531],[0.149087,-0.383353,0.911490]]
2025-10-27T18:11:37.132Z,1761588697.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:37.373Z,1761588697.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:37.429Z,1761588697.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965643,-0.255418,0.047908],[0.214943,-0.888617,-0.405165],[0.146059,-0.380947,0.912987]]
2025-10-27T18:11:37.624Z,1761588697.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:37.831Z,1761588697.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963052,-0.266462,0.039110],[0.229375,-0.887629,-0.399378],[0.141134,-0.375651,0.915952]]
2025-10-27T18:11:37.876Z,1761588697.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:38.128Z,1761588698.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:38.234Z,1761588698.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960193,-0.277802,0.029239],[0.244600,-0.886723,-0.392292],[0.134907,-0.369524,0.919376]]
2025-10-27T18:11:38.380Z,1761588698.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:38.632Z,1761588698.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:38.647Z,1761588698.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956999,-0.289466,0.019025],[0.260273,-0.885744,-0.384338],[0.128104,-0.362859,0.922996]]
2025-10-27T18:11:38.884Z,1761588698.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:39.042Z,1761588699.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953763,-0.300391,0.010068],[0.274609,-0.884541,-0.377065],[0.122173,-0.356865,0.926132]]
2025-10-27T18:11:39.136Z,1761588699.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:39.388Z,1761588699.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:39.446Z,1761588699.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950738,-0.309976,0.003584],[0.286376,-0.882662,-0.372689],[0.118688,-0.353303,0.927950]]
2025-10-27T18:11:39.641Z,1761588699.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:39.851Z,1761588699.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947849,-0.318709,-0.002660],[0.296631,-0.879076,-0.373144],[0.116586,-0.354473,0.927770]]
2025-10-27T18:11:39.894Z,1761588699.894 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:40.144Z,1761588700.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:40.253Z,1761588700.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944794,-0.327545,-0.008862],[0.306839,-0.874931,-0.374628],[0.114954,-0.356665,0.927133]]
2025-10-27T18:11:40.397Z,1761588700.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:40.648Z,1761588700.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:40.656Z,1761588700.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941599,-0.336385,-0.015351],[0.317038,-0.870237,-0.377061],[0.113479,-0.359907,0.926061]]
2025-10-27T18:11:40.900Z,1761588700.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:41.064Z,1761588701.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938063,-0.345744,-0.022325],[0.327766,-0.864711,-0.380584],[0.112280,-0.364329,0.924477]]
2025-10-27T18:11:41.152Z,1761588701.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:41.406Z,1761588701.406 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:41.468Z,1761588701.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934142,-0.355751,-0.028633],[0.339047,-0.859494,-0.382514],[0.111470,-0.367031,0.923506]]
2025-10-27T18:11:41.656Z,1761588701.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:41.870Z,1761588701.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929870,-0.366290,-0.034261],[0.350646,-0.854260,-0.383781],[0.111307,-0.368879,0.922789]]
2025-10-27T18:11:41.908Z,1761588701.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:42.160Z,1761588702.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:42.413Z,1761588702.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:42.664Z,1761588702.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:42.739Z,1761588702.739 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:11:42.740Z,1761588702.740 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:11:42.740Z,1761588702.740 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:11:42.741Z,1761588702.741 [marl:UpdateRudder:A] Stopped
2025-10-27T18:11:42.741Z,1761588702.741 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:11:42.741Z,1761588702.741 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:11:42.741Z,1761588702.741 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:11:42.741Z,1761588702.741 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateCommandMode] Stopped
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:11:42.742Z,1761588702.742 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:11:42.743Z,1761588702.743 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:11:42.743Z,1761588702.743 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:11:42.744Z,1761588702.744 [marl:UpdateSpeed] Stopped
2025-10-27T18:11:42.744Z,1761588702.744 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:11:42.916Z,1761588702.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:43.164Z,1761588703.164 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:11:43.165Z,1761588703.165 [marl:UpdateRudder:B] Stopped
2025-10-27T18:11:43.165Z,1761588703.165 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:11:43.165Z,1761588703.165 [marl:UpdateRudder] Stopped
2025-10-27T18:11:43.165Z,1761588703.165 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:11:43.168Z,1761588703.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:43.420Z,1761588703.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:43.488Z,1761588703.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904884,-0.421841,-0.056877],[0.409281,-0.825557,-0.388516],[0.116937,-0.374840,0.919685]]
2025-10-27T18:11:43.676Z,1761588703.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:43.890Z,1761588703.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896306,-0.438676,-0.064799],[0.427321,-0.815427,-0.390480],[0.118456,-0.377680,0.918328]]
2025-10-27T18:11:43.924Z,1761588703.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:44.176Z,1761588704.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:44.304Z,1761588704.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887231,-0.455593,-0.072498],[0.445542,-0.805474,-0.390772],[0.119638,-0.379007,0.917628]]
2025-10-27T18:11:44.428Z,1761588704.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:44.680Z,1761588704.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:44.700Z,1761588704.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878897,-0.470271,-0.079902],[0.461713,-0.796608,-0.390175],[0.119837,-0.379816,0.917267]]
2025-10-27T18:11:44.932Z,1761588704.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:45.101Z,1761588705.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872386,-0.481448,-0.084558],[0.474289,-0.791835,-0.384770],[0.118291,-0.375773,0.919131]]
2025-10-27T18:11:45.184Z,1761588705.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:45.436Z,1761588705.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:45.505Z,1761588705.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868836,-0.487882,-0.084230],[0.481739,-0.793809,-0.371209],[0.114243,-0.363096,0.924721]]
2025-10-27T18:11:45.688Z,1761588705.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:45.911Z,1761588705.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868912,-0.488876,-0.077406],[0.483265,-0.804128,-0.346170],[0.106990,-0.338199,0.934973]]
2025-10-27T18:11:45.940Z,1761588705.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:46.192Z,1761588706.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:46.315Z,1761588706.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872326,-0.484657,-0.064466],[0.479274,-0.821572,-0.308732],[0.096666,-0.300212,0.948962]]
2025-10-27T18:11:46.444Z,1761588706.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:46.696Z,1761588706.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:46.718Z,1761588706.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878757,-0.474934,-0.047150],[0.469616,-0.842817,-0.262907],[0.085124,-0.253174,0.963668]]
2025-10-27T18:11:46.948Z,1761588706.948 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:11:46.948Z,1761588706.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:47.121Z,1761588707.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886523,-0.461859,-0.027630],[0.456731,-0.864003,-0.211884],[0.073988,-0.200460,0.976904]]
2025-10-27T18:11:47.264Z,1761588707.264 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:11:47.265Z,1761588707.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:47.452Z,1761588707.452 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:11:47.452Z,1761588707.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:47.525Z,1761588707.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895201,-0.445540,-0.010442],[0.441075,-0.882391,-0.163828],[0.063778,-0.151265,0.986434]]
2025-10-27T18:11:47.704Z,1761588707.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:47.929Z,1761588707.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903666,-0.428228,0.002874],[0.424718,-0.897078,-0.121927],[0.054791,-0.108961,0.992535]]
2025-10-27T18:11:47.956Z,1761588707.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:48.208Z,1761588708.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:48.338Z,1761588708.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911605,-0.410867,0.012850],[0.408348,-0.908721,-0.086483],[0.047211,-0.073591,0.996170]]
2025-10-27T18:11:48.460Z,1761588708.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:48.712Z,1761588708.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:48.754Z,1761588708.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925531,-0.377938,0.023578],[0.376927,-0.925448,-0.038353],[0.036315,-0.026610,0.998986]]
2025-10-27T18:11:48.964Z,1761588708.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:49.149Z,1761588709.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931428,-0.363026,0.025574],[0.362474,-0.931689,-0.023833],[0.032479,-0.012929,0.999389]]
2025-10-27T18:11:49.216Z,1761588709.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:49.469Z,1761588709.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:49.551Z,1761588709.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936893,-0.348616,0.026414],[0.348390,-0.937261,-0.012891],[0.029251,-0.002875,0.999568]]
2025-10-27T18:11:49.721Z,1761588709.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:49.954Z,1761588709.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941852,-0.335058,0.025497],[0.335025,-0.942192,-0.005705],[0.025935,0.003169,0.999659]]
2025-10-27T18:11:49.972Z,1761588709.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:50.224Z,1761588710.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:50.476Z,1761588710.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:50.729Z,1761588710.729 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:11:49.9530

2025-10-27T18:11:50.729Z,1761588710.729 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:11:50.730Z,1761588710.730 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:50.984Z,1761588710.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:51.161Z,1761588711.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955802,-0.293388,0.019137],[0.293518,-0.955943,0.004358],[0.017015,0.009782,0.999807]]
2025-10-27T18:11:51.232Z,1761588711.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:51.484Z,1761588711.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:51.566Z,1761588711.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960307,-0.278490,0.015945],[0.278608,-0.960388,0.005715],[0.013722,0.009930,0.999857]]
2025-10-27T18:11:51.737Z,1761588711.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:51.971Z,1761588711.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965087,-0.261639,0.012344],[0.261717,-0.965130,0.005242],[0.010542,0.008290,0.999910]]
2025-10-27T18:11:51.988Z,1761588711.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:52.240Z,1761588712.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:52.492Z,1761588712.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:52.744Z,1761588712.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:52.807Z,1761588712.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974289,-0.225244,0.005136],[0.225267,-0.974288,0.004327],[0.004029,0.005373,0.999977]]
2025-10-27T18:11:52.997Z,1761588712.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:53.182Z,1761588713.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978515,-0.206160,0.002373],[0.206168,-0.978509,0.003785],[0.001541,0.004193,0.999990]]
2025-10-27T18:11:53.248Z,1761588713.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:53.500Z,1761588713.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:53.586Z,1761588713.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982303,-0.187298,0.000810],[0.187299,-0.982294,0.004063],[0.000035,0.004143,0.999991]]
2025-10-27T18:11:53.753Z,1761588713.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:53.991Z,1761588713.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985654,-0.168775,0.001053],[0.168778,-0.985637,0.005817],[0.000056,0.005911,0.999983]]
2025-10-27T18:11:54.004Z,1761588714.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:54.257Z,1761588714.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:54.394Z,1761588714.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988518,-0.151083,0.002350],[0.151096,-0.988495,0.006899],[0.001281,0.007175,0.999973]]
2025-10-27T18:11:54.508Z,1761588714.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:54.760Z,1761588714.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:54.837Z,1761588714.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990894,-0.134597,0.003439],[0.134619,-0.990869,0.007482],[0.002400,0.007876,0.999966]]
2025-10-27T18:11:55.012Z,1761588715.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:55.041Z,1761588715.041 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:11:55.041Z,1761588715.041 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:11:55.202Z,1761588715.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992814,-0.119579,0.004656],[0.119612,-0.992791,0.007715],[0.003700,0.008217,0.999959]]
2025-10-27T18:11:55.265Z,1761588715.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:55.516Z,1761588715.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:55.607Z,1761588715.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994449,-0.105045,0.006005],[0.105099,-0.994417,0.009430],[0.004981,0.010008,0.999938]]
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateRudder:A] Stopped
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:11:55.636Z,1761588715.636 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode] Stopped
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:11:55.637Z,1761588715.637 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:11:55.638Z,1761588715.638 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:11:55.638Z,1761588715.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:11:55.638Z,1761588715.638 [marl:UpdateSpeed] Stopped
2025-10-27T18:11:55.638Z,1761588715.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:11:55.768Z,1761588715.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:56.010Z,1761588716.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995834,-0.090911,0.007077],[0.090984,-0.995794,0.010761],[0.006069,0.011360,0.999917]]
2025-10-27T18:11:56.020Z,1761588716.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:56.060Z,1761588716.060 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:11:56.061Z,1761588716.061 [marl:UpdateRudder:B] Stopped
2025-10-27T18:11:56.061Z,1761588716.061 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:11:56.061Z,1761588716.061 [marl:UpdateRudder] Stopped
2025-10-27T18:11:56.061Z,1761588716.061 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:11:56.062Z,1761588716.062 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:11:56.273Z,1761588716.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:56.526Z,1761588716.526 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:56.776Z,1761588716.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:56.878Z,1761588716.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998126,-0.060710,0.007609],[0.060790,-0.998093,0.010717],[0.006944,0.011160,0.999914]]
2025-10-27T18:11:57.028Z,1761588717.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:57.228Z,1761588717.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998987,-0.044317,0.007841],[0.044386,-0.998976,0.008792],[0.007443,0.009131,0.999931]]
2025-10-27T18:11:57.280Z,1761588717.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:57.532Z,1761588717.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:57.630Z,1761588717.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999577,-0.027884,0.008206],[0.027954,-0.999573,0.008485],[0.007966,0.008710,0.999930]]
2025-10-27T18:11:57.784Z,1761588717.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:58.033Z,1761588718.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999899,-0.011238,0.008743],[0.011302,-0.999910,0.007277],[0.008661,0.007375,0.999935]]
2025-10-27T18:11:58.036Z,1761588718.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:58.288Z,1761588718.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:58.438Z,1761588718.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999934,0.005573,0.010051],[-0.005510,-0.999965,0.006291],[0.010085,0.006235,0.999930]]
2025-10-27T18:11:58.540Z,1761588718.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:58.794Z,1761588718.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:59.044Z,1761588719.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:59.261Z,1761588719.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999232,0.035886,0.015702],[-0.035797,-0.999341,0.005943],[0.015905,0.005376,0.999859]]
2025-10-27T18:11:59.296Z,1761588719.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:59.551Z,1761588719.551 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:11:59.650Z,1761588719.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998604,0.049001,0.019704],[-0.048865,-0.998779,0.007317],[0.020038,0.006344,0.999779]]
2025-10-27T18:11:59.801Z,1761588719.801 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:00.052Z,1761588720.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:00.057Z,1761588720.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997850,0.060948,0.024115],[-0.060767,-0.998118,0.008182],[0.024569,0.006699,0.999676]]
2025-10-27T18:12:00.304Z,1761588720.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:00.459Z,1761588720.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996984,0.072205,0.028442],[-0.071980,-0.997367,0.008848],[0.029006,0.006774,0.999556]]
2025-10-27T18:12:00.557Z,1761588720.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:00.810Z,1761588720.810 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:12:00.810Z,1761588720.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:00.868Z,1761588720.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995974,0.083493,0.032632],[-0.083228,-0.996486,0.009399],[0.033302,0.006645,0.999423]]
2025-10-27T18:12:01.060Z,1761588721.060 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:12:01.060Z,1761588721.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:01.277Z,1761588721.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994806,0.095100,0.036291],[-0.094802,-0.995447,0.009855],[0.037063,0.006363,0.999293]]
2025-10-27T18:12:01.312Z,1761588721.312 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:12:01.312Z,1761588721.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:01.564Z,1761588721.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:01.670Z,1761588721.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993489,0.107054,0.038982],[-0.106738,-0.994236,0.010109],[0.039839,0.005883,0.999189]]
2025-10-27T18:12:01.816Z,1761588721.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:02.068Z,1761588722.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:02.078Z,1761588722.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992015,0.119345,0.040781],[-0.118976,-0.992832,0.011365],[0.041845,0.006422,0.999103]]
2025-10-27T18:12:02.320Z,1761588722.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:02.478Z,1761588722.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990254,0.132734,0.042187],[-0.132372,-0.991136,0.011269],[0.043309,0.005575,0.999046]]
2025-10-27T18:12:02.573Z,1761588722.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:02.826Z,1761588722.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:02.882Z,1761588722.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987756,0.149838,0.043431],[-0.149481,-0.988699,0.011384],[0.044646,0.004753,0.998992]]
2025-10-27T18:12:03.076Z,1761588723.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:03.291Z,1761588723.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984745,0.167994,0.045328],[-0.167622,-0.985779,0.011909],[0.046684,0.004130,0.998901]]
2025-10-27T18:12:03.328Z,1761588723.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:03.580Z,1761588723.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:03.691Z,1761588723.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981230,0.186979,0.047184],[-0.186599,-0.982358,0.012387],[0.048668,0.003350,0.998809]]
2025-10-27T18:12:03.833Z,1761588723.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:04.084Z,1761588724.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:04.095Z,1761588724.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977578,0.204843,0.048796],[-0.204301,-0.978779,0.015901],[0.051018,0.005576,0.998682]]
2025-10-27T18:12:04.295Z,1761588724.295 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:12:04.336Z,1761588724.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:04.501Z,1761588724.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973846,0.221522,0.050516],[-0.220770,-0.975119,0.020096],[0.053711,0.008418,0.998521]]
2025-10-27T18:12:04.589Z,1761588724.589 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:12:03.8529

2025-10-27T18:12:04.589Z,1761588724.589 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:12:04.590Z,1761588724.590 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:04.842Z,1761588724.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:04.902Z,1761588724.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970410,0.235627,0.052761],[-0.234697,-0.971790,0.023273],[0.056756,0.010201,0.998336]]
2025-10-27T18:12:05.092Z,1761588725.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:05.295Z,1761588725.295 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:12:05.319Z,1761588725.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966972,0.248863,0.055072],[-0.247811,-0.968479,0.025275],[0.059626,0.010793,0.998162]]
2025-10-27T18:12:05.344Z,1761588725.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:05.596Z,1761588725.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:05.710Z,1761588725.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963986,0.259671,0.057458],[-0.258511,-0.965633,0.026911],[0.062472,0.011088,0.997985]]
2025-10-27T18:12:05.850Z,1761588725.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:06.100Z,1761588726.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:06.119Z,1761588726.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961291,0.268809,0.060502],[-0.267563,-0.963134,0.027994],[0.065796,0.010722,0.997775]]
2025-10-27T18:12:06.353Z,1761588726.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:06.518Z,1761588726.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958226,0.278784,0.063901],[-0.277451,-0.960301,0.029031],[0.069457,0.010089,0.997534]]
2025-10-27T18:12:06.604Z,1761588726.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:06.856Z,1761588726.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:07.109Z,1761588727.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:07.329Z,1761588727.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949757,0.304647,0.071770],[-0.303620,-0.952463,0.025081],[0.076000,0.002030,0.997106]]
2025-10-27T18:12:07.360Z,1761588727.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:07.612Z,1761588727.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:07.740Z,1761588727.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944087,0.320834,0.075929],[-0.320053,-0.947131,0.022573],[0.079156,-0.002990,0.996858]]
2025-10-27T18:12:07.864Z,1761588727.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:08.116Z,1761588728.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:08.136Z,1761588728.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937487,0.338894,0.079169],[-0.338204,-0.940807,0.022381],[0.082067,-0.005794,0.996610]]
2025-10-27T18:12:08.368Z,1761588728.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:08.537Z,1761588728.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930022,0.358462,0.081021],[-0.357674,-0.933524,0.024546],[0.084434,-0.006150,0.996410]]
2025-10-27T18:12:08.621Z,1761588728.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:08.872Z,1761588728.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:09.031Z,1761588729.031 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:12:09.031Z,1761588729.031 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateRudder:A] Stopped
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:12:09.032Z,1761588729.032 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateCommandMode] Stopped
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:12:09.033Z,1761588729.033 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:12:09.034Z,1761588729.034 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:12:09.034Z,1761588729.034 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:12:09.034Z,1761588729.034 [marl:UpdateSpeed] Stopped
2025-10-27T18:12:09.034Z,1761588729.034 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:12:09.124Z,1761588729.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:09.346Z,1761588729.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912678,0.400424,0.081726],[-0.399118,-0.916325,0.032454],[0.087883,-0.002999,0.996126]]
2025-10-27T18:12:09.384Z,1761588729.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:09.418Z,1761588729.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:12:09.418Z,1761588729.418 [marl:UpdateRudder:B] Stopped
2025-10-27T18:12:09.418Z,1761588729.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:12:09.418Z,1761588729.418 [marl:UpdateRudder] Stopped
2025-10-27T18:12:09.419Z,1761588729.419 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:12:09.636Z,1761588729.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:09.761Z,1761588729.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904127,0.419558,0.080779],[-0.417878,-0.907728,0.037516],[0.089065,0.000164,0.996026]]
2025-10-27T18:12:09.888Z,1761588729.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:10.140Z,1761588730.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:10.166Z,1761588730.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896213,0.436377,0.079857],[-0.434338,-0.899759,0.042252],[0.090290,0.003182,0.995910]]
2025-10-27T18:12:10.392Z,1761588730.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:10.644Z,1761588730.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:10.896Z,1761588730.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:10.962Z,1761588730.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881409,0.465612,0.079515],[-0.462920,-0.884955,0.050599],[0.093927,0.007789,0.995549]]
2025-10-27T18:12:11.148Z,1761588731.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:11.370Z,1761588731.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874374,0.478550,0.080368],[-0.475585,-0.878015,0.053940],[0.096377,0.008942,0.995305]]
2025-10-27T18:12:11.400Z,1761588731.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:11.652Z,1761588731.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:11.770Z,1761588731.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867438,0.490729,0.082072],[-0.487582,-0.871269,0.056168],[0.099070,0.008705,0.995042]]
2025-10-27T18:12:11.907Z,1761588731.907 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:12.160Z,1761588732.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:12.412Z,1761588732.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:12.577Z,1761588732.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853861,0.513382,0.085788],[-0.509992,-0.858133,0.059302],[0.104062,0.006885,0.994547]]
2025-10-27T18:12:12.666Z,1761588732.666 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:12.916Z,1761588732.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:13.168Z,1761588733.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:13.390Z,1761588733.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841989,0.532163,0.088642],[-0.528409,-0.846617,0.063435],[0.108804,0.006572,0.994042]]
2025-10-27T18:12:13.420Z,1761588733.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:13.672Z,1761588733.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:13.790Z,1761588733.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836715,0.540174,0.090115],[-0.536253,-0.841530,0.065267],[0.111090,0.006285,0.993790]]
2025-10-27T18:12:13.924Z,1761588733.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:14.176Z,1761588734.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:14.202Z,1761588734.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831544,0.547833,0.091731],[-0.543840,-0.836572,0.066226],[0.113020,0.005183,0.993579]]
2025-10-27T18:12:14.428Z,1761588734.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:14.597Z,1761588734.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826317,0.555477,0.092983],[-0.551404,-0.831520,0.067289],[0.114695,0.004331,0.993391]]
2025-10-27T18:12:14.680Z,1761588734.680 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:12:14.680Z,1761588734.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:14.932Z,1761588734.932 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:12:14.932Z,1761588734.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:15.002Z,1761588735.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820471,0.563923,0.093905],[-0.559782,-0.825820,0.068304],[0.116067,0.003475,0.993235]]
2025-10-27T18:12:15.184Z,1761588735.184 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:12:15.185Z,1761588735.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:15.410Z,1761588735.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813604,0.573574,0.095186],[-0.569444,-0.819152,0.068727],[0.117392,0.001714,0.993084]]
2025-10-27T18:12:15.436Z,1761588735.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:15.688Z,1761588735.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:15.810Z,1761588735.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805504,0.584821,0.095644],[-0.580669,-0.811162,0.069567],[0.118267,0.000499,0.992982]]
2025-10-27T18:12:15.940Z,1761588735.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:16.192Z,1761588736.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:16.444Z,1761588736.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:16.618Z,1761588736.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786647,0.609722,0.097088],[-0.605829,-0.792602,0.068937],[0.118984,-0.004589,0.992886]]
2025-10-27T18:12:16.696Z,1761588736.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:16.948Z,1761588736.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:17.022Z,1761588737.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777328,0.621688,0.096254],[-0.617770,-0.783248,0.069877],[0.118832,-0.005146,0.992901]]
2025-10-27T18:12:17.201Z,1761588737.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:17.433Z,1761588737.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768309,0.632977,0.095086],[-0.628900,-0.774157,0.071873],[0.119106,-0.004579,0.992871]]
2025-10-27T18:12:17.453Z,1761588737.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:17.705Z,1761588737.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:17.830Z,1761588737.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760471,0.642488,0.094304],[-0.638234,-0.766285,0.073918],[0.119755,-0.003976,0.992795]]
2025-10-27T18:12:17.956Z,1761588737.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:18.212Z,1761588738.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:18.238Z,1761588738.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753316,0.651023,0.093192],[-0.646538,-0.759053,0.076337],[0.120435,-0.002747,0.992717]]
2025-10-27T18:12:18.468Z,1761588738.468 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:12:17.7028

2025-10-27T18:12:18.469Z,1761588738.469 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:12:18.469Z,1761588738.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:18.638Z,1761588738.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746870,0.658758,0.090680],[-0.653824,-0.752355,0.080479],[0.121240,0.000818,0.992623]]
2025-10-27T18:12:18.717Z,1761588738.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:18.968Z,1761588738.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:19.043Z,1761588739.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740109,0.666295,0.091042],[-0.661179,-0.745688,0.082414],[0.122801,0.000800,0.992431]]
2025-10-27T18:12:19.221Z,1761588739.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:19.450Z,1761588739.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732328,0.674695,0.092100],[-0.669439,-0.738096,0.084053],[0.124689,-0.000101,0.992196]]
2025-10-27T18:12:19.472Z,1761588739.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:19.725Z,1761588739.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:19.849Z,1761588739.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723035,0.684302,0.094609],[-0.679016,-0.729193,0.084942],[0.127114,-0.002825,0.991884]]
2025-10-27T18:12:19.977Z,1761588739.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:20.228Z,1761588740.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:20.280Z,1761588740.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711854,0.695477,0.097853],[-0.690246,-0.718516,0.085409],[0.129710,-0.006744,0.991529]]
2025-10-27T18:12:20.481Z,1761588740.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:20.659Z,1761588740.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698832,0.708201,0.100421],[-0.702962,-0.705938,0.086578],[0.132206,-0.010089,0.991171]]
2025-10-27T18:12:20.733Z,1761588740.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:20.984Z,1761588740.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:21.236Z,1761588741.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:21.465Z,1761588741.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668090,0.737712,0.097144],[-0.731746,-0.675065,0.094000],[0.134924,-0.008284,0.990821]]
2025-10-27T18:12:21.488Z,1761588741.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:21.740Z,1761588741.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:21.870Z,1761588741.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650621,0.753729,0.092654],[-0.747348,-0.657162,0.098023],[0.134772,-0.005469,0.990862]]
2025-10-27T18:12:21.992Z,1761588741.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:22.244Z,1761588742.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:22.277Z,1761588742.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632206,0.770142,0.084836],[-0.763196,-0.637873,0.103199],[0.133592,0.000497,0.991036]]
2025-10-27T18:12:22.306Z,1761588742.306 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:12:22.306Z,1761588742.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:12:22.306Z,1761588742.306 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:12:22.307Z,1761588742.307 [marl:UpdateRudder:A] Stopped
2025-10-27T18:12:22.307Z,1761588742.307 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:12:22.307Z,1761588742.307 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:12:22.307Z,1761588742.307 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:12:22.307Z,1761588742.307 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateCommandMode] Stopped
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:12:22.308Z,1761588742.308 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:12:22.309Z,1761588742.309 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:12:22.309Z,1761588742.309 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:12:22.309Z,1761588742.309 [marl:UpdateSpeed] Stopped
2025-10-27T18:12:22.309Z,1761588742.309 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:12:22.496Z,1761588742.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:22.678Z,1761588742.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613064,0.786520,0.074428],[-0.778996,-0.617503,0.108883],[0.131598,0.008773,0.991264]]
2025-10-27T18:12:22.748Z,1761588742.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:22.753Z,1761588742.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T18:12:22.753Z,1761588742.753 [marl:UpdateRudder:B] Stopped
2025-10-27T18:12:22.753Z,1761588742.753 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:12:22.754Z,1761588742.754 [marl:UpdateRudder] Stopped
2025-10-27T18:12:22.754Z,1761588742.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:12:22.000Z,1761588743.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:23.252Z,1761588743.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:23.489Z,1761588743.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575209,0.816417,0.050959],[-0.808462,-0.576882,0.116605],[0.124596,0.025874,0.991870]]
2025-10-27T18:12:23.504Z,1761588743.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:23.756Z,1761588743.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:23.891Z,1761588743.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557974,0.828891,0.040066],[-0.821180,-0.558459,0.117421],[0.119704,0.032617,0.992274]]
2025-10-27T18:12:24.009Z,1761588744.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:24.260Z,1761588744.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:24.294Z,1761588744.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543145,0.839036,0.031810],[-0.831803,-0.542854,0.115815],[0.114441,0.036445,0.992761]]
2025-10-27T18:12:24.513Z,1761588744.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:24.764Z,1761588744.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:25.016Z,1761588745.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:25.268Z,1761588745.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:25.520Z,1761588745.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:25.521Z,1761588745.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517583,0.855212,0.026840],[-0.850217,-0.517577,0.096150],[0.096121,0.026946,0.995005]]
2025-10-27T18:12:25.772Z,1761588745.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:25.909Z,1761588745.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517488,0.854738,0.040348],[-0.851092,-0.519017,0.079147],[0.088591,0.006618,0.996046]]
2025-10-27T18:12:26.025Z,1761588746.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:26.276Z,1761588746.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:26.314Z,1761588746.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523369,0.849701,0.063978],[-0.848179,-0.526686,0.056510],[0.081713,-0.024689,0.996350]]
2025-10-27T18:12:26.528Z,1761588746.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:26.724Z,1761588746.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535446,0.838862,0.098024],[-0.841112,-0.540141,0.027886],[0.076339,-0.067518,0.994793]]
2025-10-27T18:12:26.780Z,1761588746.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:27.032Z,1761588747.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:27.121Z,1761588747.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553351,0.820290,0.144663],[-0.829726,-0.558096,-0.009191],[0.073196,-0.125117,0.989438]]
2025-10-27T18:12:27.284Z,1761588747.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:27.525Z,1761588747.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576485,0.792372,0.199528],[-0.813862,-0.578555,-0.053869],[0.072753,-0.193443,0.978410]]
2025-10-27T18:12:27.536Z,1761588747.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:27.788Z,1761588747.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:27.930Z,1761588747.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604110,0.753952,0.258084],[-0.793316,-0.599666,-0.105121],[0.075508,-0.268247,0.960387]]
2025-10-27T18:12:28.040Z,1761588748.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:28.296Z,1761588748.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:28.422Z,1761588748.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665397,0.652028,0.363464],[-0.741085,-0.635476,-0.216711],[0.089672,-0.413556,0.906052]]
2025-10-27T18:12:28.544Z,1761588748.544 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:12:28.544Z,1761588748.544 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:12:28.544Z,1761588748.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:28.798Z,1761588748.798 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:12:28.799Z,1761588748.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:29.048Z,1761588749.048 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:12:29.048Z,1761588749.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:29.300Z,1761588749.300 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:12:29.301Z,1761588749.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:29.424Z,1761588749.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717791,0.551576,0.424900],[-0.687966,-0.655767,-0.310921],[0.107139,-0.515493,0.850170]]
2025-10-27T18:12:29.552Z,1761588749.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:29.804Z,1761588749.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:29.873Z,1761588749.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737076,0.512677,0.440320],[-0.665973,-0.661775,-0.344286],[0.114885,-0.547006,0.829208]]
2025-10-27T18:12:30.056Z,1761588750.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:30.292Z,1761588750.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753120,0.483970,0.445626],[-0.646439,-0.670185,-0.364649],[0.122173,-0.562694,0.817587]]
2025-10-27T18:12:30.308Z,1761588750.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:30.560Z,1761588750.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:30.695Z,1761588750.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767508,0.465874,0.440333],[-0.627885,-0.684778,-0.369917],[0.129195,-0.560393,0.818088]]
2025-10-27T18:12:30.814Z,1761588750.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:31.064Z,1761588751.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:31.082Z,1761588751.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781376,0.455718,0.426348],[-0.609112,-0.705565,-0.362161],[0.135773,-0.542678,0.828895]]
2025-10-27T18:12:31.316Z,1761588751.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:31.568Z,1761588751.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:31.681Z,1761588751.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810118,0.444273,0.382531],[-0.567717,-0.757318,-0.322749],[0.146309,-0.478634,0.865739]]
2025-10-27T18:12:31.820Z,1761588751.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:32.072Z,1761588752.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:32.117Z,1761588752.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825825,0.434478,0.359503],[-0.543725,-0.782568,-0.303234],[0.149587,-0.445888,0.882501]]
2025-10-27T18:12:32.324Z,1761588752.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:32.578Z,1761588752.578 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:12:31.8528

2025-10-27T18:12:32.578Z,1761588752.578 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:12:32.579Z,1761588752.579 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:32.638Z,1761588752.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842099,0.420585,0.337605],[-0.517867,-0.805383,-0.288396],[0.150606,-0.417693,0.896019]]
2025-10-27T18:12:32.830Z,1761588752.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:33.080Z,1761588753.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:33.147Z,1761588753.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859083,0.401864,0.316988],[-0.489441,-0.826179,-0.279061],[0.149744,-0.394884,0.906446]]
2025-10-27T18:12:33.335Z,1761588753.335 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:33.555Z,1761588753.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876575,0.378315,0.297478],[-0.457980,-0.845663,-0.274059],[0.147886,-0.376473,0.914548]]
2025-10-27T18:12:33.587Z,1761588753.587 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:33.836Z,1761588753.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:33.954Z,1761588753.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893883,0.349169,0.281168],[-0.424039,-0.862072,-0.277529],[0.145482,-0.367304,0.918652]]
2025-10-27T18:12:34.088Z,1761588754.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:34.340Z,1761588754.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:34.358Z,1761588754.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910543,0.316168,0.266362],[-0.387849,-0.876354,-0.285617],[0.143124,-0.363375,0.920584]]
2025-10-27T18:12:34.592Z,1761588754.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:34.765Z,1761588754.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926249,0.279096,0.253316],[-0.349688,-0.887117,-0.301234],[0.140648,-0.367599,0.919287]]
2025-10-27T18:12:34.846Z,1761588754.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:35.096Z,1761588755.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:35.348Z,1761588755.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:35.415Z,1761588755.415 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:12:35.600Z,1761588755.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:35.853Z,1761588755.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:36.104Z,1761588756.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:36.272Z,1761588756.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971955,0.122792,0.200564],[-0.195101,-0.897203,-0.396184],[0.131298,-0.424203,0.895998]]
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateRudder:A] Stopped
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:12:36.330Z,1761588756.330 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:12:36.331Z,1761588756.331 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:12:36.335Z,1761588756.335 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:12:36.335Z,1761588756.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:12:36.335Z,1761588756.335 [marl:UpdateCommandMode] Stopped
2025-10-27T18:12:36.335Z,1761588756.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed] Stopped
2025-10-27T18:12:36.336Z,1761588756.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:12:36.356Z,1761588756.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:36.419Z,1761588756.419 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:12:36.608Z,1761588756.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:36.777Z,1761588756.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978768,0.088280,0.184985],[-0.159324,-0.895458,-0.415657],[0.128952,-0.436305,0.890511]]
2025-10-27T18:12:36.860Z,1761588756.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:36.870Z,1761588756.870 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-27T18:12:36.870Z,1761588756.870 [marl:UpdateRudder:B] Stopped
2025-10-27T18:12:36.870Z,1761588756.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:12:36.870Z,1761588756.870 [marl:UpdateRudder] Stopped
2025-10-27T18:12:36.871Z,1761588756.871 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:12:37.112Z,1761588757.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:37.213Z,1761588757.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988157,0.023793,0.151589],[-0.089258,-0.892698,-0.441728],[0.124813,-0.450027,0.884249]]
2025-10-27T18:12:37.364Z,1761588757.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:37.609Z,1761588757.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990946,-0.006860,0.134084],[-0.053795,-0.894733,-0.443350],[0.123010,-0.446549,0.886263]]
2025-10-27T18:12:37.620Z,1761588757.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:37.875Z,1761588757.875 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:38.010Z,1761588758.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992463,-0.036699,0.116924],[-0.018589,-0.897984,-0.439636],[0.121130,-0.438496,0.890533]]
2025-10-27T18:12:38.124Z,1761588758.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:38.376Z,1761588758.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:38.418Z,1761588758.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992743,-0.066367,0.100284],[0.016598,-0.901561,-0.432334],[0.119105,-0.427532,0.896120]]
2025-10-27T18:12:38.628Z,1761588758.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:38.880Z,1761588758.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:39.132Z,1761588759.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:39.293Z,1761588759.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990035,-0.122678,0.069140],[0.082495,-0.903174,-0.421274],[0.114127,-0.411373,0.904294]]
2025-10-27T18:12:39.384Z,1761588759.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:39.636Z,1761588759.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:39.692Z,1761588759.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987260,-0.149535,0.054379],[0.113789,-0.902398,-0.415608],[0.111220,-0.404126,0.907917]]
2025-10-27T18:12:39.888Z,1761588759.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:40.090Z,1761588760.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983693,-0.175390,0.039815],[0.143722,-0.899664,-0.412248],[0.108124,-0.399803,0.910201]]
2025-10-27T18:12:40.140Z,1761588760.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:40.396Z,1761588760.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:40.614Z,1761588760.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979283,-0.200863,0.025680],[0.173197,-0.896525,-0.407733],[0.104922,-0.394838,0.912740]]
2025-10-27T18:12:40.648Z,1761588760.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:40.900Z,1761588760.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:41.027Z,1761588761.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973920,-0.226633,0.010850],[0.202851,-0.891150,-0.405836],[0.101645,-0.393051,0.913882]]
2025-10-27T18:12:41.153Z,1761588761.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:41.408Z,1761588761.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:41.541Z,1761588761.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967434,-0.253092,-0.003967],[0.233270,-0.885365,-0.402136],[0.098265,-0.389966,0.915571]]
2025-10-27T18:12:41.656Z,1761588761.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:41.909Z,1761588761.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:41.942Z,1761588761.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959742,-0.280258,-0.018729],[0.264278,-0.878407,-0.398194],[0.095146,-0.387113,0.917110]]
2025-10-27T18:12:42.161Z,1761588762.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:42.346Z,1761588762.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950620,-0.308402,-0.034776],[0.296402,-0.868940,-0.396345],[0.092016,-0.387082,0.917443]]
2025-10-27T18:12:42.412Z,1761588762.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:42.664Z,1761588762.664 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:12:42.665Z,1761588762.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:42.757Z,1761588762.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939833,-0.337745,-0.051400],[0.329886,-0.858070,-0.393562],[0.088819,-0.386839,0.917860]]
2025-10-27T18:12:42.917Z,1761588762.917 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:12:42.917Z,1761588762.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:43.169Z,1761588763.169 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:12:43.170Z,1761588763.170 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:43.209Z,1761588763.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912963,-0.398677,-0.086918],[0.399711,-0.830974,-0.386928],[0.082033,-0.387993,0.918004]]
2025-10-27T18:12:43.420Z,1761588763.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:43.603Z,1761588763.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897010,-0.429451,-0.104621],[0.434961,-0.815514,-0.381767],[0.078630,-0.387955,0.918318]]
2025-10-27T18:12:43.673Z,1761588763.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:43.924Z,1761588763.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:44.010Z,1761588764.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879063,-0.460821,-0.122037],[0.470790,-0.799018,-0.374069],[0.074869,-0.386284,0.919336]]
2025-10-27T18:12:44.176Z,1761588764.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:44.428Z,1761588764.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:44.680Z,1761588764.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:44.854Z,1761588764.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839256,-0.520619,-0.156859],[0.539627,-0.762100,-0.357779],[0.066724,-0.384914,0.920538]]
2025-10-27T18:12:44.932Z,1761588764.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:45.185Z,1761588765.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:45.310Z,1761588765.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817887,-0.547963,-0.175492],[0.571995,-0.741305,-0.351126],[0.062311,-0.387562,0.919735]]
2025-10-27T18:12:45.436Z,1761588765.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:45.692Z,1761588765.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:45.820Z,1761588765.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795634,-0.574335,-0.192627],[0.603023,-0.720625,-0.342145],[0.057694,-0.388381,0.919691]]
2025-10-27T18:12:45.940Z,1761588765.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:46.192Z,1761588766.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:46.256Z,1761588766.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772739,-0.599956,-0.207188],[0.632505,-0.700590,-0.330319],[0.053023,-0.386298,0.920849]]
2025-10-27T18:12:46.445Z,1761588766.445 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:12:45.7027

2025-10-27T18:12:46.446Z,1761588766.446 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:12:46.446Z,1761588766.446 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:46.700Z,1761588766.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:46.778Z,1761588766.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749063,-0.624509,-0.221119],[0.660771,-0.680177,-0.317397],[0.047817,-0.383860,0.922153]]
2025-10-27T18:12:46.948Z,1761588766.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:47.203Z,1761588767.203 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:47.452Z,1761588767.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:47.708Z,1761588767.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:47.719Z,1761588767.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675154,-0.688714,-0.264274],[0.737032,-0.614809,-0.280704],[0.030847,-0.384297,0.922694]]
2025-10-27T18:12:47.960Z,1761588767.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:48.122Z,1761588768.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651191,-0.705820,-0.278870],[0.758496,-0.593105,-0.270019],[0.025186,-0.387356,0.921586]]
2025-10-27T18:12:48.213Z,1761588768.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:48.464Z,1761588768.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:48.529Z,1761588768.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626999,-0.721919,-0.292756],[0.778771,-0.571342,-0.259007],[0.019718,-0.390386,0.920440]]
2025-10-27T18:12:48.716Z,1761588768.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:48.929Z,1761588768.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602246,-0.738335,-0.303579],[0.798172,-0.549821,-0.246208],[0.014870,-0.390586,0.920446]]
2025-10-27T18:12:48.968Z,1761588768.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:49.221Z,1761588769.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:49.333Z,1761588769.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576784,-0.753473,-0.315593],[0.816830,-0.527019,-0.234607],[0.010446,-0.393103,0.919435]]
2025-10-27T18:12:49.472Z,1761588769.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:49.724Z,1761588769.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:49.758Z,1761588769.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550734,-0.768085,-0.326705],[0.834653,-0.503577,-0.223081],[0.006824,-0.395544,0.918422]]
2025-10-27T18:12:49.976Z,1761588769.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:50.160Z,1761588770.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524130,-0.781881,-0.337565],[0.851629,-0.479323,-0.212080],[0.004019,-0.398638,0.917100]]
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateRudder:A] Stopped
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:12:50.204Z,1761588770.204 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode] Stopped
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:12:50.205Z,1761588770.205 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed] Stopped
2025-10-27T18:12:50.206Z,1761588770.206 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:12:50.228Z,1761588770.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:50.480Z,1761588770.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:50.546Z,1761588770.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496296,-0.796881,-0.344485],[0.868151,-0.454579,-0.199180],[0.002127,-0.397917,0.917419]]
2025-10-27T18:12:50.593Z,1761588770.593 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T18:12:50.594Z,1761588770.594 [marl:UpdateRudder:B] Stopped
2025-10-27T18:12:50.594Z,1761588770.594 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:12:50.594Z,1761588770.594 [marl:UpdateRudder] Stopped
2025-10-27T18:12:50.594Z,1761588770.594 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:12:50.732Z,1761588770.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:50.950Z,1761588770.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467870,-0.810516,-0.352365],[0.883797,-0.428891,-0.186964],[0.000411,-0.398894,0.916997]]
2025-10-27T18:12:50.986Z,1761588770.986 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:51.240Z,1761588771.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:51.358Z,1761588771.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438151,-0.824665,-0.357703],[0.898901,-0.402438,-0.173268],[-0.001065,-0.397457,0.917620]]
2025-10-27T18:12:51.492Z,1761588771.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:51.745Z,1761588771.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:51.769Z,1761588771.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407389,-0.837467,-0.364257],[0.913250,-0.374926,-0.159392],[-0.003084,-0.397592,0.917557]]
2025-10-27T18:12:51.996Z,1761588771.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:52.168Z,1761588772.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376639,-0.849726,-0.368930],[0.926340,-0.348107,-0.143931],[-0.006125,-0.395964,0.918246]]
2025-10-27T18:12:52.248Z,1761588772.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:52.500Z,1761588772.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:52.570Z,1761588772.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347086,-0.863006,-0.367085],[0.937774,-0.323768,-0.125515],[-0.010530,-0.387807,0.921680]]
2025-10-27T18:12:52.756Z,1761588772.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:52.974Z,1761588772.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321561,-0.875778,-0.360016],[0.946745,-0.303988,-0.106136],[-0.016489,-0.374973,0.926889]]
2025-10-27T18:12:53.004Z,1761588773.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:53.256Z,1761588773.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:53.379Z,1761588773.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300314,-0.890159,-0.342679],[0.953511,-0.289606,-0.083337],[-0.025059,-0.351776,0.935749]]
2025-10-27T18:12:53.508Z,1761588773.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:53.760Z,1761588773.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:53.781Z,1761588773.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285513,-0.904328,-0.317291],[0.957722,-0.281443,-0.059647],[-0.035359,-0.320907,0.946451]]
2025-10-27T18:12:54.012Z,1761588774.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:54.264Z,1761588774.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:54.516Z,1761588774.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:54.591Z,1761588774.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278130,-0.924856,-0.259394],[0.958636,-0.284274,-0.014314],[-0.060500,-0.252646,0.965666]]
2025-10-27T18:12:54.768Z,1761588774.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:55.020Z,1761588775.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:55.273Z,1761588775.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:55.284Z,1761588775.284 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:12:55.284Z,1761588775.284 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:12:55.398Z,1761588775.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301776,-0.935666,-0.182921],[0.949228,-0.312765,0.033836],[-0.088871,-0.163422,0.982545]]
2025-10-27T18:12:55.524Z,1761588775.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:55.776Z,1761588775.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:55.804Z,1761588775.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323767,-0.936984,-0.131289],[0.940533,-0.333816,0.062969],[-0.102827,-0.103094,0.989342]]
2025-10-27T18:12:56.028Z,1761588776.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:56.254Z,1761588776.254 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:12:56.280Z,1761588776.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:56.532Z,1761588776.532 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:12:56.532Z,1761588776.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:56.610Z,1761588776.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378876,-0.924774,-0.035292],[0.916551,-0.380236,0.123913],[-0.128011,0.014601,0.991665]]
2025-10-27T18:12:56.784Z,1761588776.784 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:12:56.784Z,1761588776.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:57.014Z,1761588777.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408058,-0.912956,0.000290],[0.902340,-0.403264,0.152189],[-0.138825,0.062363,0.988351]]
2025-10-27T18:12:57.036Z,1761588777.036 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:12:57.036Z,1761588777.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:57.288Z,1761588777.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:57.419Z,1761588777.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437027,-0.899150,0.023166],[0.887077,-0.426615,0.176336],[-0.148670,0.097613,0.984057]]
2025-10-27T18:12:57.540Z,1761588777.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:57.792Z,1761588777.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:57.824Z,1761588777.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465394,-0.884357,0.036356],[0.871075,-0.450347,0.195999],[-0.156960,0.122885,0.979930]]
2025-10-27T18:12:58.044Z,1761588778.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:58.226Z,1761588778.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492770,-0.869185,0.041159],[0.854592,-0.474505,0.210993],[-0.163862,0.139145,0.976621]]
2025-10-27T18:12:58.296Z,1761588778.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:58.548Z,1761588778.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:58.641Z,1761588778.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519461,-0.853559,0.039964],[0.837553,-0.499339,0.221734],[-0.169307,0.148654,0.974288]]
2025-10-27T18:12:58.802Z,1761588778.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:59.052Z,1761588779.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:59.304Z,1761588779.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:59.439Z,1761588779.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570444,-0.820971,0.024512],[0.801705,-0.550076,0.233850],[-0.178500,0.153049,0.971964]]
2025-10-27T18:12:59.556Z,1761588779.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:59.808Z,1761588779.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:12:59.841Z,1761588779.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595015,-0.803605,0.013251],[0.782759,-0.575682,0.236388],[-0.182334,0.151027,0.971568]]
2025-10-27T18:13:00.060Z,1761588780.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:00.246Z,1761588780.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619152,-0.785268,0.002007],[0.762931,-0.600931,0.238366],[-0.185975,0.149116,0.971173]]
2025-10-27T18:13:00.312Z,1761588780.312 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:12:59.5526

2025-10-27T18:13:00.313Z,1761588780.313 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:13:00.313Z,1761588780.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:00.564Z,1761588780.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:00.652Z,1761588780.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642514,-0.766229,-0.008333],[0.742505,-0.625234,0.240349],[-0.189372,0.148240,0.970651]]
2025-10-27T18:13:00.819Z,1761588780.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:01.055Z,1761588781.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666100,-0.745614,-0.019220],[0.720716,-0.650064,0.240802],[-0.192040,0.146546,0.970384]]
2025-10-27T18:13:01.068Z,1761588781.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:01.320Z,1761588781.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:01.458Z,1761588781.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688369,-0.724787,-0.028824],[0.698748,-0.673256,0.241822],[-0.194676,0.146322,0.969892]]
2025-10-27T18:13:01.572Z,1761588781.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:01.824Z,1761588781.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:02.076Z,1761588782.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:02.265Z,1761588782.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731722,-0.680125,-0.044867],[0.651817,-0.717474,0.245692],[-0.199292,0.150533,0.968309]]
2025-10-27T18:13:02.328Z,1761588782.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:02.580Z,1761588782.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:02.671Z,1761588782.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752775,-0.656155,-0.052830],[0.626835,-0.739013,0.246857],[-0.201018,0.152712,0.967611]]
2025-10-27T18:13:02.834Z,1761588782.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:03.084Z,1761588783.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:03.169Z,1761588783.169 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:13:03.169Z,1761588783.169 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:13:03.169Z,1761588783.169 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:13:03.169Z,1761588783.169 [marl:UpdateRudder:A] Stopped
2025-10-27T18:13:03.169Z,1761588783.169 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode] Stopped
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:13:03.170Z,1761588783.170 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed] Stopped
2025-10-27T18:13:03.171Z,1761588783.171 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:13:03.336Z,1761588783.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:03.478Z,1761588783.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793538,-0.604878,-0.066482],[0.573922,-0.780254,0.248632],[-0.202265,0.159143,0.966314]]
2025-10-27T18:13:03.502Z,1761588783.502 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:13:03.502Z,1761588783.502 [marl:UpdateRudder:B] Stopped
2025-10-27T18:13:03.502Z,1761588783.502 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:13:03.502Z,1761588783.502 [marl:UpdateRudder] Stopped
2025-10-27T18:13:03.502Z,1761588783.502 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:13:03.588Z,1761588783.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:03.840Z,1761588783.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:03.885Z,1761588783.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812558,-0.578105,-0.074462],[0.546710,-0.800191,0.246580],[-0.202133,0.159651,0.966258]]
2025-10-27T18:13:04.092Z,1761588784.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:04.285Z,1761588784.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830480,-0.550921,-0.082396],[0.519486,-0.819357,0.242463],[-0.201089,0.158557,0.966655]]
2025-10-27T18:13:04.353Z,1761588784.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:04.606Z,1761588784.606 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:04.689Z,1761588784.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847608,-0.523077,-0.089168],[0.491939,-0.837627,0.237439],[-0.198889,0.157390,0.967301]]
2025-10-27T18:13:04.856Z,1761588784.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:05.108Z,1761588785.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:05.148Z,1761588785.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863871,-0.494845,-0.094107],[0.464419,-0.854798,0.231591],[-0.195044,0.156360,0.968251]]
2025-10-27T18:13:05.360Z,1761588785.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:05.552Z,1761588785.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879158,-0.466390,-0.097786],[0.436889,-0.870812,0.225421],[-0.190287,0.155459,0.969342]]
2025-10-27T18:13:05.614Z,1761588785.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:05.864Z,1761588785.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:05.953Z,1761588785.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893022,-0.438671,-0.100400],[0.410168,-0.885219,0.219432],[-0.185134,0.154777,0.970448]]
2025-10-27T18:13:06.117Z,1761588786.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:06.357Z,1761588786.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904873,-0.412806,-0.103902],[0.385619,-0.898295,0.210628],[-0.180283,0.150525,0.972029]]
2025-10-27T18:13:06.368Z,1761588786.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:06.547Z,1761588786.547 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:13:06.621Z,1761588786.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:06.766Z,1761588786.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914258,-0.389982,-0.109751],[0.364823,-0.910310,0.195550],[-0.176169,0.138744,0.974533]]
2025-10-27T18:13:06.872Z,1761588786.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:07.125Z,1761588787.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:07.376Z,1761588787.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:07.551Z,1761588787.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:13:07.577Z,1761588787.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926868,-0.352898,-0.127980],[0.333895,-0.930831,0.148553],[-0.171552,0.094957,0.980588]]
2025-10-27T18:13:07.628Z,1761588787.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:07.880Z,1761588787.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:07.982Z,1761588787.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931517,-0.337052,-0.136646],[0.321082,-0.938590,0.126315],[-0.170830,0.073790,0.982534]]
2025-10-27T18:13:08.132Z,1761588788.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:08.384Z,1761588788.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:08.636Z,1761588788.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:08.810Z,1761588788.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939306,-0.308059,-0.151008],[0.296190,-0.950272,0.096199],[-0.173134,0.045633,0.983841]]
2025-10-27T18:13:08.895Z,1761588788.895 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:09.148Z,1761588789.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:09.400Z,1761588789.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:09.608Z,1761588789.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945916,-0.279911,-0.163993],[0.270135,-0.959525,0.079613],[-0.179640,0.031007,0.983244]]
2025-10-27T18:13:09.652Z,1761588789.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:09.904Z,1761588789.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:10.002Z,1761588790.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948969,-0.265526,-0.170157],[0.256177,-0.963705,0.075137],[-0.183932,0.027713,0.982548]]
2025-10-27T18:13:10.156Z,1761588790.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:10.408Z,1761588790.408 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:13:10.408Z,1761588790.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:10.414Z,1761588790.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952031,-0.250191,-0.176188],[0.241089,-0.967854,0.071653],[-0.188451,0.025739,0.981745]]
2025-10-27T18:13:10.659Z,1761588790.659 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:13:10.660Z,1761588790.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:10.912Z,1761588790.912 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:13:10.912Z,1761588790.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:11.164Z,1761588791.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:11.260Z,1761588791.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962397,-0.195285,-0.188825],[0.186884,-0.980455,0.061496],[-0.197144,0.023896,0.980083]]
2025-10-27T18:13:11.416Z,1761588791.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:11.663Z,1761588791.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965914,-0.174971,-0.190778],[0.166879,-0.984281,0.057815],[-0.197895,0.024007,0.979929]]
2025-10-27T18:13:11.668Z,1761588791.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:11.921Z,1761588791.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:12.176Z,1761588792.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:12.428Z,1761588792.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:12.469Z,1761588792.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972846,-0.133869,-0.188812],[0.125990,-0.990605,0.053187],[-0.194158,0.027955,0.980572]]
2025-10-27T18:13:12.680Z,1761588792.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:12.873Z,1761588792.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976306,-0.112802,-0.184669],[0.104685,-0.993084,0.053157],[-0.189388,0.032565,0.981362]]
2025-10-27T18:13:12.932Z,1761588792.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:13.184Z,1761588793.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:13.280Z,1761588793.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979528,-0.091555,-0.179282],[0.083018,-0.995053,0.054567],[-0.183391,0.038567,0.982283]]
2025-10-27T18:13:13.436Z,1761588793.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:13.684Z,1761588793.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982365,-0.070245,-0.173279],[0.061399,-0.996547,0.055895],[-0.176607,0.044270,0.983285]]
2025-10-27T18:13:13.688Z,1761588793.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:13.940Z,1761588793.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:14.102Z,1761588794.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984668,-0.050356,-0.167012],[0.040966,-0.997405,0.059200],[-0.169560,0.051451,0.984176]]
2025-10-27T18:13:14.195Z,1761588794.195 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:13:13.4540

2025-10-27T18:13:14.195Z,1761588794.195 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:13:14.196Z,1761588794.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:14.444Z,1761588794.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:14.489Z,1761588794.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986388,-0.033395,-0.161006],[0.023389,-0.997698,0.063648],[-0.162761,0.059016,0.984899]]
2025-10-27T18:13:14.696Z,1761588794.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:14.896Z,1761588794.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987630,-0.018234,-0.155739],[0.007865,-0.997726,0.066940],[-0.156605,0.064887,0.985528]]
2025-10-27T18:13:14.948Z,1761588794.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:15.200Z,1761588795.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:15.322Z,1761588795.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988461,-0.003813,-0.151428],[-0.006626,-0.997638,0.068369],[-0.151331,0.068584,0.986101]]
2025-10-27T18:13:15.452Z,1761588795.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:15.704Z,1761588795.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:15.956Z,1761588795.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:16.112Z,1761588796.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989202,0.024905,-0.144426],[-0.034392,-0.997385,0.063566],[-0.142465,0.067847,0.987472]]
2025-10-27T18:13:16.214Z,1761588796.214 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:16.464Z,1761588796.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:16.509Z,1761588796.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989124,0.039146,-0.141779],[-0.047801,-0.997162,0.058165],[-0.139099,0.064310,0.988188]]
2025-10-27T18:13:16.563Z,1761588796.563 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:13:16.563Z,1761588796.563 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:13:16.563Z,1761588796.563 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateRudder:A] Stopped
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:13:16.564Z,1761588796.564 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateCommandMode] Stopped
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:13:16.565Z,1761588796.565 [marl:UpdateSpeed] Stopped
2025-10-27T18:13:16.566Z,1761588796.566 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:13:16.716Z,1761588796.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:16.914Z,1761588796.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988783,0.052689,-0.139756],[-0.060638,-0.996739,0.053243],[-0.136495,0.061120,0.988753]]
2025-10-27T18:13:16.968Z,1761588796.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:16.978Z,1761588796.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:13:16.978Z,1761588796.978 [marl:UpdateRudder:B] Stopped
2025-10-27T18:13:16.978Z,1761588796.978 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:13:16.978Z,1761588796.978 [marl:UpdateRudder] Stopped
2025-10-27T18:13:16.978Z,1761588796.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:13:17.220Z,1761588797.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:17.320Z,1761588797.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988230,0.066120,-0.137944],[-0.073466,-0.996100,0.048852],[-0.134176,0.058411,0.989235]]
2025-10-27T18:13:17.472Z,1761588797.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:17.725Z,1761588797.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:17.737Z,1761588797.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987313,0.081955,-0.136002],[-0.088555,-0.995134,0.043195],[-0.131801,0.054690,0.989766]]
2025-10-27T18:13:17.976Z,1761588797.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:18.125Z,1761588798.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985783,0.101697,-0.133753],[-0.107340,-0.993583,0.035661],[-0.129268,0.049511,0.990373]]
2025-10-27T18:13:18.228Z,1761588798.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:18.480Z,1761588798.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:18.529Z,1761588798.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983689,0.123046,-0.131207],[-0.128001,-0.991320,0.029995],[-0.126377,0.046300,0.990901]]
2025-10-27T18:13:18.738Z,1761588798.738 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:18.942Z,1761588798.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981206,0.144612,-0.127757],[-0.149022,-0.988502,0.025611],[-0.122585,0.044168,0.991475]]
2025-10-27T18:13:18.988Z,1761588798.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:19.240Z,1761588799.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:19.338Z,1761588799.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978169,0.166781,-0.123973],[-0.170921,-0.985005,0.023466],[-0.118200,0.044143,0.992008]]
2025-10-27T18:13:19.492Z,1761588799.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:19.744Z,1761588799.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:19.750Z,1761588799.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974744,0.188688,-0.119457],[-0.192611,-0.981027,0.022088],[-0.113023,0.044538,0.992594]]
2025-10-27T18:13:19.996Z,1761588799.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:20.146Z,1761588800.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970914,0.210469,-0.114147],[-0.214103,-0.976598,0.020426],[-0.107177,0.044271,0.993254]]
2025-10-27T18:13:20.248Z,1761588800.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:20.500Z,1761588800.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:20.549Z,1761588800.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967008,0.230385,-0.108715],[-0.233994,-0.972000,0.021517],[-0.100714,0.046246,0.993840]]
2025-10-27T18:13:20.752Z,1761588800.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:20.954Z,1761588800.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963226,0.248075,-0.103220],[-0.251538,-0.967602,0.021792],[-0.094470,0.046954,0.994420]]
2025-10-27T18:13:21.004Z,1761588801.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:21.256Z,1761588801.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:21.358Z,1761588801.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959686,0.263409,-0.098072],[-0.266735,-0.963513,0.022265],[-0.088629,0.047527,0.994930]]
2025-10-27T18:13:21.508Z,1761588801.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:21.760Z,1761588801.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:21.768Z,1761588801.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956302,0.277020,-0.093522],[-0.280143,-0.959710,0.021847],[-0.083701,0.047092,0.995378]]
2025-10-27T18:13:22.012Z,1761588802.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:22.166Z,1761588802.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952712,0.290234,-0.090020],[-0.293272,-0.955769,0.022300],[-0.079566,0.047646,0.995690]]
2025-10-27T18:13:22.269Z,1761588802.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:22.520Z,1761588802.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:22.581Z,1761588802.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948791,0.303729,-0.086858],[-0.306525,-0.951640,0.020570],[-0.076410,0.046141,0.996008]]
2025-10-27T18:13:22.774Z,1761588802.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:22.978Z,1761588802.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944527,0.317418,-0.084342],[-0.319939,-0.947269,0.017909],[-0.074210,0.043900,0.996276]]
2025-10-27T18:13:23.024Z,1761588803.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:23.276Z,1761588803.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:23.379Z,1761588803.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939722,0.331867,-0.082380],[-0.334127,-0.942410,0.014950],[-0.072674,0.041574,0.996489]]
2025-10-27T18:13:23.528Z,1761588803.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:23.780Z,1761588803.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:24.032Z,1761588804.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:24.186Z,1761588804.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927310,0.365832,-0.079142],[-0.367619,-0.929935,0.008792],[-0.070380,0.037247,0.996825]]
2025-10-27T18:13:24.284Z,1761588804.284 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:13:24.284Z,1761588804.284 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:13:24.285Z,1761588804.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:24.536Z,1761588804.536 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:13:24.536Z,1761588804.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:24.595Z,1761588804.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919380,0.385571,-0.077947],[-0.387267,-0.921938,0.007346],[-0.069030,0.036940,0.996930]]
2025-10-27T18:13:24.791Z,1761588804.791 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:13:24.792Z,1761588804.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:25.040Z,1761588805.040 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:13:25.040Z,1761588805.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:25.292Z,1761588805.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:25.398Z,1761588805.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900971,0.427372,-0.074857],[-0.429152,-0.903190,0.008762],[-0.063866,0.040019,0.997156]]
2025-10-27T18:13:25.544Z,1761588805.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:25.796Z,1761588805.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:25.803Z,1761588805.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890776,0.448339,-0.074224],[-0.450366,-0.892758,0.012355],[-0.060725,0.044434,0.997165]]
2025-10-27T18:13:26.048Z,1761588806.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:26.208Z,1761588806.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880177,0.468840,-0.074005],[-0.471210,-0.881845,0.017626],[-0.056997,0.050386,0.997102]]
2025-10-27T18:13:26.300Z,1761588806.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:26.553Z,1761588806.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:26.609Z,1761588806.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869663,0.488068,-0.073993],[-0.490800,-0.870952,0.023610],[-0.052921,0.056848,0.996979]]
2025-10-27T18:13:26.806Z,1761588806.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:27.013Z,1761588807.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860055,0.504727,-0.074545],[-0.507877,-0.860881,0.030751],[-0.048654,0.064307,0.996743]]
2025-10-27T18:13:27.057Z,1761588807.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:27.308Z,1761588807.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:27.417Z,1761588807.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851877,0.518635,-0.072966],[-0.521866,-0.852329,0.034505],[-0.044295,0.067472,0.996737]]
2025-10-27T18:13:27.560Z,1761588807.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:27.813Z,1761588807.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:27.826Z,1761588807.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845041,0.530175,-0.069433],[-0.533213,-0.845236,0.035487],[-0.039873,0.067011,0.996955]]
2025-10-27T18:13:28.065Z,1761588808.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:28.225Z,1761588808.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839387,0.539762,-0.063920],[-0.542397,-0.839422,0.034299],[-0.035143,0.063460,0.997365]]
2025-10-27T18:13:28.316Z,1761588808.316 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:13:27.5525

2025-10-27T18:13:28.317Z,1761588808.317 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:13:28.317Z,1761588808.317 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:28.568Z,1761588808.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:28.629Z,1761588808.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834524,0.548216,-0.055034],[-0.550173,-0.834523,0.029697],[-0.029647,0.055061,0.998043]]
2025-10-27T18:13:28.822Z,1761588808.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:29.033Z,1761588809.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830212,0.555570,-0.045709],[-0.556957,-0.830128,0.026212],[-0.023382,0.047220,0.998611]]
2025-10-27T18:13:29.073Z,1761588809.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:29.325Z,1761588809.325 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:29.439Z,1761588809.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826065,0.562360,-0.036990],[-0.563329,-0.825864,0.024685],[-0.016667,0.041230,0.999011]]
2025-10-27T18:13:29.514Z,1761588809.514 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:13:29.514Z,1761588809.514 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:13:29.525Z,1761588809.525 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateRudder:A] Stopped
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:13:29.526Z,1761588809.526 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:13:29.527Z,1761588809.527 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:13:29.535Z,1761588809.535 [marl:UpdateCommandMode] Stopped
2025-10-27T18:13:29.535Z,1761588809.535 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:13:29.535Z,1761588809.535 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:13:29.535Z,1761588809.535 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:13:29.535Z,1761588809.535 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:13:29.536Z,1761588809.536 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:13:29.536Z,1761588809.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:13:29.536Z,1761588809.536 [marl:UpdateSpeed] Stopped
2025-10-27T18:13:29.536Z,1761588809.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:13:29.577Z,1761588809.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:29.828Z,1761588809.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:29.848Z,1761588809.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821429,0.569521,-0.029999],[-0.570226,-0.821075,0.026014],[-0.009816,0.038475,0.999211]]
2025-10-27T18:13:29.890Z,1761588809.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:13:29.890Z,1761588809.890 [marl:UpdateRudder:B] Stopped
2025-10-27T18:13:29.890Z,1761588809.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:13:29.890Z,1761588809.890 [marl:UpdateRudder] Stopped
2025-10-27T18:13:29.890Z,1761588809.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:13:30.080Z,1761588810.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:30.245Z,1761588810.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815352,0.578476,-0.023799],[-0.578953,-0.814913,0.027019],[-0.003764,0.035808,0.999352]]
2025-10-27T18:13:30.332Z,1761588810.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:30.584Z,1761588810.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:30.650Z,1761588810.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806987,0.590276,-0.018602],[-0.590567,-0.806500,0.028079],[0.001572,0.033645,0.999433]]
2025-10-27T18:13:30.838Z,1761588810.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:31.088Z,1761588811.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:31.341Z,1761588811.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:31.458Z,1761588811.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783853,0.620830,-0.012006],[-0.620869,-0.783304,0.030917],[0.009790,0.031689,0.999450]]
2025-10-27T18:13:31.593Z,1761588811.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:31.844Z,1761588811.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:31.863Z,1761588811.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770177,0.637748,-0.010202],[-0.637691,-0.769578,0.033177],[0.013308,0.032058,0.999397]]
2025-10-27T18:13:32.096Z,1761588812.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:32.266Z,1761588812.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755512,0.655088,-0.007814],[-0.654922,-0.754909,0.034481],[0.016689,0.031169,0.999375]]
2025-10-27T18:13:32.350Z,1761588812.350 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:32.600Z,1761588812.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:32.670Z,1761588812.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741870,0.670541,-0.002063],[-0.670254,-0.741454,0.031717],[0.019738,0.024913,0.999495]]
2025-10-27T18:13:32.852Z,1761588812.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:33.078Z,1761588813.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730531,0.682828,0.008363],[-0.682510,-0.730484,0.023959],[0.022469,0.011795,0.999678]]
2025-10-27T18:13:33.104Z,1761588813.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:33.356Z,1761588813.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:33.478Z,1761588813.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722353,0.691067,0.025157],[-0.691047,-0.722728,0.010881],[0.025701,-0.009525,0.999624]]
2025-10-27T18:13:33.609Z,1761588813.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:33.860Z,1761588813.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:33.884Z,1761588813.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716276,0.696236,0.046959],[-0.697206,-0.716842,-0.006415],[0.029196,-0.037334,0.998876]]
2025-10-27T18:13:34.112Z,1761588814.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:34.286Z,1761588814.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711359,0.699303,0.070306],[-0.702058,-0.711698,-0.024500],[0.032904,-0.066788,0.997224]]
2025-10-27T18:13:34.365Z,1761588814.365 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:34.616Z,1761588814.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:34.689Z,1761588814.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707393,0.700489,0.094391],[-0.705863,-0.707054,-0.042795],[0.036762,-0.096900,0.994615]]
2025-10-27T18:13:34.868Z,1761588814.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:35.093Z,1761588815.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704648,0.700158,0.115108],[-0.708405,-0.703426,-0.057918],[0.040418,-0.122355,0.991663]]
2025-10-27T18:13:35.120Z,1761588815.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:35.372Z,1761588815.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:35.624Z,1761588815.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:35.876Z,1761588815.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:35.902Z,1761588815.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702598,0.696664,0.144966],[-0.710016,-0.699874,-0.077798],[0.047259,-0.157589,0.986373]]
2025-10-27T18:13:36.128Z,1761588816.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:36.306Z,1761588816.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703276,0.693885,0.154681],[-0.709133,-0.700109,-0.083534],[0.050330,-0.168437,0.984427]]
2025-10-27T18:13:36.397Z,1761588816.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:36.648Z,1761588816.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:36.710Z,1761588816.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705518,0.690137,0.161106],[-0.706693,-0.702171,-0.086838],[0.053194,-0.175119,0.983109]]
2025-10-27T18:13:36.900Z,1761588816.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:37.119Z,1761588817.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709030,0.685510,0.165384],[-0.702952,-0.705700,-0.088576],[0.055992,-0.179061,0.982243]]
2025-10-27T18:13:37.152Z,1761588817.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:37.404Z,1761588817.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:37.517Z,1761588817.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713635,0.679661,0.169662],[-0.697976,-0.710488,-0.089645],[0.059615,-0.182394,0.981416]]
2025-10-27T18:13:37.656Z,1761588817.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:37.679Z,1761588817.679 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:13:37.908Z,1761588817.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:37.923Z,1761588817.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719078,0.672410,0.175473],[-0.691965,-0.716106,-0.091524],[0.064116,-0.187234,0.980221]]
2025-10-27T18:13:38.160Z,1761588818.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:38.326Z,1761588818.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724760,0.664505,0.182089],[-0.685513,-0.722013,-0.093643],[0.069245,-0.192693,0.978813]]
2025-10-27T18:13:38.421Z,1761588818.421 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:13:38.421Z,1761588818.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:38.672Z,1761588818.672 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:13:38.672Z,1761588818.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:38.683Z,1761588818.683 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:13:38.741Z,1761588818.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730154,0.656646,0.188921],[-0.679198,-0.727683,-0.095747],[0.074603,-0.198225,0.977313]]
2025-10-27T18:13:38.924Z,1761588818.924 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:13:38.925Z,1761588818.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:39.176Z,1761588819.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:39.428Z,1761588819.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:39.556Z,1761588819.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737023,0.645363,0.200760],[-0.670702,-0.735035,-0.099410],[0.083411,-0.207918,0.974584]]
2025-10-27T18:13:39.681Z,1761588819.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:39.932Z,1761588819.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:39.947Z,1761588819.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736941,0.643798,0.206015],[-0.670587,-0.734646,-0.102999],[0.085038,-0.214055,0.973113]]
2025-10-27T18:13:40.184Z,1761588820.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:40.348Z,1761588820.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734495,0.645473,0.209479],[-0.673205,-0.731953,-0.105070],[0.085509,-0.218195,0.972152]]
2025-10-27T18:13:40.436Z,1761588820.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:40.688Z,1761588820.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:40.756Z,1761588820.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730887,0.648815,0.211765],[-0.677025,-0.728460,-0.104802],[0.086265,-0.219969,0.971685]]
2025-10-27T18:13:40.940Z,1761588820.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:41.154Z,1761588821.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727139,0.652794,0.212438],[-0.680937,-0.725137,-0.102479],[0.087149,-0.219173,0.971786]]
2025-10-27T18:13:41.192Z,1761588821.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:41.444Z,1761588821.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:41.568Z,1761588821.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724028,0.656618,0.211272],[-0.684053,-0.722872,-0.097610],[0.088630,-0.215193,0.972541]]
2025-10-27T18:13:41.696Z,1761588821.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:41.952Z,1761588821.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:41.966Z,1761588821.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721276,0.660076,0.209906],[-0.686713,-0.721055,-0.092222],[0.090481,-0.210662,0.973363]]
2025-10-27T18:13:42.204Z,1761588822.204 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:13:41.4524

2025-10-27T18:13:42.205Z,1761588822.205 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:13:42.205Z,1761588822.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:42.421Z,1761588822.421 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateRudder:A] Stopped
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:13:42.422Z,1761588822.422 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateCommandMode] Stopped
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:13:42.423Z,1761588822.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:13:42.424Z,1761588822.424 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:13:42.424Z,1761588822.424 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:13:42.424Z,1761588822.424 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:13:42.424Z,1761588822.424 [marl:UpdateSpeed] Stopped
2025-10-27T18:13:42.424Z,1761588822.424 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:13:42.459Z,1761588822.459 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:42.708Z,1761588822.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:42.775Z,1761588822.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715777,0.666355,0.208889],[-0.691887,-0.717240,-0.082821],[0.094636,-0.203809,0.974426]]
2025-10-27T18:13:42.871Z,1761588822.871 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T18:13:42.871Z,1761588822.871 [marl:UpdateRudder:B] Stopped
2025-10-27T18:13:42.872Z,1761588822.872 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:13:42.872Z,1761588822.872 [marl:UpdateRudder] Stopped
2025-10-27T18:13:42.872Z,1761588822.872 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:13:42.960Z,1761588822.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:43.175Z,1761588823.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712371,0.669867,0.209297],[-0.695145,-0.714487,-0.079264],[0.096443,-0.201958,0.974634]]
2025-10-27T18:13:43.212Z,1761588823.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:43.464Z,1761588823.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:43.577Z,1761588823.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708196,0.673874,0.210601],[-0.699242,-0.710692,-0.077318],[0.097570,-0.202017,0.974510]]
2025-10-27T18:13:43.716Z,1761588823.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:43.973Z,1761588823.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:43.983Z,1761588823.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703847,0.678440,0.210519],[-0.703448,-0.706912,-0.073737],[0.098792,-0.199989,0.974805]]
2025-10-27T18:13:44.221Z,1761588824.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:44.472Z,1761588824.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:44.509Z,1761588824.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696780,0.686442,0.208073],[-0.710369,-0.700575,-0.067604],[0.099364,-0.194914,0.975774]]
2025-10-27T18:13:44.724Z,1761588824.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:44.911Z,1761588824.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695060,0.689170,0.204786],[-0.712138,-0.699075,-0.064445],[0.098747,-0.190629,0.976683]]
2025-10-27T18:13:44.976Z,1761588824.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:45.228Z,1761588825.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:45.312Z,1761588825.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694396,0.691226,0.200055],[-0.712963,-0.698528,-0.061177],[0.097457,-0.185113,0.977873]]
2025-10-27T18:13:45.481Z,1761588825.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:45.715Z,1761588825.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692956,0.695241,0.190927],[-0.714637,-0.697389,-0.054253],[0.095431,-0.174038,0.980104]]
2025-10-27T18:13:45.733Z,1761588825.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:45.984Z,1761588825.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:46.117Z,1761588826.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688603,0.703898,0.174220],[-0.719176,-0.693683,-0.039862],[0.092795,-0.152744,0.983900]]
2025-10-27T18:13:46.236Z,1761588826.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:46.488Z,1761588826.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:46.538Z,1761588826.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680087,0.718138,0.147509],[-0.727629,-0.685784,-0.016024],[0.089652,-0.118230,0.988931]]
2025-10-27T18:13:46.741Z,1761588826.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:46.926Z,1761588826.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666541,0.737180,0.110851],[-0.740408,-0.671953,0.016579],[0.086709,-0.071024,0.993699]]
2025-10-27T18:13:46.992Z,1761588826.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:47.244Z,1761588827.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:47.329Z,1761588827.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648074,0.758734,0.065749],[-0.756893,-0.651244,0.054718],[0.084335,-0.014304,0.996335]]
2025-10-27T18:13:47.496Z,1761588827.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:47.741Z,1761588827.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625750,0.779821,0.017775],[-0.775616,-0.624472,0.091950],[0.082805,0.043751,0.995605]]
2025-10-27T18:13:47.748Z,1761588827.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:48.000Z,1761588828.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:48.142Z,1761588828.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600263,0.799368,-0.026371],[-0.795598,-0.593406,0.122036],[0.081903,0.094235,0.992175]]
2025-10-27T18:13:48.252Z,1761588828.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:48.505Z,1761588828.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:48.545Z,1761588828.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570869,0.818766,-0.061083],[-0.816985,-0.559089,0.141261],[0.081509,0.130545,0.988086]]
2025-10-27T18:13:48.756Z,1761588828.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:48.946Z,1761588828.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539585,0.837189,-0.089234],[-0.838014,-0.523837,0.152731],[0.081121,0.157191,0.984231]]
2025-10-27T18:13:49.009Z,1761588829.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:49.260Z,1761588829.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:49.352Z,1761588829.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506417,0.855146,-0.110761],[-0.858483,-0.487950,0.157834],[0.080925,0.175016,0.981234]]
2025-10-27T18:13:49.512Z,1761588829.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:49.762Z,1761588829.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472141,0.872368,-0.126717],[-0.877863,-0.452212,0.157674],[0.080247,0.185684,0.979327]]
2025-10-27T18:13:49.764Z,1761588829.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:50.016Z,1761588830.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:50.161Z,1761588830.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438111,0.888194,-0.138457],[-0.895449,-0.417688,0.153972],[0.078925,0.191438,0.978326]]
2025-10-27T18:13:50.269Z,1761588830.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:50.521Z,1761588830.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:50.774Z,1761588830.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:50.967Z,1761588830.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376454,0.914285,-0.149548],[-0.923331,-0.357069,0.141283],[0.075774,0.191269,0.978608]]
2025-10-27T18:13:51.025Z,1761588831.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:51.276Z,1761588831.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:51.369Z,1761588831.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349457,0.924689,-0.151094],[-0.934031,-0.331083,0.134054],[0.073934,0.187973,0.979388]]
2025-10-27T18:13:51.529Z,1761588831.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:51.774Z,1761588831.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324165,0.934837,-0.144906],[-0.943263,-0.307768,0.124635],[0.071916,0.177087,0.981564]]
2025-10-27T18:13:51.780Z,1761588831.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:52.032Z,1761588832.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:52.181Z,1761588832.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300552,0.943966,-0.136370],[-0.951193,-0.286168,0.115497],[0.070001,0.164427,0.983902]]
2025-10-27T18:13:52.284Z,1761588832.284 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:13:52.284Z,1761588832.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:52.536Z,1761588832.536 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:13:52.536Z,1761588832.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:52.594Z,1761588832.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278506,0.952164,-0.125769],[-0.957991,-0.266069,0.107057],[0.068472,0.150301,0.986266]]
2025-10-27T18:13:52.790Z,1761588832.790 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:13:52.791Z,1761588832.791 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:53.001Z,1761588833.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256963,0.959511,-0.115365],[-0.964029,-0.246100,0.100414],[0.067957,0.137018,0.988235]]
2025-10-27T18:13:53.040Z,1761588833.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:53.292Z,1761588833.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:53.390Z,1761588833.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235616,0.965828,-0.107992],[-0.969408,-0.225703,0.096471],[0.068800,0.127418,0.989460]]
2025-10-27T18:13:53.544Z,1761588833.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:53.793Z,1761588833.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212846,0.971537,-0.103983],[-0.974481,-0.203308,0.095141],[0.071292,0.121580,0.990018]]
2025-10-27T18:13:53.796Z,1761588833.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:54.048Z,1761588834.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:54.301Z,1761588834.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:54.552Z,1761588834.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:54.806Z,1761588834.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:55.017Z,1761588835.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125594,0.983156,-0.132783],[-0.988850,-0.113264,0.096680],[0.080012,0.143445,0.986419]]
2025-10-27T18:13:55.056Z,1761588835.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:55.308Z,1761588835.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:55.410Z,1761588835.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089961,0.985258,-0.145513],[-0.992575,-0.076686,0.094411],[0.081860,0.152926,0.984841]]
2025-10-27T18:13:55.560Z,1761588835.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:55.733Z,1761588835.733 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:13:55.733Z,1761588835.733 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:13:55.812Z,1761588835.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:55.818Z,1761588835.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052851,0.985981,-0.158267],[-0.995151,-0.038838,0.090361],[0.082948,0.162276,0.983253]]
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateRudder:A] Stopped
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:13:55.853Z,1761588835.853 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateCommandMode] Stopped
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:13:55.854Z,1761588835.854 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:13:55.855Z,1761588835.855 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:13:55.855Z,1761588835.855 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:13:55.855Z,1761588835.855 [marl:UpdateSpeed] Stopped
2025-10-27T18:13:55.855Z,1761588835.855 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:13:56.064Z,1761588836.064 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:13:55.3023

2025-10-27T18:13:56.064Z,1761588836.064 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:13:56.065Z,1761588836.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:56.221Z,1761588836.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014950,0.985589,-0.168496],[-0.996452,-0.000728,0.084155],[0.082820,0.169156,0.982103]]
2025-10-27T18:13:56.266Z,1761588836.266 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T18:13:56.266Z,1761588836.266 [marl:UpdateRudder:B] Stopped
2025-10-27T18:13:56.266Z,1761588836.266 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:13:56.266Z,1761588836.266 [marl:UpdateRudder] Stopped
2025-10-27T18:13:56.267Z,1761588836.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:13:56.272Z,1761588836.272 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:13:56.316Z,1761588836.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:56.568Z,1761588836.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:56.622Z,1761588836.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022389,0.984288,-0.175146],[-0.996443,0.036206,0.076099],[0.081245,0.172819,0.981597]]
2025-10-27T18:13:56.823Z,1761588836.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:57.030Z,1761588837.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058535,0.982423,-0.177251],[-0.995216,0.071340,0.066747],[0.078219,0.172496,0.981900]]
2025-10-27T18:13:57.072Z,1761588837.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:57.324Z,1761588837.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:57.430Z,1761588837.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091123,0.980498,-0.174126],[-0.993044,0.102561,0.057842],[0.074572,0.167644,0.983023]]
2025-10-27T18:13:57.576Z,1761588837.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:57.828Z,1761588837.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:57.837Z,1761588837.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120241,0.978407,-0.168113],[-0.990182,0.130359,0.050468],[0.071293,0.160394,0.984475]]
2025-10-27T18:13:58.080Z,1761588838.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:58.237Z,1761588838.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146558,0.976060,-0.160708],[-0.986828,0.155514,0.044572],[0.068498,0.152059,0.985995]]
2025-10-27T18:13:58.332Z,1761588838.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:58.584Z,1761588838.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:58.649Z,1761588838.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172557,0.972956,-0.153562],[-0.982766,0.180554,0.039643],[0.066297,0.144075,0.987343]]
2025-10-27T18:13:58.838Z,1761588838.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:59.046Z,1761588839.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199417,0.968752,-0.147487],[-0.977767,0.206674,0.035475],[0.064848,0.137133,0.988428]]
2025-10-27T18:13:59.088Z,1761588839.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:59.340Z,1761588839.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:59.449Z,1761588839.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228498,0.962538,-0.145974],[-0.971435,0.235291,0.030861],[0.064051,0.134753,0.988807]]
2025-10-27T18:13:59.592Z,1761588839.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:59.844Z,1761588839.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:13:59.855Z,1761588839.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258973,0.954481,-0.147981],[-0.963791,0.265444,0.025445],[0.063567,0.136034,0.988663]]
2025-10-27T18:14:00.096Z,1761588840.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:00.263Z,1761588840.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292081,0.943875,-0.154238],[-0.954347,0.298186,0.017532],[0.062540,0.142075,0.987878]]
2025-10-27T18:14:00.356Z,1761588840.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:00.608Z,1761588840.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:00.666Z,1761588840.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326343,0.931596,-0.160090],[-0.943291,0.331864,0.008293],[0.060853,0.148305,0.987068]]
2025-10-27T18:14:00.860Z,1761588840.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:01.065Z,1761588841.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359952,0.918354,-0.164502],[-0.931146,0.364643,-0.001804],[0.058328,0.153825,0.986375]]
2025-10-27T18:14:01.112Z,1761588841.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:01.364Z,1761588841.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:01.470Z,1761588841.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391232,0.905183,-0.166074],[-0.918628,0.394962,-0.011341],[0.055327,0.156997,0.986048]]
2025-10-27T18:14:01.617Z,1761588841.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:01.868Z,1761588841.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:01.877Z,1761588841.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420215,0.892221,-0.165414],[-0.905952,0.422884,-0.020487],[0.051672,0.158466,0.986011]]
2025-10-27T18:14:02.120Z,1761588842.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:02.278Z,1761588842.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446738,0.880056,-0.161017],[-0.893396,0.448403,-0.027908],[0.047640,0.156320,0.986557]]
2025-10-27T18:14:02.372Z,1761588842.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:02.624Z,1761588842.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:02.682Z,1761588842.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471573,0.868232,-0.154249],[-0.880757,0.472353,-0.033904],[0.043424,0.151844,0.987450]]
2025-10-27T18:14:02.876Z,1761588842.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:03.086Z,1761588843.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495087,0.856520,-0.145816],[-0.867964,0.495120,-0.038664],[0.039080,0.145705,0.988556]]
2025-10-27T18:14:03.132Z,1761588843.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:03.384Z,1761588843.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:03.503Z,1761588843.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517932,0.844267,-0.137691],[-0.854699,0.517362,-0.042735],[0.035156,0.139818,0.989553]]
2025-10-27T18:14:03.636Z,1761588843.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:03.888Z,1761588843.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:03.897Z,1761588843.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540134,0.831347,-0.130832],[-0.840965,0.539117,-0.046166],[0.032154,0.134961,0.990329]]
2025-10-27T18:14:04.140Z,1761588844.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:04.300Z,1761588844.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561851,0.817379,-0.127340],[-0.826675,0.560459,-0.049953],[0.030538,0.133335,0.990600]]
2025-10-27T18:14:04.393Z,1761588844.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:04.644Z,1761588844.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:04.704Z,1761588844.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583207,0.802135,-0.128254],[-0.811745,0.581440,-0.054750],[0.030655,0.136040,0.990229]]
2025-10-27T18:14:04.897Z,1761588844.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:05.148Z,1761588845.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:05.400Z,1761588845.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:05.652Z,1761588845.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:05.904Z,1761588845.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:05.918Z,1761588845.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654937,0.742601,-0.140004],[-0.754893,0.651397,-0.076277],[0.034555,0.155645,0.987208]]
2025-10-27T18:14:06.156Z,1761588846.156 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:14:06.156Z,1761588846.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:06.328Z,1761588846.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681549,0.718072,-0.140940],[-0.730944,0.677192,-0.084445],[0.034806,0.160572,0.986410]]
2025-10-27T18:14:06.408Z,1761588846.408 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:14:06.408Z,1761588846.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:06.660Z,1761588846.660 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:14:06.660Z,1761588846.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:06.723Z,1761588846.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707691,0.692447,-0.140323],[-0.705653,0.702588,-0.091784],[0.035034,0.163974,0.985842]]
2025-10-27T18:14:06.914Z,1761588846.914 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:07.126Z,1761588847.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733234,0.665760,-0.138315],[-0.679083,0.727382,-0.098801],[0.034830,0.166371,0.985448]]
2025-10-27T18:14:07.164Z,1761588847.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:07.416Z,1761588847.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:07.532Z,1761588847.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758052,0.638268,-0.134057],[-0.651309,0.751567,-0.104616],[0.033979,0.166617,0.985436]]
2025-10-27T18:14:07.668Z,1761588847.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:07.920Z,1761588847.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:08.172Z,1761588848.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:08.338Z,1761588848.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804148,0.582002,-0.120913],[-0.593664,0.796641,-0.113697],[0.030152,0.163211,0.986130]]
2025-10-27T18:14:08.425Z,1761588848.425 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:08.676Z,1761588848.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:08.748Z,1761588848.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824271,0.555066,-0.111712],[-0.565526,0.816706,-0.114771],[0.027531,0.157778,0.987091]]
2025-10-27T18:14:08.821Z,1761588848.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:14:08.886Z,1761588848.886 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:14:08.886Z,1761588848.886 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:14:08.891Z,1761588848.891 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:14:08.891Z,1761588848.891 [marl:UpdateRudder:A] Stopped
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode] Stopped
2025-10-27T18:14:08.892Z,1761588848.892 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed] Stopped
2025-10-27T18:14:08.893Z,1761588848.893 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:14:08.928Z,1761588848.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:09.180Z,1761588849.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:09.234Z,1761588849.234 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-27T18:14:09.234Z,1761588849.234 [marl:UpdateRudder:B] Stopped
2025-10-27T18:14:09.235Z,1761588849.235 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:14:09.235Z,1761588849.235 [marl:UpdateRudder] Stopped
2025-10-27T18:14:09.235Z,1761588849.235 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:14:09.432Z,1761588849.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:09.549Z,1761588849.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858700,0.503754,-0.094164],[-0.511935,0.851652,-0.112302],[0.023622,0.144640,0.989202]]
2025-10-27T18:14:09.686Z,1761588849.686 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:09.823Z,1761588849.823 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:14:09.936Z,1761588849.936 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:14:09.2023

2025-10-27T18:14:09.937Z,1761588849.937 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:14:09.937Z,1761588849.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:09.953Z,1761588849.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873609,0.478768,-0.087109],[-0.486130,0.866720,-0.111689],[0.022026,0.139919,0.989918]]
2025-10-27T18:14:10.188Z,1761588850.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:10.378Z,1761588850.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887453,0.453629,-0.081535],[-0.460444,0.880443,-0.113184],[0.020443,0.137988,0.990223]]
2025-10-27T18:14:10.440Z,1761588850.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:10.692Z,1761588850.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:10.766Z,1761588850.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900331,0.428255,-0.077472],[-0.434782,0.892943,-0.116693],[0.019204,0.138746,0.990142]]
2025-10-27T18:14:10.944Z,1761588850.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:11.165Z,1761588851.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912807,0.401635,-0.073973],[-0.407987,0.904871,-0.121469],[0.018150,0.141058,0.989835]]
2025-10-27T18:14:11.196Z,1761588851.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:11.448Z,1761588851.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:11.569Z,1761588851.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924915,0.373644,-0.070162],[-0.379801,0.916316,-0.126953],[0.016855,0.144068,0.989424]]
2025-10-27T18:14:11.700Z,1761588851.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:11.953Z,1761588851.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:11.986Z,1761588851.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936181,0.345245,-0.066109],[-0.351160,0.927025,-0.131576],[0.015859,0.146393,0.989099]]
2025-10-27T18:14:12.204Z,1761588852.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:12.385Z,1761588852.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946745,0.315952,-0.062043],[-0.321635,0.936977,-0.136471],[0.015014,0.149159,0.988699]]
2025-10-27T18:14:12.457Z,1761588852.457 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:12.708Z,1761588852.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:12.803Z,1761588852.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956403,0.286352,-0.057409],[-0.291707,0.946168,-0.140260],[0.014155,0.150892,0.988449]]
2025-10-27T18:14:12.961Z,1761588852.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:13.185Z,1761588853.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965002,0.257065,-0.051847],[-0.261909,0.954713,-0.141163],[0.013211,0.149802,0.988628]]
2025-10-27T18:14:13.212Z,1761588853.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:13.464Z,1761588853.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:13.589Z,1761588853.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972557,0.227970,-0.046497],[-0.232328,0.962287,-0.141515],[0.012482,0.148434,0.988844]]
2025-10-27T18:14:13.716Z,1761588853.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:13.969Z,1761588853.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:13.996Z,1761588853.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978956,0.199813,-0.041469],[-0.203727,0.968707,-0.141781],[0.011842,0.147246,0.989029]]
2025-10-27T18:14:14.220Z,1761588854.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:14.398Z,1761588854.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984463,0.171856,-0.036019],[-0.175250,0.974417,-0.140710],[0.010915,0.144836,0.989395]]
2025-10-27T18:14:14.472Z,1761588854.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:14.724Z,1761588854.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:14.838Z,1761588854.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988964,0.144852,-0.031114],[-0.147810,0.978990,-0.140470],[0.010113,0.143518,0.989596]]
2025-10-27T18:14:14.979Z,1761588854.979 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:15.205Z,1761588855.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992647,0.118157,-0.026284],[-0.120700,0.982586,-0.141267],[0.009135,0.143401,0.989623]]
2025-10-27T18:14:15.228Z,1761588855.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:15.480Z,1761588855.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:15.611Z,1761588855.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995605,0.091298,-0.020878],[-0.093347,0.985422,-0.142233],[0.007588,0.143557,0.989613]]
2025-10-27T18:14:15.732Z,1761588855.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:15.984Z,1761588855.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:16.013Z,1761588856.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997823,0.064170,-0.015246],[-0.065690,0.987608,-0.142530],[0.005911,0.143222,0.989673]]
2025-10-27T18:14:16.236Z,1761588856.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:16.421Z,1761588856.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999256,0.037262,-0.009939],[-0.038297,0.989112,-0.142092],[0.004536,0.142366,0.989804]]
2025-10-27T18:14:16.470Z,1761588856.470 [marl:SendObservationData] Running Loop=1
2025-10-27T18:14:16.470Z,1761588856.470 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T18:14:16.470Z,1761588856.470 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T18:14:16.472Z,1761588856.472 [marl:SendObservationData:A] Running Loop=1
2025-10-27T18:14:16.474Z,1761588856.474 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T18:14:16.474Z,1761588856.474 [marl:SendObservationData:A] Stopped
2025-10-27T18:14:16.474Z,1761588856.474 [marl:SendObservationData:B] Running Loop=1
2025-10-27T18:14:16.488Z,1761588856.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:16.740Z,1761588856.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:16.969Z,1761588856.969 [marl:SendObservationData:B] Stopped
2025-10-27T18:14:16.969Z,1761588856.969 [marl:SendObservationData:C] Running Loop=1
2025-10-27T18:14:16.992Z,1761588856.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:17.244Z,1761588857.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:17.268Z,1761588857.268 [marl:SendObservationData:C] Stopped
2025-10-27T18:14:17.268Z,1761588857.268 [marl:SendObservationData:E] Running Loop=1
2025-10-27T18:14:17.496Z,1761588857.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:17.630Z,1761588857.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998993,-0.044503,0.005622],[0.044848,0.988366,-0.145334],[0.000911,0.145440,0.989367]]
2025-10-27T18:14:17.682Z,1761588857.682 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.015096 min 
2025-10-27T18:14:17.682Z,1761588857.682 [marl:SendObservationData:E] Stopped
2025-10-27T18:14:17.682Z,1761588857.682 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T18:14:17.683Z,1761588857.683 [marl:SendObservationData] Stopped
2025-10-27T18:14:17.683Z,1761588857.683 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T18:14:17.684Z,1761588857.684 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T18:14:17.749Z,1761588857.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:17.000Z,1761588858.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:18.034Z,1761588858.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997281,-0.072880,0.010942],[0.073697,0.986354,-0.147222],[-0.000063,0.147628,0.989043]]
2025-10-27T18:14:18.252Z,1761588858.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:18.453Z,1761588858.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994685,-0.101672,0.016289],[0.102965,0.983499,-0.148754],[-0.000896,0.149641,0.988740]]
2025-10-27T18:14:18.504Z,1761588858.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:18.756Z,1761588858.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:18.861Z,1761588858.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991032,-0.131787,0.022063],[0.133610,0.979449,-0.151089],[-0.001697,0.152682,0.988274]]
2025-10-27T18:14:19.010Z,1761588859.010 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:19.246Z,1761588859.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986275,-0.162734,0.027922],[0.165097,0.974260,-0.153491],[-0.002225,0.155995,0.987755]]
2025-10-27T18:14:19.260Z,1761588859.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:19.512Z,1761588859.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:19.650Z,1761588859.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980301,-0.194578,0.033911],[0.197488,0.968212,-0.153504],[-0.002964,0.157177,0.987566]]
2025-10-27T18:14:19.764Z,1761588859.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:20.016Z,1761588860.016 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:14:20.016Z,1761588860.016 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:14:20.016Z,1761588860.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:20.062Z,1761588860.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973116,-0.226858,0.039751],[0.230283,0.961227,-0.151695],[-0.003797,0.156771,0.987628]]
2025-10-27T18:14:20.268Z,1761588860.268 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:14:20.268Z,1761588860.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:20.474Z,1761588860.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964683,-0.259504,0.045214],[0.263373,0.953243,-0.148195],[-0.004642,0.154870,0.987924]]
2025-10-27T18:14:20.537Z,1761588860.537 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:14:20.537Z,1761588860.537 [DAT](INFO): #Outgoing data=4
2025-10-27T18:14:20.537Z,1761588860.537 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:14:20.537Z,1761588860.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:20.790Z,1761588860.790 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:14:20.792Z,1761588860.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:21.040Z,1761588861.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:21.265Z,1761588861.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943800,-0.325894,0.055090],[0.330460,0.933541,-0.138914],[-0.006158,0.149312,0.988771]]
2025-10-27T18:14:21.292Z,1761588861.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:21.544Z,1761588861.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:21.671Z,1761588861.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931233,-0.359558,0.059354],[0.364363,0.921631,-0.133550],[-0.006684,0.145993,0.989263]]
2025-10-27T18:14:21.796Z,1761588861.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:22.048Z,1761588862.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:22.073Z,1761588862.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917337,-0.393068,0.063170],[0.398054,0.908295,-0.128658],[-0.006805,0.143168,0.989675]]
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateRudder:A] Stopped
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:14:22.112Z,1761588862.112 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode] Stopped
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:14:22.113Z,1761588862.113 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:14:22.114Z,1761588862.114 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:14:22.114Z,1761588862.114 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:14:22.114Z,1761588862.114 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:14:22.114Z,1761588862.114 [marl:UpdateSpeed] Stopped
2025-10-27T18:14:22.114Z,1761588862.114 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:14:22.300Z,1761588862.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:22.480Z,1761588862.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902180,-0.426114,0.067070],[0.431309,0.893485,-0.125125],[-0.006609,0.141813,0.989871]]
2025-10-27T18:14:22.538Z,1761588862.538 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:14:22.538Z,1761588862.538 [marl:UpdateRudder:B] Stopped
2025-10-27T18:14:22.538Z,1761588862.538 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:14:22.538Z,1761588862.538 [marl:UpdateRudder] Stopped
2025-10-27T18:14:22.538Z,1761588862.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:14:22.552Z,1761588862.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:22.808Z,1761588862.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:22.882Z,1761588862.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886255,-0.457750,0.070829],[0.463161,0.877685,-0.123094],[-0.005820,0.141898,0.989864]]
2025-10-27T18:14:23.056Z,1761588863.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:23.287Z,1761588863.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870150,-0.487208,0.073941],[0.492764,0.861688,-0.121152],[-0.004688,0.141856,0.989876]]
2025-10-27T18:14:23.308Z,1761588863.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:23.560Z,1761588863.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:23.689Z,1761588863.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854841,-0.513123,0.077145],[0.518878,0.846318,-0.120465],[-0.003476,0.143007,0.989716]]
2025-10-27T18:14:23.812Z,1761588863.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:24.066Z,1761588864.066 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:14:23.3022

2025-10-27T18:14:24.067Z,1761588864.067 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:14:24.067Z,1761588864.067 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:24.093Z,1761588864.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839929,-0.536629,0.080917],[0.542687,0.831365,-0.119678],[-0.003049,0.144434,0.989510]]
2025-10-27T18:14:24.320Z,1761588864.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:24.572Z,1761588864.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:24.826Z,1761588864.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:24.909Z,1761588864.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797501,-0.596841,0.088168],[0.603311,0.789629,-0.111814],[-0.002885,0.142364,0.989810]]
2025-10-27T18:14:25.076Z,1761588865.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:25.310Z,1761588865.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785524,-0.612979,0.084901],[0.618813,0.779124,-0.100183],[-0.004738,0.131234,0.991340]]
2025-10-27T18:14:25.328Z,1761588865.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:25.580Z,1761588865.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:25.715Z,1761588865.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775870,-0.626418,0.075013],[0.630853,0.771658,-0.081040],[-0.007119,0.110198,0.993884]]
2025-10-27T18:14:25.832Z,1761588865.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:26.084Z,1761588866.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:26.119Z,1761588866.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767642,-0.637783,0.062913],[0.640800,0.765377,-0.059776],[-0.010028,0.086201,0.996227]]
2025-10-27T18:14:26.336Z,1761588866.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:26.526Z,1761588866.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759674,-0.648243,0.051740],[0.650170,0.758725,-0.040185],[-0.013207,0.064167,0.997852]]
2025-10-27T18:14:26.588Z,1761588866.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:26.842Z,1761588866.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:26.938Z,1761588866.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750957,-0.658931,0.043283],[0.660149,0.750733,-0.024558],[-0.016311,0.047015,0.998761]]
2025-10-27T18:14:27.092Z,1761588867.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:27.326Z,1761588867.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740710,-0.670793,0.037220],[0.671558,0.740840,-0.012887],[-0.018930,0.034541,0.999224]]
2025-10-27T18:14:27.344Z,1761588867.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:27.596Z,1761588867.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:27.736Z,1761588867.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729302,-0.683361,0.033702],[0.683839,0.729622,-0.003850],[-0.021959,0.025854,0.999425]]
2025-10-27T18:14:27.848Z,1761588867.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:28.100Z,1761588868.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:28.137Z,1761588868.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717068,-0.696275,0.031845],[0.696560,0.717493,0.002890],[-0.024861,0.020110,0.999489]]
2025-10-27T18:14:28.352Z,1761588868.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:28.604Z,1761588868.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:28.856Z,1761588868.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:28.951Z,1761588868.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691614,-0.721527,0.032695],[0.721616,0.692204,0.011136],[-0.030666,0.015891,0.999403]]
2025-10-27T18:14:29.108Z,1761588869.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:29.346Z,1761588869.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678621,-0.733662,0.034840],[0.733723,0.679316,0.013442],[-0.033530,0.016441,0.999303]]
2025-10-27T18:14:29.360Z,1761588869.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:29.612Z,1761588869.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:29.758Z,1761588869.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665370,-0.745550,0.037928],[0.745614,0.666203,0.015253],[-0.036640,0.018131,0.999164]]
2025-10-27T18:14:29.865Z,1761588869.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:30.116Z,1761588870.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:30.156Z,1761588870.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652427,-0.756728,0.041265],[0.756796,0.653425,0.017226],[-0.039999,0.019990,0.999000]]
2025-10-27T18:14:30.368Z,1761588870.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:30.557Z,1761588870.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638797,-0.768039,0.045324],[0.768138,0.640002,0.019009],[-0.043607,0.022672,0.998791]]
2025-10-27T18:14:30.624Z,1761588870.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:30.876Z,1761588870.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:30.961Z,1761588870.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624432,-0.779530,0.049171],[0.779639,0.625865,0.021350],[-0.047417,0.025004,0.998562]]
2025-10-27T18:14:31.129Z,1761588871.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:31.367Z,1761588871.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609204,-0.791295,0.052180],[0.791362,0.610862,0.024363],[-0.051153,0.026451,0.998340]]
2025-10-27T18:14:31.380Z,1761588871.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:31.632Z,1761588871.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:31.779Z,1761588871.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592987,-0.803294,0.055542],[0.803327,0.594906,0.027411],[-0.055061,0.028364,0.998080]]
2025-10-27T18:14:31.884Z,1761588871.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:32.136Z,1761588872.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:32.173Z,1761588872.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576129,-0.815340,0.057405],[0.815253,0.578264,0.031206],[-0.058639,0.028821,0.997863]]
2025-10-27T18:14:32.388Z,1761588872.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:32.580Z,1761588872.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558066,-0.827644,0.059736],[0.827496,0.560431,0.034161],[-0.061752,0.030367,0.997630]]
2025-10-27T18:14:32.640Z,1761588872.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:32.892Z,1761588872.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:32.984Z,1761588872.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539862,-0.839503,0.061515],[0.839302,0.542424,0.036733],[-0.064205,0.031799,0.997430]]
2025-10-27T18:14:33.144Z,1761588873.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:33.385Z,1761588873.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522256,-0.850575,0.061400],[0.850267,0.524893,0.039153],[-0.065531,0.031758,0.997345]]
2025-10-27T18:14:33.396Z,1761588873.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:33.648Z,1761588873.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:33.789Z,1761588873.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505610,-0.860622,0.060724],[0.860214,0.508272,0.041122],[-0.066255,0.031444,0.997307]]
2025-10-27T18:14:33.901Z,1761588873.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:34.152Z,1761588874.152 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:14:34.152Z,1761588874.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:34.194Z,1761588874.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490115,-0.869551,0.060560],[0.869080,0.492824,0.042709],[-0.066983,0.031699,0.997250]]
2025-10-27T18:14:34.406Z,1761588874.406 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:14:34.407Z,1761588874.407 [DAT](INFO): #Outgoing data=4
2025-10-27T18:14:34.407Z,1761588874.407 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:14:34.408Z,1761588874.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:34.599Z,1761588874.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475831,-0.877422,0.060949],[0.876930,0.478611,0.043870],[-0.067663,0.032574,0.997176]]
2025-10-27T18:14:34.656Z,1761588874.656 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:14:34.656Z,1761588874.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:34.909Z,1761588874.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:35.001Z,1761588875.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462593,-0.884464,0.061084],[0.883910,0.465443,0.045462],[-0.068640,0.032962,0.997097]]
2025-10-27T18:14:35.162Z,1761588875.162 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:35.413Z,1761588875.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:35.489Z,1761588875.489 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateRudder:A] Stopped
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:14:35.490Z,1761588875.490 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:14:35.491Z,1761588875.491 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateCommandMode] Stopped
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:14:35.495Z,1761588875.495 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:14:35.496Z,1761588875.496 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:14:35.496Z,1761588875.496 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:14:35.496Z,1761588875.496 [marl:UpdateSpeed] Stopped
2025-10-27T18:14:35.496Z,1761588875.496 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:14:35.664Z,1761588875.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:35.810Z,1761588875.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437889,-0.897033,0.059876],[0.896106,0.440862,0.051331],[-0.072443,0.031178,0.996885]]
2025-10-27T18:14:35.869Z,1761588875.869 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:14:35.869Z,1761588875.869 [marl:UpdateRudder:B] Stopped
2025-10-27T18:14:35.869Z,1761588875.869 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:14:35.869Z,1761588875.869 [marl:UpdateRudder] Stopped
2025-10-27T18:14:35.869Z,1761588875.869 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:14:35.917Z,1761588875.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:36.168Z,1761588876.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:36.216Z,1761588876.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424551,-0.903348,0.060988],[0.902283,0.427715,0.054272],[-0.075112,0.031987,0.996662]]
2025-10-27T18:14:36.422Z,1761588876.422 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:36.617Z,1761588876.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409963,-0.910018,0.061621],[0.908739,0.413315,0.058007],[-0.078256,0.032217,0.996413]]
2025-10-27T18:14:36.672Z,1761588876.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:36.925Z,1761588876.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:37.021Z,1761588877.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393868,-0.917107,0.061499],[0.915568,0.397362,0.061964],[-0.081265,0.031901,0.996182]]
2025-10-27T18:14:37.176Z,1761588877.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:37.429Z,1761588877.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:37.438Z,1761588877.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376390,-0.924469,0.060731],[0.922673,0.379967,0.065573],[-0.083696,0.031354,0.995998]]
2025-10-27T18:14:37.680Z,1761588877.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:37.832Z,1761588877.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357940,-0.931906,0.058563],[0.929836,0.361472,0.068873],[-0.085353,0.029802,0.995905]]
2025-10-27T18:14:37.933Z,1761588877.933 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:14:37.2021

2025-10-27T18:14:37.933Z,1761588877.933 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:14:37.934Z,1761588877.934 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:38.184Z,1761588878.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:38.233Z,1761588878.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339068,-0.939030,0.057057],[0.936816,0.342573,0.070845],[-0.086072,0.029430,0.995854]]
2025-10-27T18:14:38.437Z,1761588878.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:38.638Z,1761588878.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320124,-0.945736,0.055712],[0.943471,0.323587,0.071796],[-0.085928,0.029579,0.995862]]
2025-10-27T18:14:38.688Z,1761588878.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:38.940Z,1761588878.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:39.042Z,1761588879.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302229,-0.951738,0.053401],[0.949404,0.305559,0.072562],[-0.085377,0.028769,0.995933]]
2025-10-27T18:14:39.192Z,1761588879.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:39.444Z,1761588879.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:39.449Z,1761588879.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284769,-0.957171,0.052262],[0.954898,0.288033,0.072158],[-0.084121,0.029356,0.996023]]
2025-10-27T18:14:39.697Z,1761588879.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:39.850Z,1761588879.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268135,-0.962050,0.050639],[0.959824,0.271288,0.071702],[-0.082718,0.029379,0.996140]]
2025-10-27T18:14:39.943Z,1761588879.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:14:39.948Z,1761588879.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:40.200Z,1761588880.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:40.254Z,1761588880.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252400,-0.966340,0.049813],[0.964179,0.255508,0.071236],[-0.081566,0.030049,0.996215]]
2025-10-27T18:14:40.452Z,1761588880.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:40.657Z,1761588880.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237743,-0.970140,0.048029],[0.967934,0.240752,0.071704],[-0.081126,0.029442,0.996269]]
2025-10-27T18:14:40.704Z,1761588880.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:40.947Z,1761588880.947 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:14:40.956Z,1761588880.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:41.062Z,1761588881.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223097,-0.973710,0.046001],[0.971447,0.225991,0.072236],[-0.080733,0.028572,0.996326]]
2025-10-27T18:14:41.209Z,1761588881.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:41.460Z,1761588881.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:41.467Z,1761588881.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208837,-0.976966,0.043870],[0.974604,0.211621,0.073240],[-0.080836,0.027461,0.996349]]
2025-10-27T18:14:41.712Z,1761588881.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:41.870Z,1761588881.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194105,-0.980097,0.041639],[0.977604,0.196781,0.074618],[-0.081327,0.026223,0.996342]]
2025-10-27T18:14:41.964Z,1761588881.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:42.216Z,1761588882.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:42.276Z,1761588882.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179361,-0.983057,0.037789],[0.980339,0.181812,0.076679],[-0.082250,0.023293,0.996339]]
2025-10-27T18:14:42.470Z,1761588882.470 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:42.678Z,1761588882.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163843,-0.985853,0.035339],[0.982959,0.166179,0.078589],[-0.083350,0.021860,0.996281]]
2025-10-27T18:14:42.720Z,1761588882.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:42.972Z,1761588882.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:43.104Z,1761588883.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147961,-0.988436,0.033191],[0.985391,0.150200,0.080280],[-0.084337,0.020827,0.996220]]
2025-10-27T18:14:43.224Z,1761588883.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:43.476Z,1761588883.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:43.487Z,1761588883.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130948,-0.990896,0.031256],[0.987736,0.133105,0.081613],[-0.085030,0.020185,0.996174]]
2025-10-27T18:14:43.728Z,1761588883.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:43.898Z,1761588883.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112562,-0.993189,0.030095],[0.989920,0.114709,0.083062],[-0.085949,0.020442,0.996090]]
2025-10-27T18:14:43.981Z,1761588883.981 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:44.232Z,1761588884.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:44.293Z,1761588884.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092964,-0.995256,0.028709],[0.991866,0.095088,0.084615],[-0.086943,0.020609,0.996000]]
2025-10-27T18:14:44.484Z,1761588884.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:44.697Z,1761588884.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070969,-0.997107,0.027234],[0.993625,0.073066,0.085858],[-0.087599,0.020967,0.995935]]
2025-10-27T18:14:44.737Z,1761588884.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:44.988Z,1761588884.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:45.101Z,1761588885.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047952,-0.998501,0.026401],[0.994944,0.050083,0.087051],[-0.088242,0.022094,0.995854]]
2025-10-27T18:14:45.244Z,1761588885.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:45.492Z,1761588885.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:45.510Z,1761588885.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024187,-0.999346,0.026883],[0.995824,0.026453,0.087378],[-0.088032,0.024658,0.995812]]
2025-10-27T18:14:45.745Z,1761588885.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:45.919Z,1761588885.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000562,-0.999659,0.026095],[0.996240,0.002820,0.086594],[-0.086638,0.025948,0.995902]]
2025-10-27T18:14:45.996Z,1761588885.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:46.248Z,1761588886.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:46.314Z,1761588886.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023323,-0.999363,0.026992],[0.996220,-0.020973,0.084291],[-0.083672,0.028856,0.996076]]
2025-10-27T18:14:46.500Z,1761588886.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:46.717Z,1761588886.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046746,-0.998519,0.027821],[0.995803,-0.044389,0.080035],[-0.078682,0.031445,0.996404]]
2025-10-27T18:14:46.752Z,1761588886.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:47.005Z,1761588887.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:47.128Z,1761588887.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068862,-0.997245,0.027560],[0.995077,-0.066686,0.073318],[-0.071278,0.032473,0.996928]]
2025-10-27T18:14:47.256Z,1761588887.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:47.508Z,1761588887.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:47.760Z,1761588887.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:48.012Z,1761588888.012 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:14:48.012Z,1761588888.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:48.264Z,1761588888.264 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:14:48.264Z,1761588888.264 [DAT](INFO): #Outgoing data=5
2025-10-27T18:14:48.264Z,1761588888.264 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:14:48.265Z,1761588888.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:48.339Z,1761588888.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117012,-0.992856,0.023331],[0.992211,-0.115861,0.045746],[-0.042716,0.028502,0.998681]]
2025-10-27T18:14:48.516Z,1761588888.516 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:14:48.516Z,1761588888.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:48.749Z,1761588888.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128458,-0.991474,0.021854],[0.991155,-0.127614,0.036421],[-0.033322,0.026339,0.999098]]
2025-10-27T18:14:48.769Z,1761588888.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:48.834Z,1761588888.834 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:14:48.835Z,1761588888.835 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:14:48.836Z,1761588888.836 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:14:48.837Z,1761588888.837 [marl:UpdateRudder:A] Stopped
2025-10-27T18:14:48.838Z,1761588888.838 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:14:48.838Z,1761588888.838 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:14:48.839Z,1761588888.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:14:48.843Z,1761588888.843 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:14:48.845Z,1761588888.845 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:14:48.845Z,1761588888.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:14:48.846Z,1761588888.846 [marl:UpdateCommandMode] Stopped
2025-10-27T18:14:48.846Z,1761588888.846 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:14:48.846Z,1761588888.846 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:14:48.847Z,1761588888.847 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:14:48.851Z,1761588888.851 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:14:48.852Z,1761588888.852 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:14:48.852Z,1761588888.852 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:14:48.852Z,1761588888.852 [marl:UpdateSpeed] Stopped
2025-10-27T18:14:48.852Z,1761588888.852 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:14:49.020Z,1761588889.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:49.145Z,1761588889.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139604,-0.990009,0.019814],[0.989895,-0.139029,0.027906],[-0.024872,0.023509,0.999414]]
2025-10-27T18:14:49.238Z,1761588889.238 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:14:49.238Z,1761588889.238 [marl:UpdateRudder:B] Stopped
2025-10-27T18:14:49.238Z,1761588889.238 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:14:49.238Z,1761588889.238 [marl:UpdateRudder] Stopped
2025-10-27T18:14:49.238Z,1761588889.238 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:14:49.272Z,1761588889.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:49.524Z,1761588889.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:49.550Z,1761588889.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150371,-0.988470,0.017748],[0.988462,-0.149991,0.021099],[-0.018193,0.020716,0.999620]]
2025-10-27T18:14:49.776Z,1761588889.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:49.955Z,1761588889.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161038,-0.986824,0.015655],[0.986852,-0.160781,0.016493],[-0.013758,0.018105,0.999741]]
2025-10-27T18:14:50.028Z,1761588890.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:50.280Z,1761588890.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:50.358Z,1761588890.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172323,-0.984945,0.013747],[0.984964,-0.172118,0.014903],[-0.012312,0.016108,0.999794]]
2025-10-27T18:14:50.533Z,1761588890.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:50.766Z,1761588890.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184451,-0.982770,0.011837],[0.982745,-0.184251,0.016244],[-0.013783,0.014629,0.999798]]
2025-10-27T18:14:50.787Z,1761588890.787 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:51.036Z,1761588891.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:51.171Z,1761588891.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197446,-0.980256,0.010633],[0.980151,-0.197203,0.020380],[-0.017881,0.014446,0.999736]]
2025-10-27T18:14:51.288Z,1761588891.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:51.540Z,1761588891.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:51.569Z,1761588891.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211767,-0.977266,0.010284],[0.977041,-0.211443,0.026135],[-0.023367,0.015583,0.999606]]
2025-10-27T18:14:51.792Z,1761588891.792 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:14:51.0520

2025-10-27T18:14:51.793Z,1761588891.793 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:14:51.793Z,1761588891.793 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:52.044Z,1761588892.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:52.296Z,1761588892.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:52.426Z,1761588892.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239521,-0.970857,-0.008081],[0.970345,-0.239657,0.031534],[-0.032552,-0.000288,0.999470]]
2025-10-27T18:14:52.548Z,1761588892.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:52.802Z,1761588892.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:52.870Z,1761588892.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249876,-0.967811,-0.030065],[0.967674,-0.250696,0.027527],[-0.034178,-0.022215,0.999169]]
2025-10-27T18:14:53.053Z,1761588893.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:53.234Z,1761588893.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257860,-0.964365,-0.059237],[0.965613,-0.259327,0.018462],[-0.033166,-0.052440,0.998073]]
2025-10-27T18:14:53.304Z,1761588893.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:53.556Z,1761588893.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:53.637Z,1761588893.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264142,-0.960157,-0.091250],[0.964032,-0.265730,0.005489],[-0.029519,-0.086518,0.995813]]
2025-10-27T18:14:53.808Z,1761588893.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:54.042Z,1761588894.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269324,-0.955394,-0.121188],[0.962769,-0.270141,-0.009953],[-0.023229,-0.119357,0.992580]]
2025-10-27T18:14:54.060Z,1761588894.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:54.312Z,1761588894.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:54.447Z,1761588894.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274304,-0.950371,-0.146810],[0.961538,-0.273318,-0.027248],[-0.014230,-0.148637,0.988789]]
2025-10-27T18:14:54.564Z,1761588894.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:54.818Z,1761588894.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:54.885Z,1761588894.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279254,-0.945475,-0.167611],[0.960210,-0.275660,-0.044824],[-0.003823,-0.173459,0.984834]]
2025-10-27T18:14:55.071Z,1761588895.071 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:55.265Z,1761588895.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283500,-0.941549,-0.181971],[0.958947,-0.276953,-0.060978],[0.007017,-0.191788,0.981411]]
2025-10-27T18:14:55.320Z,1761588895.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:55.572Z,1761588895.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:55.670Z,1761588895.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285549,-0.939236,-0.190521],[0.958220,-0.276361,-0.073751],[0.016617,-0.203620,0.978909]]
2025-10-27T18:14:55.824Z,1761588895.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:55.897Z,1761588895.897 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:14:55.897Z,1761588895.897 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:14:56.074Z,1761588896.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284404,-0.938936,-0.193682],[0.958413,-0.273471,-0.081599],[0.023650,-0.208834,0.977665]]
2025-10-27T18:14:56.076Z,1761588896.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:56.328Z,1761588896.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:56.479Z,1761588896.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281912,-0.939126,-0.196388],[0.959015,-0.269727,-0.086816],[0.028560,-0.212814,0.976675]]
2025-10-27T18:14:56.522Z,1761588896.522 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:14:56.580Z,1761588896.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:56.834Z,1761588896.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:56.926Z,1761588896.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279239,-0.939540,-0.198220],[0.959694,-0.266228,-0.090061],[0.031844,-0.215379,0.976011]]
2025-10-27T18:14:57.084Z,1761588897.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:57.286Z,1761588897.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276914,-0.940004,-0.199278],[0.960303,-0.263448,-0.091725],[0.033723,-0.216767,0.975641]]
2025-10-27T18:14:57.340Z,1761588897.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:57.588Z,1761588897.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:57.690Z,1761588897.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274816,-0.940909,-0.197906],[0.960886,-0.261426,-0.091398],[0.034259,-0.215283,0.975951]]
2025-10-27T18:14:57.840Z,1761588897.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:58.092Z,1761588898.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:58.096Z,1761588898.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272910,-0.941709,-0.196732],[0.961437,-0.259739,-0.090414],[0.034045,-0.213820,0.976280]]
2025-10-27T18:14:58.344Z,1761588898.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:58.498Z,1761588898.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271961,-0.942020,-0.196557],[0.961715,-0.258891,-0.089889],[0.033791,-0.213478,0.976363]]
2025-10-27T18:14:58.598Z,1761588898.598 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:58.850Z,1761588898.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:58.901Z,1761588898.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272631,-0.942299,-0.194283],[0.961501,-0.259608,-0.090105],[0.034469,-0.211369,0.976798]]
2025-10-27T18:14:59.100Z,1761588899.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:59.305Z,1761588899.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275151,-0.941943,-0.192447],[0.960719,-0.261853,-0.091936],[0.036206,-0.210184,0.976991]]
2025-10-27T18:14:59.353Z,1761588899.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:59.604Z,1761588899.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:14:59.711Z,1761588899.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278058,-0.941325,-0.191290],[0.959792,-0.264287,-0.094609],[0.038502,-0.209905,0.976963]]
2025-10-27T18:14:59.857Z,1761588899.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:00.108Z,1761588900.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:00.115Z,1761588900.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281184,-0.940674,-0.189914],[0.958768,-0.266869,-0.097695],[0.041217,-0.209553,0.976928]]
2025-10-27T18:15:00.360Z,1761588900.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:00.517Z,1761588900.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284159,-0.940016,-0.188741],[0.957771,-0.269291,-0.100777],[0.043906,-0.209408,0.976842]]
2025-10-27T18:15:00.613Z,1761588900.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:00.865Z,1761588900.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:00.922Z,1761588900.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287189,-0.939516,-0.186635],[0.956751,-0.271925,-0.103362],[0.046359,-0.208248,0.976977]]
2025-10-27T18:15:01.116Z,1761588901.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:01.327Z,1761588901.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289654,-0.939048,-0.185171],[0.955921,-0.274097,-0.105288],[0.048115,-0.207506,0.977050]]
2025-10-27T18:15:01.368Z,1761588901.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:01.620Z,1761588901.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:01.734Z,1761588901.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291787,-0.938426,-0.184979],[0.955205,-0.275902,-0.107055],[0.049427,-0.207930,0.976894]]
2025-10-27T18:15:01.873Z,1761588901.873 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:15:01.873Z,1761588901.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:02.125Z,1761588902.125 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:15:02.125Z,1761588902.125 [DAT](INFO): #Outgoing data=6
2025-10-27T18:15:02.125Z,1761588902.125 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:15:02.125Z,1761588902.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:02.138Z,1761588902.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294029,-0.937842,-0.184389],[0.954455,-0.277881,-0.108620],[0.050630,-0.207928,0.976833]]
2025-10-27T18:15:02.199Z,1761588902.199 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:15:02.199Z,1761588902.199 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateRudder:A] Stopped
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:15:02.200Z,1761588902.200 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateCommandMode] Stopped
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:15:02.201Z,1761588902.201 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:15:02.202Z,1761588902.202 [marl:UpdateSpeed] Stopped
2025-10-27T18:15:02.202Z,1761588902.202 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:15:02.376Z,1761588902.376 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:15:02.376Z,1761588902.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:02.537Z,1761588902.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296186,-0.937550,-0.182413],[0.953744,-0.280028,-0.109344],[0.051435,-0.206361,0.977123]]
2025-10-27T18:15:02.597Z,1761588902.597 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:15:02.597Z,1761588902.597 [marl:UpdateRudder:B] Stopped
2025-10-27T18:15:02.597Z,1761588902.597 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:15:02.597Z,1761588902.597 [marl:UpdateRudder] Stopped
2025-10-27T18:15:02.597Z,1761588902.597 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:15:02.628Z,1761588902.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:02.880Z,1761588902.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:02.948Z,1761588902.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298552,-0.937445,-0.179062],[0.952943,-0.282467,-0.110050],[0.052587,-0.203492,0.977663]]
2025-10-27T18:15:03.132Z,1761588903.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:03.357Z,1761588903.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304667,-0.936421,-0.174050],[0.950839,-0.288374,-0.112897],[0.055528,-0.199890,0.978244]]
2025-10-27T18:15:03.384Z,1761588903.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:03.636Z,1761588903.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:03.759Z,1761588903.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308258,-0.935024,-0.175233],[0.949596,-0.291410,-0.115532],[0.056961,-0.202015,0.977725]]
2025-10-27T18:15:03.888Z,1761588903.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:04.140Z,1761588904.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:04.162Z,1761588904.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312531,-0.933354,-0.176566],[0.948130,-0.295144,-0.118062],[0.058081,-0.204306,0.977183]]
2025-10-27T18:15:04.393Z,1761588904.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:04.564Z,1761588904.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317176,-0.931946,-0.175714],[0.946527,-0.299544,-0.119834],[0.059045,-0.204327,0.977121]]
2025-10-27T18:15:04.644Z,1761588904.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:04.896Z,1761588904.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:04.963Z,1761588904.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322446,-0.930230,-0.175218],[0.944732,-0.304667,-0.121076],[0.059245,-0.204575,0.977056]]
2025-10-27T18:15:05.150Z,1761588905.150 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:05.377Z,1761588905.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328493,-0.928533,-0.172971],[0.942671,-0.310898,-0.121304],[0.058858,-0.202902,0.977428]]
2025-10-27T18:15:05.401Z,1761588905.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:05.652Z,1761588905.652 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:15:04.9019

2025-10-27T18:15:05.652Z,1761588905.652 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:15:05.653Z,1761588905.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:05.771Z,1761588905.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335178,-0.926728,-0.169795],[0.940389,-0.318043,-0.120489],[0.057658,-0.200058,0.978086]]
2025-10-27T18:15:05.904Z,1761588905.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:06.156Z,1761588906.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:06.408Z,1761588906.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:06.577Z,1761588906.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349459,-0.922284,-0.165138],[0.935377,-0.333197,-0.118527],[0.054293,-0.195887,0.979122]]
2025-10-27T18:15:06.660Z,1761588906.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:06.912Z,1761588906.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:06.982Z,1761588906.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356486,-0.919936,-0.163203],[0.932796,-0.340531,-0.118028],[0.053003,-0.194310,0.979507]]
2025-10-27T18:15:07.164Z,1761588907.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:07.424Z,1761588907.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:07.676Z,1761588907.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:07.792Z,1761588907.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369713,-0.915480,-0.158770],[0.927640,-0.353959,-0.119151],[0.052882,-0.191333,0.980100]]
2025-10-27T18:15:07.928Z,1761588907.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:08.180Z,1761588908.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:08.199Z,1761588908.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374776,-0.913784,-0.156660],[0.925506,-0.358791,-0.121280],[0.054616,-0.190443,0.980178]]
2025-10-27T18:15:08.432Z,1761588908.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:08.598Z,1761588908.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378111,-0.912723,-0.154818],[0.923992,-0.361743,-0.124018],[0.057189,-0.189943,0.980128]]
2025-10-27T18:15:08.684Z,1761588908.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:08.936Z,1761588908.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:09.002Z,1761588909.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379331,-0.912307,-0.154284],[0.923303,-0.362386,-0.127232],[0.060164,-0.190714,0.979800]]
2025-10-27T18:15:09.188Z,1761588909.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:09.407Z,1761588909.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378455,-0.912700,-0.154110],[0.923443,-0.360884,-0.130441],[0.063438,-0.191678,0.979406]]
2025-10-27T18:15:09.440Z,1761588909.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:09.692Z,1761588909.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:09.811Z,1761588909.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376263,-0.913480,-0.154857],[0.924091,-0.357924,-0.133964],[0.066947,-0.193508,0.978812]]
2025-10-27T18:15:09.944Z,1761588909.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:10.196Z,1761588910.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:10.214Z,1761588910.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373671,-0.914492,-0.155159],[0.924869,-0.354601,-0.137385],[0.070618,-0.194839,0.978290]]
2025-10-27T18:15:10.448Z,1761588910.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:10.619Z,1761588910.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370853,-0.915326,-0.156993],[0.925726,-0.350850,-0.141191],[0.074155,-0.197694,0.977455]]
2025-10-27T18:15:10.701Z,1761588910.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:10.955Z,1761588910.955 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:11.022Z,1761588911.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367978,-0.916070,-0.159398],[0.926648,-0.347108,-0.144359],[0.076915,-0.200827,0.976603]]
2025-10-27T18:15:11.100Z,1761588911.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:15:11.204Z,1761588911.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:11.426Z,1761588911.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365314,-0.916794,-0.161350],[0.927571,-0.343894,-0.146112],[0.078467,-0.203040,0.976021]]
2025-10-27T18:15:11.456Z,1761588911.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:11.708Z,1761588911.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:11.839Z,1761588911.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362671,-0.917387,-0.163922],[0.928613,-0.340952,-0.146387],[0.078404,-0.205310,0.975551]]
2025-10-27T18:15:11.960Z,1761588911.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:12.103Z,1761588912.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:15:12.212Z,1761588912.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:12.236Z,1761588912.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360310,-0.917691,-0.167395],[0.929679,-0.338519,-0.145266],[0.076643,-0.207964,0.975129]]
2025-10-27T18:15:12.464Z,1761588912.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:12.637Z,1761588912.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358148,-0.918208,-0.169188],[0.930832,-0.337043,-0.141260],[0.072682,-0.208078,0.975408]]
2025-10-27T18:15:12.716Z,1761588912.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:12.968Z,1761588912.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:13.041Z,1761588913.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356385,-0.918674,-0.170375],[0.931959,-0.336510,-0.134953],[0.066645,-0.206878,0.976094]]
2025-10-27T18:15:13.220Z,1761588913.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:13.447Z,1761588913.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354865,-0.918998,-0.171795],[0.933060,-0.336552,-0.127007],[0.058901,-0.205366,0.976911]]
2025-10-27T18:15:13.472Z,1761588913.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:13.724Z,1761588913.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:13.858Z,1761588913.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354031,-0.918946,-0.173783],[0.933893,-0.337421,-0.118281],[0.050055,-0.204170,0.977655]]
2025-10-27T18:15:13.976Z,1761588913.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:14.228Z,1761588914.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:14.254Z,1761588914.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355020,-0.918489,-0.174180],[0.933953,-0.340267,-0.109317],[0.041139,-0.201486,0.978627]]
2025-10-27T18:15:14.480Z,1761588914.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:14.658Z,1761588914.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360129,-0.916552,-0.173896],[0.932287,-0.346814,-0.102763],[0.033878,-0.199129,0.979387]]
2025-10-27T18:15:14.732Z,1761588914.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:14.984Z,1761588914.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:15.062Z,1761588915.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367716,-0.914003,-0.171415],[0.929518,-0.355711,-0.097297],[0.027955,-0.195111,0.980383]]
2025-10-27T18:15:15.236Z,1761588915.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:15.465Z,1761588915.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375190,-0.911405,-0.169038],[0.926675,-0.364362,-0.092274],[0.022508,-0.191263,0.981281]]
2025-10-27T18:15:15.488Z,1761588915.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:15.510Z,1761588915.510 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:15:15.510Z,1761588915.510 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:15:15.510Z,1761588915.510 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:15:15.510Z,1761588915.510 [marl:UpdateRudder:A] Stopped
2025-10-27T18:15:15.510Z,1761588915.510 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:15:15.511Z,1761588915.511 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:15:15.511Z,1761588915.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:15:15.511Z,1761588915.511 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:15:15.511Z,1761588915.511 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:15:15.511Z,1761588915.511 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateCommandMode] Stopped
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed] Stopped
2025-10-27T18:15:15.512Z,1761588915.512 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:15:15.741Z,1761588915.741 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:15:15.741Z,1761588915.741 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:15:15.741Z,1761588915.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:15.869Z,1761588915.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381706,-0.909059,-0.167069],[0.924114,-0.371883,-0.087841],[0.017723,-0.187920,0.982024]]
2025-10-27T18:15:15.916Z,1761588915.916 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:15:15.917Z,1761588915.917 [marl:UpdateRudder:B] Stopped
2025-10-27T18:15:15.917Z,1761588915.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:15:15.917Z,1761588915.917 [marl:UpdateRudder] Stopped
2025-10-27T18:15:15.917Z,1761588915.917 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:15:15.992Z,1761588915.992 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:15:15.993Z,1761588915.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:16.244Z,1761588916.244 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:15:16.244Z,1761588916.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:16.279Z,1761588916.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387623,-0.906787,-0.165787],[0.921711,-0.378516,-0.084704],[0.014055,-0.185640,0.982517]]
2025-10-27T18:15:16.496Z,1761588916.496 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:15:16.496Z,1761588916.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:16.748Z,1761588916.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:16.000Z,1761588917.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:17.082Z,1761588917.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397818,-0.902290,-0.166173],[0.917398,-0.389041,-0.083828],[0.010989,-0.185795,0.982527]]
2025-10-27T18:15:17.258Z,1761588917.258 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:17.508Z,1761588917.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:17.762Z,1761588917.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:17.890Z,1761588917.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405671,-0.898138,-0.169642],[0.913930,-0.395999,-0.088972],[0.012731,-0.191134,0.981481]]
2025-10-27T18:15:18.013Z,1761588918.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:18.264Z,1761588918.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:18.296Z,1761588918.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407594,-0.896979,-0.171162],[0.913056,-0.397450,-0.091445],[0.013996,-0.193553,0.980990]]
2025-10-27T18:15:18.516Z,1761588918.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:18.698Z,1761588918.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407578,-0.896531,-0.173529],[0.913052,-0.397040,-0.093247],[0.014701,-0.196447,0.980404]]
2025-10-27T18:15:18.768Z,1761588918.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:19.020Z,1761588919.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:19.102Z,1761588919.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405987,-0.896675,-0.176487],[0.913764,-0.395232,-0.093953],[0.014492,-0.199412,0.979809]]
2025-10-27T18:15:19.272Z,1761588919.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:19.505Z,1761588919.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403375,-0.897206,-0.179748],[0.914933,-0.392546,-0.093833],[0.013628,-0.202307,0.979227]]
2025-10-27T18:15:19.524Z,1761588919.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:19.776Z,1761588919.776 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:15:19.0019

2025-10-27T18:15:19.777Z,1761588919.777 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:15:19.777Z,1761588919.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:19.914Z,1761588919.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400644,-0.897976,-0.181999],[0.916148,-0.389904,-0.092994],[0.012544,-0.203996,0.978891]]
2025-10-27T18:15:20.028Z,1761588920.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:20.280Z,1761588920.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:20.330Z,1761588920.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398084,-0.898879,-0.183157],[0.917280,-0.387589,-0.091498],[0.011255,-0.204430,0.978816]]
2025-10-27T18:15:20.536Z,1761588920.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:20.717Z,1761588920.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395548,-0.899846,-0.183899],[0.918392,-0.385355,-0.089766],[0.009909,-0.204398,0.978838]]
2025-10-27T18:15:20.786Z,1761588920.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:21.036Z,1761588921.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:21.122Z,1761588921.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393151,-0.900704,-0.184837],[0.919438,-0.383336,-0.087674],[0.008114,-0.204415,0.978851]]
2025-10-27T18:15:21.288Z,1761588921.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:21.527Z,1761588921.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390392,-0.901694,-0.185853],[0.920631,-0.381086,-0.084929],[0.005754,-0.204257,0.978900]]
2025-10-27T18:15:21.540Z,1761588921.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:21.792Z,1761588921.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:22.000Z,1761588922.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387877,-0.902759,-0.185948],[0.921706,-0.379207,-0.081615],[0.003166,-0.203046,0.979164]]
2025-10-27T18:15:22.044Z,1761588922.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:22.296Z,1761588922.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:22.339Z,1761588922.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385996,-0.903555,-0.186002],[0.922500,-0.377924,-0.078526],[0.000658,-0.201897,0.979406]]
2025-10-27T18:15:22.548Z,1761588922.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:22.744Z,1761588922.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384923,-0.904145,-0.185353],[0.922947,-0.377502,-0.075242],[-0.001941,-0.200034,0.979787]]
2025-10-27T18:15:22.806Z,1761588922.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:23.052Z,1761588923.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:23.143Z,1761588923.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384714,-0.904445,-0.184320],[0.923024,-0.377992,-0.071761],[-0.004768,-0.197740,0.980243]]
2025-10-27T18:15:23.308Z,1761588923.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:23.545Z,1761588923.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385837,-0.903964,-0.184331],[0.922536,-0.379682,-0.069061],[-0.007558,-0.196699,0.980435]]
2025-10-27T18:15:23.556Z,1761588923.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:23.809Z,1761588923.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:23.952Z,1761588923.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388367,-0.902816,-0.184645],[0.921447,-0.382701,-0.066890],[-0.010274,-0.196118,0.980526]]
2025-10-27T18:15:24.060Z,1761588924.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:24.312Z,1761588924.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:24.356Z,1761588924.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392136,-0.901200,-0.184577],[0.919817,-0.386935,-0.064948],[-0.012888,-0.195245,0.980670]]
2025-10-27T18:15:24.568Z,1761588924.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:24.764Z,1761588924.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396928,-0.899397,-0.183121],[0.917724,-0.392197,-0.062958],[-0.015195,-0.193044,0.981072]]
2025-10-27T18:15:24.818Z,1761588924.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:25.068Z,1761588925.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:25.162Z,1761588925.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402094,-0.897288,-0.182194],[0.915437,-0.397723,-0.061579],[-0.017208,-0.191547,0.981333]]
2025-10-27T18:15:25.321Z,1761588925.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:25.566Z,1761588925.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407663,-0.894760,-0.182249],[0.912939,-0.403480,-0.061204],[-0.018771,-0.191333,0.981346]]
2025-10-27T18:15:25.572Z,1761588925.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:25.825Z,1761588925.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:25.985Z,1761588925.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413497,-0.892338,-0.180977],[0.910290,-0.409474,-0.060853],[-0.019804,-0.189904,0.981603]]
2025-10-27T18:15:26.077Z,1761588926.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:26.328Z,1761588926.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:26.374Z,1761588926.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419144,-0.889975,-0.179618],[0.907693,-0.415178,-0.060997],[-0.020288,-0.188604,0.981844]]
2025-10-27T18:15:26.580Z,1761588926.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:26.782Z,1761588926.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424387,-0.887468,-0.179712],[0.905251,-0.420314,-0.062107],[-0.020418,-0.189041,0.981757]]
2025-10-27T18:15:26.834Z,1761588926.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:27.084Z,1761588927.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:27.246Z,1761588927.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428944,-0.885330,-0.179437],[0.903106,-0.424726,-0.063304],[-0.020166,-0.189204,0.981731]]
2025-10-27T18:15:27.336Z,1761588927.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:27.588Z,1761588927.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:27.646Z,1761588927.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432601,-0.883635,-0.179012],[0.901373,-0.428196,-0.064613],[-0.019558,-0.189308,0.981723]]
2025-10-27T18:15:27.841Z,1761588927.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:28.049Z,1761588928.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434575,-0.882454,-0.180054],[0.900440,-0.429879,-0.066427],[-0.018783,-0.190996,0.981411]]
2025-10-27T18:15:28.092Z,1761588928.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:28.344Z,1761588928.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:28.454Z,1761588928.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435624,-0.881670,-0.181358],[0.899945,-0.430671,-0.067975],[-0.018174,-0.192824,0.981065]]
2025-10-27T18:15:28.596Z,1761588928.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:28.851Z,1761588928.851 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:28.868Z,1761588928.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435844,-0.881175,-0.183222],[0.899866,-0.430432,-0.070488],[-0.016752,-0.195597,0.980541]]
2025-10-27T18:15:28.962Z,1761588928.962 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:15:28.962Z,1761588928.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:15:28.962Z,1761588928.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:15:28.963Z,1761588928.963 [marl:UpdateRudder:A] Stopped
2025-10-27T18:15:28.963Z,1761588928.963 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:15:28.971Z,1761588928.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:15:28.972Z,1761588928.972 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:15:28.972Z,1761588928.972 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateCommandMode] Stopped
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:15:28.974Z,1761588928.974 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:15:28.975Z,1761588928.975 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:15:28.990Z,1761588928.990 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:15:28.990Z,1761588928.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:15:28.990Z,1761588928.990 [marl:UpdateSpeed] Stopped
2025-10-27T18:15:28.990Z,1761588928.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:15:29.100Z,1761588929.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:29.261Z,1761588929.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435146,-0.881222,-0.184650],[0.900227,-0.429353,-0.072435],[-0.015449,-0.197746,0.980132]]
2025-10-27T18:15:29.303Z,1761588929.303 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:15:29.303Z,1761588929.303 [marl:UpdateRudder:B] Stopped
2025-10-27T18:15:29.303Z,1761588929.303 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:15:29.304Z,1761588929.304 [marl:UpdateRudder] Stopped
2025-10-27T18:15:29.304Z,1761588929.304 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:15:29.352Z,1761588929.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:29.604Z,1761588929.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:29.856Z,1761588929.856 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:15:29.856Z,1761588929.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:30.071Z,1761588930.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431656,-0.881885,-0.189608],[0.901939,-0.425081,-0.076235],[-0.013369,-0.203922,0.978896]]
2025-10-27T18:15:30.108Z,1761588930.108 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:15:30.108Z,1761588930.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:30.360Z,1761588930.360 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:15:30.360Z,1761588930.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:30.473Z,1761588930.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429262,-0.882736,-0.191078],[0.903091,-0.422476,-0.077075],[-0.012689,-0.205646,0.978544]]
2025-10-27T18:15:30.613Z,1761588930.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:30.864Z,1761588930.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:31.116Z,1761588931.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:31.286Z,1761588931.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425191,-0.884044,-0.194112],[0.905024,-0.418105,-0.078224],[-0.012006,-0.208937,0.977855]]
2025-10-27T18:15:31.369Z,1761588931.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:31.620Z,1761588931.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:31.687Z,1761588931.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423883,-0.884546,-0.194685],[0.905634,-0.416851,-0.077861],[-0.012284,-0.209317,0.977771]]
2025-10-27T18:15:31.872Z,1761588931.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:32.090Z,1761588932.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423131,-0.884757,-0.195358],[0.905974,-0.416247,-0.077135],[-0.013071,-0.209628,0.977694]]
2025-10-27T18:15:32.124Z,1761588932.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:32.376Z,1761588932.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:32.494Z,1761588932.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423613,-0.884687,-0.194629],[0.905737,-0.416962,-0.076048],[-0.013874,-0.208498,0.977924]]
2025-10-27T18:15:32.629Z,1761588932.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:32.881Z,1761588932.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:32.898Z,1761588932.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425972,-0.883632,-0.194271],[0.904624,-0.419368,-0.076067],[-0.014256,-0.208145,0.977994]]
2025-10-27T18:15:33.132Z,1761588933.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:33.313Z,1761588933.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429357,-0.882380,-0.192505],[0.903019,-0.422857,-0.075823],[-0.014497,-0.206391,0.978362]]
2025-10-27T18:15:33.384Z,1761588933.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:33.636Z,1761588933.636 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:15:32.9018

2025-10-27T18:15:33.637Z,1761588933.637 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:15:33.637Z,1761588933.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:33.705Z,1761588933.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433935,-0.880637,-0.190205],[0.900830,-0.427461,-0.076044],[-0.014338,-0.204340,0.978795]]
2025-10-27T18:15:33.888Z,1761588933.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:34.109Z,1761588934.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439135,-0.878656,-0.187417],[0.898315,-0.432637,-0.076527],[-0.013843,-0.201965,0.979295]]
2025-10-27T18:15:34.140Z,1761588934.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:34.392Z,1761588934.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:34.514Z,1761588934.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444498,-0.876885,-0.183012],[0.895689,-0.437990,-0.076852],[-0.012767,-0.198083,0.980102]]
2025-10-27T18:15:34.644Z,1761588934.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:34.896Z,1761588934.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:34.918Z,1761588934.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449475,-0.875008,-0.179817],[0.893220,-0.442811,-0.077951],[-0.011417,-0.195653,0.980607]]
2025-10-27T18:15:35.148Z,1761588935.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:35.321Z,1761588935.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453725,-0.873384,-0.177017],[0.891089,-0.446819,-0.079456],[-0.009699,-0.193789,0.980995]]
2025-10-27T18:15:35.400Z,1761588935.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:35.652Z,1761588935.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:35.729Z,1761588935.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456772,-0.872263,-0.174691],[0.889548,-0.449630,-0.080854],[-0.008021,-0.192327,0.981298]]
2025-10-27T18:15:35.904Z,1761588935.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:36.131Z,1761588936.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458775,-0.871568,-0.172901],[0.888530,-0.451372,-0.082326],[-0.006290,-0.191397,0.981493]]
2025-10-27T18:15:36.156Z,1761588936.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:36.408Z,1761588936.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:36.534Z,1761588936.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459764,-0.871342,-0.171407],[0.888028,-0.452166,-0.083380],[-0.004852,-0.190549,0.981666]]
2025-10-27T18:15:36.660Z,1761588936.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:36.912Z,1761588936.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:36.938Z,1761588936.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460878,-0.870808,-0.171129],[0.887457,-0.452972,-0.085069],[-0.003438,-0.191077,0.981569]]
2025-10-27T18:15:37.166Z,1761588937.166 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:37.341Z,1761588937.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461309,-0.870583,-0.171114],[0.887235,-0.453264,-0.085825],[-0.002842,-0.191410,0.981506]]
2025-10-27T18:15:37.420Z,1761588937.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:37.672Z,1761588937.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:37.755Z,1761588937.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462042,-0.870017,-0.172011],[0.886855,-0.453785,-0.086994],[-0.002370,-0.192744,0.981246]]
2025-10-27T18:15:37.926Z,1761588937.926 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:38.150Z,1761588938.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462963,-0.869450,-0.172399],[0.886375,-0.454600,-0.087625],[-0.002187,-0.193378,0.981122]]
2025-10-27T18:15:38.176Z,1761588938.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:38.428Z,1761588938.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:38.554Z,1761588938.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464588,-0.868169,-0.174469],[0.885524,-0.455969,-0.089103],[-0.002196,-0.195893,0.980623]]
2025-10-27T18:15:38.685Z,1761588938.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:38.936Z,1761588938.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:38.958Z,1761588938.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466683,-0.866709,-0.176134],[0.884421,-0.457916,-0.090067],[-0.002593,-0.197810,0.980237]]
2025-10-27T18:15:39.085Z,1761588939.085 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-10-27T18:15:39.188Z,1761588939.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:39.440Z,1761588939.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:39.692Z,1761588939.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:39.778Z,1761588939.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472999,-0.862986,-0.177559],[0.881056,-0.464067,-0.091547],[-0.003395,-0.199741,0.979843]]
2025-10-27T18:15:39.944Z,1761588939.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:40.170Z,1761588940.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476944,-0.860683,-0.178184],[0.878927,-0.467823,-0.092892],[-0.003408,-0.200915,0.979603]]
2025-10-27T18:15:40.196Z,1761588940.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:40.451Z,1761588940.451 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:40.574Z,1761588940.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481042,-0.858673,-0.176860],[0.876693,-0.471776,-0.094004],[-0.002719,-0.200272,0.979736]]
2025-10-27T18:15:40.706Z,1761588940.706 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:40.956Z,1761588940.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:40.981Z,1761588940.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484694,-0.856566,-0.177106],[0.874683,-0.474922,-0.096842],[-0.001160,-0.201850,0.979416]]
2025-10-27T18:15:41.208Z,1761588941.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:41.382Z,1761588941.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487556,-0.855156,-0.176062],[0.873092,-0.477482,-0.098600],[0.000252,-0.201791,0.979429]]
2025-10-27T18:15:41.460Z,1761588941.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:41.712Z,1761588941.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:41.797Z,1761588941.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491306,-0.853040,-0.175898],[0.870977,-0.480196,-0.103979],[0.004233,-0.204288,0.978902]]
2025-10-27T18:15:41.845Z,1761588941.845 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:15:41.845Z,1761588941.845 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateRudder:A] Stopped
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:15:41.846Z,1761588941.846 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:15:41.848Z,1761588941.848 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:15:41.849Z,1761588941.849 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:15:41.849Z,1761588941.849 [marl:UpdateCommandMode] Stopped
2025-10-27T18:15:41.850Z,1761588941.850 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:15:41.850Z,1761588941.850 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:15:41.850Z,1761588941.850 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:15:41.850Z,1761588941.850 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:15:41.852Z,1761588941.852 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:15:41.852Z,1761588941.852 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:15:41.852Z,1761588941.852 [marl:UpdateSpeed] Stopped
2025-10-27T18:15:41.854Z,1761588941.854 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:15:41.964Z,1761588941.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:42.198Z,1761588942.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491566,-0.853316,-0.173821],[0.870817,-0.480209,-0.105247],[0.006338,-0.203102,0.979137]]
2025-10-27T18:15:42.216Z,1761588942.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:42.239Z,1761588942.239 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:15:42.299Z,1761588942.299 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:15:42.299Z,1761588942.299 [marl:UpdateRudder:B] Stopped
2025-10-27T18:15:42.299Z,1761588942.299 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:15:42.299Z,1761588942.299 [marl:UpdateRudder] Stopped
2025-10-27T18:15:42.299Z,1761588942.299 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:15:42.468Z,1761588942.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:42.602Z,1761588942.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491166,-0.853618,-0.173470],[0.871028,-0.479455,-0.106921],[0.008098,-0.203613,0.979018]]
2025-10-27T18:15:42.720Z,1761588942.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:42.972Z,1761588942.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:43.002Z,1761588943.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490128,-0.854192,-0.173580],[0.871602,-0.478182,-0.107948],[0.009205,-0.204200,0.978886]]
2025-10-27T18:15:43.224Z,1761588943.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:43.243Z,1761588943.243 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:15:43.405Z,1761588943.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488828,-0.854936,-0.173588],[0.872326,-0.476805,-0.108186],[0.009725,-0.204310,0.978858]]
2025-10-27T18:15:43.476Z,1761588943.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:43.729Z,1761588943.729 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:15:43.729Z,1761588943.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:43.808Z,1761588943.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487382,-0.855815,-0.173317],[0.873136,-0.475481,-0.107471],[0.009567,-0.203709,0.978985]]
2025-10-27T18:15:43.980Z,1761588943.980 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:15:43.980Z,1761588943.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:44.209Z,1761588944.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485926,-0.856408,-0.174475],[0.873956,-0.474133,-0.106760],[0.008706,-0.204361,0.978857]]
2025-10-27T18:15:44.232Z,1761588944.232 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:15:44.232Z,1761588944.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:44.484Z,1761588944.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:44.617Z,1761588944.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483439,-0.857209,-0.177422],[0.875343,-0.471571,-0.106750],[0.007840,-0.206912,0.978328]]
2025-10-27T18:15:44.736Z,1761588944.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:44.991Z,1761588944.991 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:45.018Z,1761588945.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478247,-0.858233,-0.186322],[0.878194,-0.465566,-0.109648],[0.007358,-0.216066,0.976351]]
2025-10-27T18:15:45.240Z,1761588945.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:45.466Z,1761588945.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470342,-0.858580,-0.204009],[0.882448,-0.455488,-0.117540],[0.007994,-0.235312,0.971887]]
2025-10-27T18:15:45.492Z,1761588945.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:45.744Z,1761588945.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:45.869Z,1761588945.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460746,-0.857389,-0.229340],[0.887475,-0.442132,-0.130033],[0.010090,-0.263445,0.964622]]
2025-10-27T18:15:45.996Z,1761588945.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:46.250Z,1761588946.250 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:46.500Z,1761588946.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:46.677Z,1761588946.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437774,-0.853419,-0.282895],[0.898918,-0.409402,-0.156002],[0.017318,-0.322594,0.946379]]
2025-10-27T18:15:46.753Z,1761588946.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:47.004Z,1761588947.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:47.082Z,1761588947.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424814,-0.852189,-0.305462],[0.904995,-0.391305,-0.166923],[0.022721,-0.347353,0.937459]]
2025-10-27T18:15:47.257Z,1761588947.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:47.488Z,1761588947.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410596,-0.852334,-0.323940],[0.911362,-0.372393,-0.175334],[0.028811,-0.367218,0.929689]]
2025-10-27T18:15:47.508Z,1761588947.508 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:15:46.7517

2025-10-27T18:15:47.508Z,1761588947.508 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:15:47.509Z,1761588947.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:47.762Z,1761588947.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:47.893Z,1761588947.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395179,-0.853506,-0.339649],[0.917927,-0.352708,-0.181678],[0.035266,-0.383569,0.922839]]
2025-10-27T18:15:48.012Z,1761588948.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:48.265Z,1761588948.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:48.297Z,1761588948.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378211,-0.856970,-0.350084],[0.924786,-0.332794,-0.184440],[0.041553,-0.393510,0.918381]]
2025-10-27T18:15:48.516Z,1761588948.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:48.698Z,1761588948.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360647,-0.861513,-0.357392],[0.931485,-0.313117,-0.185184],[0.047633,-0.399691,0.915412]]
2025-10-27T18:15:48.771Z,1761588948.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:49.020Z,1761588949.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:49.129Z,1761588949.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342678,-0.866412,-0.363183],[0.937972,-0.293842,-0.184024],[0.052722,-0.403717,0.913364]]
2025-10-27T18:15:49.273Z,1761588949.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:49.524Z,1761588949.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:49.534Z,1761588949.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324566,-0.871922,-0.366619],[0.944178,-0.275534,-0.180579],[0.056434,-0.404763,0.912678]]
2025-10-27T18:15:49.779Z,1761588949.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:49.936Z,1761588949.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307019,-0.877278,-0.368948],[0.949882,-0.258496,-0.175795],[0.058849,-0.404430,0.912674]]
2025-10-27T18:15:50.029Z,1761588950.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:50.280Z,1761588950.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:50.337Z,1761588950.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290402,-0.882822,-0.369176],[0.955030,-0.243257,-0.169540],[0.059869,-0.401809,0.913764]]
2025-10-27T18:15:50.532Z,1761588950.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:50.754Z,1761588950.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275311,-0.887532,-0.369447],[0.959478,-0.229669,-0.163259],[0.060047,-0.399423,0.914798]]
2025-10-27T18:15:50.786Z,1761588950.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:51.036Z,1761588951.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:51.194Z,1761588951.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261945,-0.891419,-0.369808],[0.963224,-0.217713,-0.157482],[0.059870,-0.397459,0.915665]]
2025-10-27T18:15:51.288Z,1761588951.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:51.540Z,1761588951.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:51.759Z,1761588951.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250218,-0.895026,-0.369215],[0.966329,-0.207234,-0.152522],[0.059998,-0.394946,0.916743]]
2025-10-27T18:15:51.792Z,1761588951.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:52.044Z,1761588952.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:52.152Z,1761588952.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239678,-0.897999,-0.368989],[0.968976,-0.197644,-0.148400],[0.060335,-0.393109,0.917510]]
2025-10-27T18:15:52.296Z,1761588952.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:52.548Z,1761588952.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:52.664Z,1761588952.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220569,-0.903070,-0.368530],[0.973337,-0.179403,-0.142932],[0.062962,-0.390230,0.918562]]
2025-10-27T18:15:52.802Z,1761588952.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:53.052Z,1761588953.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:53.073Z,1761588953.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210031,-0.905556,-0.368585],[0.975489,-0.168784,-0.141188],[0.065642,-0.389204,0.918810]]
2025-10-27T18:15:53.304Z,1761588953.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:53.556Z,1761588953.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:53.809Z,1761588953.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:53.873Z,1761588953.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186968,-0.910567,-0.368661],[0.979530,-0.144305,-0.140349],[0.074598,-0.387355,0.918908]]
2025-10-27T18:15:54.060Z,1761588954.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:54.278Z,1761588954.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174141,-0.912948,-0.369054],[0.981425,-0.130274,-0.140829],[0.080492,-0.386723,0.918676]]
2025-10-27T18:15:54.313Z,1761588954.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:54.564Z,1761588954.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:54.819Z,1761588954.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:55.068Z,1761588955.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:55.112Z,1761588955.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143945,-0.917784,-0.370070],[0.985375,-0.098471,-0.139067],[0.091192,-0.384676,0.918536]]
2025-10-27T18:15:55.321Z,1761588955.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:55.573Z,1761588955.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:55.679Z,1761588955.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126024,-0.920279,-0.370412],[0.987453,-0.080555,-0.135822],[0.095155,-0.382881,0.918884]]
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateRudder:A] Stopped
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:15:55.778Z,1761588955.778 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:15:55.783Z,1761588955.783 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:15:55.783Z,1761588955.783 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:15:55.783Z,1761588955.783 [marl:UpdateCommandMode] Stopped
2025-10-27T18:15:55.783Z,1761588955.783 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:15:55.783Z,1761588955.783 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed] Stopped
2025-10-27T18:15:55.784Z,1761588955.784 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:15:55.824Z,1761588955.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:56.076Z,1761588956.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:56.216Z,1761588956.216 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:15:56.216Z,1761588956.216 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:15:56.275Z,1761588956.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087879,-0.923647,-0.373034],[0.991130,-0.043597,-0.125541],[0.099692,-0.380758,0.919285]]
2025-10-27T18:15:56.301Z,1761588956.301 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:15:56.301Z,1761588956.301 [marl:UpdateRudder:B] Stopped
2025-10-27T18:15:56.301Z,1761588956.301 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:15:56.301Z,1761588956.301 [marl:UpdateRudder] Stopped
2025-10-27T18:15:56.302Z,1761588956.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:15:56.328Z,1761588956.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:56.580Z,1761588956.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:56.737Z,1761588956.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068684,-0.924570,-0.374770],[0.992545,-0.025416,-0.119201],[0.100684,-0.380163,0.919423]]
2025-10-27T18:15:56.834Z,1761588956.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:56.886Z,1761588956.886 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:15:57.084Z,1761588957.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:57.199Z,1761588957.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049744,-0.925363,-0.375804],[0.993641,-0.007798,-0.112323],[0.101008,-0.379001,0.919867]]
2025-10-27T18:15:57.336Z,1761588957.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:57.588Z,1761588957.588 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:15:57.588Z,1761588957.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:57.602Z,1761588957.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030717,-0.925902,-0.376514],[0.994401,0.009795,-0.105214],[0.101106,-0.377638,0.920417]]
2025-10-27T18:15:57.840Z,1761588957.840 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:15:57.840Z,1761588957.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:58.085Z,1761588958.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011599,-0.925777,-0.377893],[0.994820,0.027486,-0.097871],[0.100993,-0.377071,0.920662]]
2025-10-27T18:15:58.092Z,1761588958.092 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:15:58.092Z,1761588958.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:58.344Z,1761588958.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:58.596Z,1761588958.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:58.636Z,1761588958.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027442,-0.924448,-0.380319],[0.994608,0.063316,-0.082139],[0.100014,-0.376014,0.921201]]
2025-10-27T18:15:58.850Z,1761588958.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:59.040Z,1761588959.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047187,-0.923288,-0.381200],[0.993962,0.081248,-0.073751],[0.099065,-0.375418,0.921546]]
2025-10-27T18:15:59.100Z,1761588959.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:59.352Z,1761588959.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:59.580Z,1761588959.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066800,-0.921862,-0.381717],[0.992982,0.098842,-0.064939],[0.097595,-0.374700,0.921995]]
2025-10-27T18:15:59.604Z,1761588959.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:15:59.857Z,1761588959.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:00.061Z,1761588960.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085830,-0.919887,-0.382675],[0.991741,0.115624,-0.055504],[0.095304,-0.374751,0.922214]]
2025-10-27T18:16:00.108Z,1761588960.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:00.360Z,1761588960.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:00.493Z,1761588960.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104179,-0.917703,-0.383363],[0.990247,0.131564,-0.045841],[0.092505,-0.374848,0.922459]]
2025-10-27T18:16:00.612Z,1761588960.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:00.864Z,1761588960.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:00.889Z,1761588960.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120869,-0.915870,-0.382849],[0.988632,0.145808,-0.036689],[0.089425,-0.374062,0.923082]]
2025-10-27T18:16:01.116Z,1761588961.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:01.291Z,1761588961.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135109,-0.913852,-0.382910],[0.987108,0.157611,-0.027856],[0.085807,-0.374210,0.923365]]
2025-10-27T18:16:01.369Z,1761588961.369 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:16:00.6016

2025-10-27T18:16:01.369Z,1761588961.369 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:16:01.370Z,1761588961.370 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:01.620Z,1761588961.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:01.695Z,1761588961.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148132,-0.911381,-0.383980],[0.985560,0.168245,-0.019123],[0.082031,-0.375603,0.923143]]
2025-10-27T18:16:01.872Z,1761588961.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:02.102Z,1761588962.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160249,-0.909412,-0.383783],[0.983981,0.177944,-0.010794],[0.078108,-0.375906,0.923360]]
2025-10-27T18:16:02.124Z,1761588962.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:02.376Z,1761588962.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:02.628Z,1761588962.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:02.880Z,1761588962.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:02.907Z,1761588962.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181202,-0.905871,-0.382836],[0.980881,0.194572,0.003867],[0.070986,-0.376217,0.923808]]
2025-10-27T18:16:03.135Z,1761588963.135 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:03.388Z,1761588963.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:03.640Z,1761588963.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:03.726Z,1761588963.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198496,-0.902791,-0.381534],[0.977785,0.209154,0.013796],[0.067345,-0.375796,0.924252]]
2025-10-27T18:16:03.892Z,1761588963.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:04.144Z,1761588964.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:04.234Z,1761588964.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214739,-0.899329,-0.380913],[0.974340,0.224193,0.019965],[0.067443,-0.375426,0.924395]]
2025-10-27T18:16:04.396Z,1761588964.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:04.618Z,1761588964.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224534,-0.897141,-0.380424],[0.972089,0.233463,0.023180],[0.068019,-0.375010,0.924522]]
2025-10-27T18:16:04.648Z,1761588964.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:04.903Z,1761588964.903 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:05.068Z,1761588965.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235830,-0.894893,-0.378880],[0.969380,0.244095,0.026843],[0.068461,-0.373609,0.925056]]
2025-10-27T18:16:05.152Z,1761588965.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:05.404Z,1761588965.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:05.516Z,1761588965.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248691,-0.892483,-0.376333],[0.966156,0.256063,0.031201],[0.068519,-0.371356,0.925959]]
2025-10-27T18:16:05.656Z,1761588965.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:05.908Z,1761588965.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:05.919Z,1761588965.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263511,-0.890063,-0.371955],[0.962229,0.269857,0.035942],[0.068384,-0.367377,0.927555]]
2025-10-27T18:16:06.160Z,1761588966.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:06.327Z,1761588966.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280383,-0.886093,-0.369086],[0.957508,0.285249,0.042570],[0.067561,-0.365338,0.928420]]
2025-10-27T18:16:06.412Z,1761588966.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:06.664Z,1761588966.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:06.742Z,1761588966.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299255,-0.881862,-0.364371],[0.951880,0.302369,0.049970],[0.066108,-0.361791,0.929912]]
2025-10-27T18:16:06.917Z,1761588966.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:07.168Z,1761588967.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:07.224Z,1761588967.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318838,-0.875809,-0.362354],[0.945629,0.319858,0.058969],[0.064256,-0.361454,0.930173]]
2025-10-27T18:16:07.420Z,1761588967.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:07.612Z,1761588967.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338914,-0.869289,-0.359826],[0.938763,0.337726,0.068306],[0.062146,-0.360941,0.930516]]
2025-10-27T18:16:07.672Z,1761588967.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:07.924Z,1761588967.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:08.088Z,1761588968.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359449,-0.862563,-0.356063],[0.931257,0.355961,0.077795],[0.059641,-0.359550,0.931218]]
2025-10-27T18:16:08.176Z,1761588968.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:08.428Z,1761588968.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:08.486Z,1761588968.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380251,-0.854974,-0.352745],[0.923144,0.374229,0.088082],[0.056699,-0.359127,0.931565]]
2025-10-27T18:16:08.681Z,1761588968.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:08.932Z,1761588968.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:08.981Z,1761588968.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401504,-0.847228,-0.347851],[0.914344,0.392627,0.099089],[0.052625,-0.357840,0.932299]]
2025-10-27T18:16:09.184Z,1761588969.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:09.437Z,1761588969.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:09.477Z,1761588969.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444965,-0.828821,-0.339208],[0.894592,0.428870,0.125605],[0.041372,-0.359343,0.932288]]
2025-10-27T18:16:09.688Z,1761588969.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:09.878Z,1761588969.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466124,-0.819510,-0.333363],[0.884038,0.446221,0.139153],[0.034716,-0.359569,0.932473]]
2025-10-27T18:16:09.902Z,1761588969.902 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:16:09.902Z,1761588969.902 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:16:09.903Z,1761588969.903 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:16:09.923Z,1761588969.923 [marl:UpdateRudder:A] Stopped
2025-10-27T18:16:09.923Z,1761588969.923 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:16:09.923Z,1761588969.923 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode] Stopped
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:16:09.924Z,1761588969.924 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:16:09.925Z,1761588969.925 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:16:09.925Z,1761588969.925 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:16:09.925Z,1761588969.925 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:16:09.925Z,1761588969.925 [marl:UpdateSpeed] Stopped
2025-10-27T18:16:09.925Z,1761588969.925 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:16:09.942Z,1761588969.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:10.192Z,1761588970.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:10.283Z,1761588970.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486070,-0.809907,-0.328309],[0.873481,0.462144,0.153146],[0.027692,-0.361212,0.932073]]
2025-10-27T18:16:10.316Z,1761588970.316 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:16:10.316Z,1761588970.316 [marl:UpdateRudder:B] Stopped
2025-10-27T18:16:10.317Z,1761588970.317 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:16:10.317Z,1761588970.317 [marl:UpdateRudder] Stopped
2025-10-27T18:16:10.317Z,1761588970.317 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:16:10.445Z,1761588970.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:10.686Z,1761588970.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504622,-0.800733,-0.322774],[0.863091,0.476879,0.166315],[0.020751,-0.362510,0.931749]]
2025-10-27T18:16:10.697Z,1761588970.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:10.948Z,1761588970.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:11.090Z,1761588971.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520902,-0.792659,-0.316786],[0.853500,0.489772,0.177936],[0.014110,-0.363065,0.931657]]
2025-10-27T18:16:11.201Z,1761588971.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:11.452Z,1761588971.452 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:16:11.452Z,1761588971.452 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:16:11.452Z,1761588971.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:11.493Z,1761588971.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535425,-0.785589,-0.310112],[0.844553,0.501084,0.188798],[0.007075,-0.362993,0.931765]]
2025-10-27T18:16:11.705Z,1761588971.705 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:16:11.705Z,1761588971.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:11.898Z,1761588971.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546668,-0.781985,-0.299423],[0.837349,0.510314,0.196027],[-0.000490,-0.357883,0.933766]]
2025-10-27T18:16:11.956Z,1761588971.956 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:16:11.956Z,1761588971.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:12.208Z,1761588972.208 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:16:12.209Z,1761588972.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:12.303Z,1761588972.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553490,-0.783047,-0.283701],[0.832810,0.516786,0.198393],[-0.008738,-0.346078,0.938165]]
2025-10-27T18:16:12.460Z,1761588972.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:12.713Z,1761588972.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:12.725Z,1761588972.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555863,-0.788593,-0.262939],[0.831087,0.520500,0.195894],[-0.017621,-0.327415,0.944716]]
2025-10-27T18:16:12.965Z,1761588972.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:13.109Z,1761588973.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555530,-0.795758,-0.241156],[0.831051,0.521871,0.192366],[-0.027225,-0.307278,0.951230]]
2025-10-27T18:16:13.218Z,1761588973.218 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:13.375Z,1761588973.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:16:13.468Z,1761588973.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:13.513Z,1761588973.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553373,-0.802930,-0.221544],[0.832132,0.521257,0.189336],[-0.036542,-0.289127,0.956593]]
2025-10-27T18:16:13.721Z,1761588973.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:13.920Z,1761588973.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550075,-0.810225,-0.202366],[0.833873,0.519679,0.185982],[-0.045522,-0.271052,0.961488]]
2025-10-27T18:16:13.972Z,1761588973.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:14.224Z,1761588974.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:14.322Z,1761588974.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546191,-0.816999,-0.184903],[0.835921,0.517390,0.183150],[-0.053967,-0.254599,0.965540]]
2025-10-27T18:16:14.379Z,1761588974.379 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:16:14.476Z,1761588974.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:14.728Z,1761588974.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:14.738Z,1761588974.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542488,-0.822741,-0.169715],[0.837773,0.514947,0.181564],[-0.061986,-0.240679,0.968624]]
2025-10-27T18:16:14.980Z,1761588974.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:15.132Z,1761588975.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539180,-0.827454,-0.156857],[0.839312,0.512549,0.181244],[-0.069574,-0.229375,0.970848]]
2025-10-27T18:16:15.232Z,1761588975.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:15.484Z,1761588975.484 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:16:14.7515

2025-10-27T18:16:15.484Z,1761588975.484 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:16:15.485Z,1761588975.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:15.534Z,1761588975.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536729,-0.830888,-0.146789],[0.840280,0.510596,0.182265],[-0.076492,-0.221171,0.972231]]
2025-10-27T18:16:15.736Z,1761588975.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:15.938Z,1761588975.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535038,-0.833440,-0.138242],[0.840743,0.509203,0.184021],[-0.082978,-0.214685,0.973152]]
2025-10-27T18:16:15.988Z,1761588975.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:16.240Z,1761588976.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:16.341Z,1761588976.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534235,-0.834953,-0.132084],[0.840648,0.508315,0.186889],[-0.088903,-0.210878,0.973461]]
2025-10-27T18:16:16.492Z,1761588976.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:16.745Z,1761588976.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:16.760Z,1761588976.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534649,-0.835593,-0.126232],[0.839757,0.508595,0.190103],[-0.094648,-0.207642,0.973615]]
2025-10-27T18:16:16.996Z,1761588976.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:17.150Z,1761588977.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536006,-0.835426,-0.121496],[0.838235,0.509571,0.194166],[-0.100300,-0.205916,0.973416]]
2025-10-27T18:16:17.248Z,1761588977.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:17.501Z,1761588977.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:17.550Z,1761588977.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538530,-0.834112,-0.119338],[0.835918,0.511061,0.200143],[-0.105952,-0.207540,0.972472]]
2025-10-27T18:16:17.752Z,1761588977.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:17.954Z,1761588977.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541803,-0.832384,-0.116555],[0.833032,0.513348,0.206230],[-0.111830,-0.208830,0.971537]]
2025-10-27T18:16:18.004Z,1761588978.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:18.256Z,1761588978.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:18.360Z,1761588978.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545325,-0.830430,-0.114045],[0.829982,0.515907,0.212061],[-0.117265,-0.210298,0.970579]]
2025-10-27T18:16:18.508Z,1761588978.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:18.760Z,1761588978.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:18.766Z,1761588978.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549707,-0.827834,-0.111864],[0.826401,0.519358,0.217551],[-0.121999,-0.212033,0.969618]]
2025-10-27T18:16:19.012Z,1761588979.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:19.165Z,1761588979.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554879,-0.824490,-0.111021],[0.822274,0.523258,0.223756],[-0.126392,-0.215448,0.968301]]
2025-10-27T18:16:19.264Z,1761588979.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:19.516Z,1761588979.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:19.572Z,1761588979.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560915,-0.820503,-0.110225],[0.817531,0.527998,0.229914],[-0.130447,-0.219075,0.966949]]
2025-10-27T18:16:19.768Z,1761588979.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:19.976Z,1761588979.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567351,-0.816281,-0.108620],[0.812443,0.533340,0.235553],[-0.134346,-0.221889,0.965773]]
2025-10-27T18:16:20.020Z,1761588980.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:20.272Z,1761588980.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:20.432Z,1761588980.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574079,-0.811656,-0.107925],[0.807061,0.538672,0.241837],[-0.138152,-0.225936,0.964296]]
2025-10-27T18:16:20.524Z,1761588980.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:20.776Z,1761588980.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:20.856Z,1761588980.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580988,-0.807123,-0.104908],[0.801350,0.544692,0.247282],[-0.142444,-0.227735,0.963248]]
2025-10-27T18:16:21.030Z,1761588981.030 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:21.249Z,1761588981.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587923,-0.802519,-0.101533],[0.795482,0.550807,0.252626],[-0.146812,-0.229292,0.962222]]
2025-10-27T18:16:21.280Z,1761588981.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:21.532Z,1761588981.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:21.651Z,1761588981.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594677,-0.797856,-0.098920],[0.789602,0.556462,0.258610],[-0.151288,-0.231897,0.960904]]
2025-10-27T18:16:21.784Z,1761588981.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:22.036Z,1761588982.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:22.054Z,1761588982.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600608,-0.793727,-0.096271],[0.784192,0.561307,0.264533],[-0.155929,-0.234375,0.959560]]
2025-10-27T18:16:22.288Z,1761588982.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:22.458Z,1761588982.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605470,-0.790258,-0.094330],[0.779530,0.564968,0.270452],[-0.160434,-0.237284,0.958101]]
2025-10-27T18:16:22.541Z,1761588982.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:22.794Z,1761588982.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:22.951Z,1761588982.951 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:16:22.951Z,1761588982.951 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:16:22.951Z,1761588982.951 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateRudder:A] Stopped
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:16:22.952Z,1761588982.952 [marl:UpdateCommandMode] Stopped
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed] Stopped
2025-10-27T18:16:22.953Z,1761588982.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:16:23.044Z,1761588983.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:23.265Z,1761588983.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610016,-0.787198,-0.090556],[0.774263,0.567852,0.279395],[-0.168517,-0.240549,0.955897]]
2025-10-27T18:16:23.296Z,1761588983.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:23.305Z,1761588983.305 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:16:23.305Z,1761588983.305 [marl:UpdateRudder:B] Stopped
2025-10-27T18:16:23.305Z,1761588983.305 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:16:23.305Z,1761588983.305 [marl:UpdateRudder] Stopped
2025-10-27T18:16:23.305Z,1761588983.305 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:16:23.548Z,1761588983.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:23.675Z,1761588983.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609677,-0.787549,-0.089782],[0.773820,0.566823,0.282691],[-0.171742,-0.241825,0.955000]]
2025-10-27T18:16:23.800Z,1761588983.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:24.052Z,1761588984.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:24.074Z,1761588984.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608210,-0.788679,-0.089807],[0.774452,0.564781,0.285039],[-0.174083,-0.242915,0.954300]]
2025-10-27T18:16:24.304Z,1761588984.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:24.484Z,1761588984.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605530,-0.790508,-0.091817],[0.776299,0.561331,0.286823],[-0.175196,-0.244958,0.953573]]
2025-10-27T18:16:24.556Z,1761588984.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:24.812Z,1761588984.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:24.963Z,1761588984.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601765,-0.793070,-0.094439],[0.779418,0.557329,0.286166],[-0.174316,-0.245812,0.953515]]
2025-10-27T18:16:25.060Z,1761588985.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:25.312Z,1761588985.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:25.385Z,1761588985.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597223,-0.795999,-0.098540],[0.783440,0.552598,0.284355],[-0.171893,-0.247023,0.953642]]
2025-10-27T18:16:25.568Z,1761588985.568 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:16:25.569Z,1761588985.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:25.788Z,1761588985.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592038,-0.799134,-0.104290],[0.788167,0.547130,0.281852],[-0.168178,-0.249065,0.953773]]
2025-10-27T18:16:25.816Z,1761588985.816 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:16:25.816Z,1761588985.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:26.068Z,1761588986.068 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:16:26.068Z,1761588986.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:26.198Z,1761588986.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587975,-0.801143,-0.111604],[0.792234,0.542521,0.279351],[-0.163253,-0.252668,0.953681]]
2025-10-27T18:16:26.320Z,1761588986.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:26.572Z,1761588986.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:26.594Z,1761588986.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586572,-0.800240,-0.124694],[0.794574,0.538805,0.279895],[-0.156797,-0.263257,0.951898]]
2025-10-27T18:16:26.830Z,1761588986.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:27.001Z,1761588987.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588530,-0.795617,-0.143619],[0.794748,0.536740,0.283346],[-0.148349,-0.280899,0.948203]]
2025-10-27T18:16:27.076Z,1761588987.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:27.328Z,1761588987.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:27.405Z,1761588987.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593552,-0.787419,-0.166338],[0.792719,0.536349,0.289701],[-0.138901,-0.303812,0.942552]]
2025-10-27T18:16:27.580Z,1761588987.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:27.806Z,1761588987.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602572,-0.775411,-0.188798],[0.787535,0.539443,0.297975],[-0.129208,-0.328236,0.935717]]
2025-10-27T18:16:27.836Z,1761588987.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:28.085Z,1761588988.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:28.210Z,1761588988.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615065,-0.760432,-0.208419],[0.779338,0.546184,0.307108],[-0.119700,-0.351320,0.928572]]
2025-10-27T18:16:28.336Z,1761588988.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:28.588Z,1761588988.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:28.614Z,1761588988.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629120,-0.744091,-0.224802],[0.769426,0.555047,0.316079],[-0.110416,-0.371820,0.921715]]
2025-10-27T18:16:28.842Z,1761588988.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:29.025Z,1761588989.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643910,-0.727693,-0.236311],[0.758350,0.566081,0.323199],[-0.101418,-0.387317,0.916351]]
2025-10-27T18:16:29.092Z,1761588989.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:29.344Z,1761588989.344 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:16:28.6014

2025-10-27T18:16:29.345Z,1761588989.345 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:16:29.345Z,1761588989.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:29.421Z,1761588989.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659262,-0.711317,-0.243726],[0.746162,0.578881,0.328847],[-0.092826,-0.398655,0.912391]]
2025-10-27T18:16:29.596Z,1761588989.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:29.826Z,1761588989.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674690,-0.695111,-0.248222],[0.733220,0.592576,0.333530],[-0.084750,-0.407030,0.909474]]
2025-10-27T18:16:29.848Z,1761588989.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:30.100Z,1761588990.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:30.233Z,1761588990.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689727,-0.679523,-0.250050],[0.719985,0.607017,0.336379],[-0.076792,-0.412042,0.907923]]
2025-10-27T18:16:30.357Z,1761588990.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:30.608Z,1761588990.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:30.645Z,1761588990.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717847,-0.650014,-0.249355],[0.693447,0.635748,0.339051],[-0.061861,-0.416301,0.907120]]
2025-10-27T18:16:30.860Z,1761588990.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:31.112Z,1761588991.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:31.364Z,1761588991.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:31.449Z,1761588991.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742815,-0.621986,-0.247709],[0.667810,0.662114,0.340052],[-0.047496,-0.418018,0.907196]]
2025-10-27T18:16:31.616Z,1761588991.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:31.851Z,1761588991.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754734,-0.608380,-0.245458],[0.654765,0.675334,0.339422],[-0.040731,-0.416891,0.908044]]
2025-10-27T18:16:31.868Z,1761588991.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:32.120Z,1761588992.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:32.353Z,1761588992.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766262,-0.594887,-0.242800],[0.641606,0.688193,0.338721],[-0.034408,-0.415331,0.909019]]
2025-10-27T18:16:32.372Z,1761588992.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:32.624Z,1761588992.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:32.761Z,1761588992.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777252,-0.581657,-0.239905],[0.628551,0.700627,0.337708],[-0.028346,-0.413277,0.910164]]
2025-10-27T18:16:32.876Z,1761588992.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:33.128Z,1761588993.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:33.336Z,1761588993.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787388,-0.569288,-0.236500],[0.616025,0.712255,0.336461],[-0.023095,-0.410615,0.911516]]
2025-10-27T18:16:33.388Z,1761588993.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:33.640Z,1761588993.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:33.872Z,1761588993.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805201,-0.546538,-0.230103],[0.592830,0.732550,0.334549],[-0.014282,-0.405791,0.913854]]
2025-10-27T18:16:33.892Z,1761588993.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:34.146Z,1761588994.146 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:34.280Z,1761588994.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812628,-0.536769,-0.226968],[0.582685,0.741221,0.333270],[-0.010656,-0.403076,0.915105]]
2025-10-27T18:16:34.396Z,1761588994.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:34.651Z,1761588994.651 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:34.687Z,1761588994.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818936,-0.527690,-0.225582],[0.573843,0.748159,0.333111],[-0.007008,-0.402245,0.915505]]
2025-10-27T18:16:34.900Z,1761588994.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:35.152Z,1761588995.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:35.206Z,1761588995.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824352,-0.519271,-0.225391],[0.566067,0.753816,0.333661],[-0.003357,-0.402640,0.915352]]
2025-10-27T18:16:35.405Z,1761588995.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:35.631Z,1761588995.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829312,-0.511147,-0.225766],[0.558786,0.759137,0.333872],[0.000729,-0.403038,0.915183]]
2025-10-27T18:16:35.657Z,1761588995.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:35.908Z,1761588995.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:36.041Z,1761588996.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834189,-0.502603,-0.226978],[0.551453,0.764215,0.334477],[0.005351,-0.404185,0.914662]]
2025-10-27T18:16:36.160Z,1761588996.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:36.412Z,1761588996.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:36.578Z,1761588996.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839531,-0.493417,-0.227438],[0.543216,0.770204,0.334219],[0.010264,-0.404135,0.914642]]
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateRudder:A] Stopped
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:16:36.633Z,1761588996.633 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode] Stopped
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:16:36.634Z,1761588996.634 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:16:36.635Z,1761588996.635 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:16:36.635Z,1761588996.635 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:16:36.635Z,1761588996.635 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:16:36.635Z,1761588996.635 [marl:UpdateSpeed] Stopped
2025-10-27T18:16:36.635Z,1761588996.635 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:16:36.665Z,1761588996.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:36.916Z,1761588996.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:36.981Z,1761588996.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845741,-0.482538,-0.227769],[0.533363,0.777022,0.334305],[0.015666,-0.404219,0.914528]]
2025-10-27T18:16:37.046Z,1761588997.046 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:16:37.051Z,1761588997.051 [marl:UpdateRudder:B] Stopped
2025-10-27T18:16:37.051Z,1761588997.051 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:16:37.051Z,1761588997.051 [marl:UpdateRudder] Stopped
2025-10-27T18:16:37.051Z,1761588997.051 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:16:37.168Z,1761588997.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:37.420Z,1761588997.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:37.492Z,1761588997.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861572,-0.455620,-0.223840],[0.507015,0.794134,0.335092],[0.025085,-0.402196,0.915210]]
2025-10-27T18:16:37.672Z,1761588997.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:37.894Z,1761588997.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870725,-0.440185,-0.219259],[0.490922,0.804213,0.335019],[0.028860,-0.399348,0.916345]]
2025-10-27T18:16:37.924Z,1761588997.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:38.178Z,1761588998.178 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:38.428Z,1761588998.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:38.680Z,1761588998.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:38.702Z,1761588998.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889922,-0.406487,-0.206898],[0.454848,0.824658,0.336233],[0.033946,-0.393328,0.918771]]
2025-10-27T18:16:38.932Z,1761588998.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:39.184Z,1761588999.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:39.225Z,1761588999.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898877,-0.389813,-0.200166],[0.436788,0.833699,0.337880],[0.035169,-0.391142,0.919658]]
2025-10-27T18:16:39.438Z,1761588999.438 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:16:39.439Z,1761588999.439 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:39.642Z,1761588999.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906588,-0.374950,-0.193675],[0.420491,0.841549,0.339092],[0.035844,-0.388855,0.920602]]
2025-10-27T18:16:39.688Z,1761588999.688 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:16:39.688Z,1761588999.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:39.940Z,1761588999.940 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:16:39.940Z,1761588999.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:40.180Z,1761589000.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913636,-0.361183,-0.186592],[0.404993,0.848563,0.340473],[0.035363,-0.386637,0.921554]]
2025-10-27T18:16:40.192Z,1761589000.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:40.444Z,1761589000.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:40.582Z,1761589000.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919490,-0.349459,-0.180044],[0.391633,0.854008,0.342482],[0.034075,-0.385420,0.922112]]
2025-10-27T18:16:40.696Z,1761589000.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:40.950Z,1761589000.950 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:40.986Z,1761589000.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924630,-0.338850,-0.173894],[0.379494,0.858378,0.345212],[0.032291,-0.385186,0.922274]]
2025-10-27T18:16:41.204Z,1761589001.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:41.389Z,1761589001.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929118,-0.329338,-0.168154],[0.368541,0.861963,0.348134],[0.030289,-0.385430,0.922240]]
2025-10-27T18:16:41.458Z,1761589001.458 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:41.709Z,1761589001.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:41.796Z,1761589001.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933079,-0.320557,-0.163118],[0.358533,0.865045,0.350929],[0.028612,-0.385927,0.922085]]
2025-10-27T18:16:41.960Z,1761589001.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:42.200Z,1761589002.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936762,-0.311928,-0.158674],[0.348895,0.867835,0.353744],[0.027360,-0.386735,0.921785]]
2025-10-27T18:16:42.212Z,1761589002.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:42.464Z,1761589002.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:42.601Z,1761589002.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940251,-0.303384,-0.154551],[0.339442,0.870698,0.355900],[0.026593,-0.387096,0.921656]]
2025-10-27T18:16:42.717Z,1761589002.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:42.968Z,1761589002.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:43.006Z,1761589003.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943817,-0.294003,-0.150901],[0.329390,0.873777,0.357794],[0.026661,-0.387397,0.921527]]
2025-10-27T18:16:43.220Z,1761589003.220 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:16:42.4514

2025-10-27T18:16:43.221Z,1761589003.221 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:16:43.221Z,1761589003.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:43.472Z,1761589003.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:43.724Z,1761589003.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:43.815Z,1761589003.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951628,-0.271693,-0.143481],[0.305924,0.881221,0.360360],[0.028531,-0.386823,0.921713]]
2025-10-27T18:16:43.976Z,1761589003.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:44.218Z,1761589004.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956149,-0.257797,-0.138992],[0.291377,0.885306,0.362398],[0.029626,-0.387006,0.921601]]
2025-10-27T18:16:44.228Z,1761589004.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:44.480Z,1761589004.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:44.504Z,1761589004.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:16:44.622Z,1761589004.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960906,-0.242484,-0.133642],[0.275170,0.889836,0.363969],[0.030663,-0.386514,0.921774]]
2025-10-27T18:16:44.732Z,1761589004.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:44.984Z,1761589004.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:45.027Z,1761589005.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965750,-0.226187,-0.127149],[0.257562,0.895041,0.364093],[0.031450,-0.384372,0.922643]]
2025-10-27T18:16:45.236Z,1761589005.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:45.433Z,1761589005.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970398,-0.209371,-0.120382],[0.239364,0.900103,0.364032],[0.032139,-0.382071,0.923574]]
2025-10-27T18:16:45.488Z,1761589005.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:45.507Z,1761589005.507 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:16:45.740Z,1761589005.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:45.840Z,1761589005.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974812,-0.192022,-0.113442],[0.220663,0.904262,0.365538],[0.032390,-0.381363,0.923858]]
2025-10-27T18:16:45.992Z,1761589005.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:46.242Z,1761589006.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978929,-0.174517,-0.106031],[0.201567,0.908976,0.364875],[0.032703,-0.378558,0.924999]]
2025-10-27T18:16:46.244Z,1761589006.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:46.496Z,1761589006.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:46.668Z,1761589006.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986326,-0.137807,-0.090387],[0.161579,0.916595,0.365713],[0.032450,-0.375317,0.926328]]
2025-10-27T18:16:46.749Z,1761589006.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:47.000Z,1761589007.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:47.252Z,1761589007.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:47.506Z,1761589007.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:47.588Z,1761589007.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992006,-0.101853,-0.074496],[0.122309,0.921343,0.369009],[0.031051,-0.375171,0.926435]]
2025-10-27T18:16:47.756Z,1761589007.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:48.008Z,1761589008.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:48.017Z,1761589008.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994137,-0.085274,-0.066489],[0.103937,0.923181,0.370046],[0.029826,-0.374787,0.926631]]
2025-10-27T18:16:48.260Z,1761589008.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:48.512Z,1761589008.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:48.764Z,1761589008.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:48.860Z,1761589008.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997330,-0.054101,-0.049045],[0.068576,0.924709,0.374447],[0.025095,-0.376811,0.925950]]
2025-10-27T18:16:49.016Z,1761589009.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:49.254Z,1761589009.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998426,-0.039382,-0.039922],[0.051560,0.924628,0.377365],[0.022051,-0.378829,0.925204]]
2025-10-27T18:16:49.268Z,1761589009.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:49.520Z,1761589009.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:49.662Z,1761589009.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999212,-0.025213,-0.030658],[0.034984,0.924294,0.380074],[0.018755,-0.380847,0.924448]]
2025-10-27T18:16:49.772Z,1761589009.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:50.025Z,1761589010.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:50.083Z,1761589010.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999704,-0.011670,-0.021342],[0.018944,0.923902,0.382161],[0.015258,-0.382452,0.923849]]
2025-10-27T18:16:50.145Z,1761589010.145 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:16:50.145Z,1761589010.145 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:16:50.146Z,1761589010.146 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:16:50.153Z,1761589010.153 [marl:UpdateRudder:A] Stopped
2025-10-27T18:16:50.153Z,1761589010.153 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:16:50.153Z,1761589010.153 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:16:50.153Z,1761589010.153 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:16:50.153Z,1761589010.153 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateCommandMode] Stopped
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:16:50.154Z,1761589010.154 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:16:50.159Z,1761589010.159 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:16:50.159Z,1761589010.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:16:50.159Z,1761589010.159 [marl:UpdateSpeed] Stopped
2025-10-27T18:16:50.159Z,1761589010.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:16:50.276Z,1761589010.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:50.509Z,1761589010.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,0.001179,-0.012313],[0.003623,0.923868,0.382693],[0.011826,-0.382709,0.923793]]
2025-10-27T18:16:50.532Z,1761589010.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:50.596Z,1761589010.596 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:16:50.597Z,1761589010.597 [marl:UpdateRudder:B] Stopped
2025-10-27T18:16:50.597Z,1761589010.597 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:16:50.597Z,1761589010.597 [marl:UpdateRudder] Stopped
2025-10-27T18:16:50.597Z,1761589010.597 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:16:50.786Z,1761589010.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:50.899Z,1761589010.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999910,0.012854,-0.003765],[-0.010429,0.923529,0.383386],[0.008405,-0.383312,0.923581]]
2025-10-27T18:16:51.036Z,1761589011.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:51.288Z,1761589011.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:51.300Z,1761589011.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999705,0.023910,0.004153],[-0.023677,0.923433,0.383029],[0.005323,-0.383015,0.923727]]
2025-10-27T18:16:51.540Z,1761589011.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:51.702Z,1761589011.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999364,0.033800,0.011388],[-0.035588,0.923625,0.381641],[0.002382,-0.381804,0.924240]]
2025-10-27T18:16:51.792Z,1761589011.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:52.044Z,1761589012.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:52.113Z,1761589012.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998951,0.041909,0.018450],[-0.045774,0.924543,0.378318],[-0.001203,-0.378766,0.925492]]
2025-10-27T18:16:52.297Z,1761589012.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:52.548Z,1761589012.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:52.805Z,1761589012.805 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:52.913Z,1761589012.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998456,0.046920,0.029730],[-0.054415,0.933683,0.353944],[-0.011152,-0.355015,0.934794]]
2025-10-27T18:16:53.052Z,1761589013.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:53.303Z,1761589013.303 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:16:53.304Z,1761589013.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:53.319Z,1761589013.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998405,0.044808,0.034341],[-0.053746,0.940567,0.335329],[-0.017274,-0.336640,0.941475]]
2025-10-27T18:16:53.556Z,1761589013.556 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:16:53.556Z,1761589013.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:53.728Z,1761589013.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998378,0.041558,0.038906],[-0.051813,0.946467,0.318615],[-0.023583,-0.320114,0.947085]]
2025-10-27T18:16:53.808Z,1761589013.808 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:16:53.809Z,1761589013.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:54.060Z,1761589014.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:54.138Z,1761589014.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998318,0.038032,0.043747],[-0.049525,0.951791,0.302723],[-0.030125,-0.304380,0.952074]]
2025-10-27T18:16:54.312Z,1761589014.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:54.529Z,1761589014.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998189,0.034899,0.048988],[-0.047569,0.956480,0.287895],[-0.036809,-0.289705,0.956408]]
2025-10-27T18:16:54.564Z,1761589014.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:54.818Z,1761589014.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:54.936Z,1761589014.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997916,0.033719,0.055017],[-0.047517,0.960845,0.272981],[-0.043658,-0.275027,0.960445]]
2025-10-27T18:16:55.068Z,1761589015.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:55.320Z,1761589015.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:55.338Z,1761589015.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997489,0.034538,0.061834],[-0.049601,0.963848,0.261795],[-0.050557,-0.264204,0.963141]]
2025-10-27T18:16:55.572Z,1761589015.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:55.749Z,1761589015.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996912,0.036844,0.069342],[-0.053316,0.965921,0.253286],[-0.057647,-0.256201,0.964903]]
2025-10-27T18:16:55.824Z,1761589015.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:56.076Z,1761589016.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:56.146Z,1761589016.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996228,0.040290,0.076851],[-0.058029,0.967827,0.244832],[-0.064514,-0.248368,0.966515]]
2025-10-27T18:16:56.328Z,1761589016.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:56.400Z,1761589016.400 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:16:56.400Z,1761589016.400 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:16:56.552Z,1761589016.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995434,0.044555,0.084416],[-0.063489,0.969434,0.236995],[-0.071276,-0.241273,0.967836]]
2025-10-27T18:16:56.580Z,1761589016.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:56.834Z,1761589016.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:56.956Z,1761589016.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994571,0.049206,0.091686],[-0.069188,0.970850,0.229486],[-0.077721,-0.234584,0.968984]]
2025-10-27T18:16:57.017Z,1761589017.017 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:16:57.084Z,1761589017.084 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:16:56.3527

2025-10-27T18:16:57.085Z,1761589017.085 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:16:57.085Z,1761589017.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:57.336Z,1761589017.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:57.362Z,1761589017.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993643,0.054662,0.098410],[-0.075506,0.972011,0.222473],[-0.083495,-0.228489,0.969959]]
2025-10-27T18:16:57.588Z,1761589017.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:57.775Z,1761589017.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992659,0.060588,0.104681],[-0.082270,0.972660,0.217173],[-0.088661,-0.224191,0.970504]]
2025-10-27T18:16:57.840Z,1761589017.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:58.092Z,1761589018.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:58.168Z,1761589018.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991539,0.067626,0.110806],[-0.089974,0.973314,0.211101],[-0.093573,-0.219284,0.971163]]
2025-10-27T18:16:58.344Z,1761589018.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:58.570Z,1761589018.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990306,0.074827,0.117029],[-0.097981,0.973490,0.206681],[-0.098461,-0.216144,0.971384]]
2025-10-27T18:16:58.597Z,1761589018.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:58.850Z,1761589018.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:58.974Z,1761589018.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989062,0.080775,0.123414],[-0.105155,0.972892,0.205970],[-0.103431,-0.216694,0.970745]]
2025-10-27T18:16:59.101Z,1761589019.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:59.352Z,1761589019.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:59.381Z,1761589019.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988062,0.083802,0.129270],[-0.109350,0.972567,0.205320],[-0.108517,-0.217005,0.970120]]
2025-10-27T18:16:59.605Z,1761589019.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:16:59.781Z,1761589019.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987323,0.084038,0.134654],[-0.110850,0.972254,0.205997],[-0.113607,-0.218312,0.969244]]
2025-10-27T18:16:59.856Z,1761589019.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:00.108Z,1761589020.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:00.186Z,1761589020.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986760,0.083389,0.139111],[-0.111349,0.971937,0.207218],[-0.117927,-0.219964,0.968354]]
2025-10-27T18:17:00.360Z,1761589020.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:00.595Z,1761589020.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986402,0.081594,0.142665],[-0.110696,0.971466,0.209761],[-0.121479,-0.222701,0.967289]]
2025-10-27T18:17:00.613Z,1761589020.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:00.864Z,1761589020.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:00.995Z,1761589020.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986223,0.079717,0.144945],[-0.109818,0.970795,0.213301],[-0.123708,-0.226280,0.966175]]
2025-10-27T18:17:01.117Z,1761589021.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:01.368Z,1761589021.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:01.407Z,1761589021.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986223,0.077175,0.146316],[-0.108383,0.969667,0.219087],[-0.124970,-0.231927,0.964672]]
2025-10-27T18:17:01.620Z,1761589021.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:01.801Z,1761589021.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986357,0.074960,0.146565],[-0.106817,0.968872,0.223333],[-0.125261,-0.235941,0.963660]]
2025-10-27T18:17:01.876Z,1761589021.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:02.124Z,1761589022.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:02.206Z,1761589022.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986545,0.072768,0.146406],[-0.105285,0.967858,0.228399],[-0.125080,-0.240740,0.962496]]
2025-10-27T18:17:02.385Z,1761589022.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:02.620Z,1761589022.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986801,0.070435,0.145815],[-0.103382,0.967088,0.232494],[-0.124640,-0.244500,0.961605]]
2025-10-27T18:17:02.636Z,1761589022.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:02.888Z,1761589022.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:03.013Z,1761589023.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987058,0.068087,0.145191],[-0.101457,0.966296,0.236597],[-0.124188,-0.248266,0.960698]]
2025-10-27T18:17:03.089Z,1761589023.089 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:17:03.089Z,1761589023.089 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:17:03.089Z,1761589023.089 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:17:03.090Z,1761589023.090 [marl:UpdateRudder:A] Stopped
2025-10-27T18:17:03.090Z,1761589023.090 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:17:03.090Z,1761589023.090 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:17:03.091Z,1761589023.091 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:17:03.095Z,1761589023.095 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:17:03.096Z,1761589023.096 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:17:03.096Z,1761589023.096 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:17:03.096Z,1761589023.096 [marl:UpdateCommandMode] Stopped
2025-10-27T18:17:03.097Z,1761589023.097 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:17:03.097Z,1761589023.097 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:17:03.097Z,1761589023.097 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:17:03.097Z,1761589023.097 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:17:03.098Z,1761589023.098 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:17:03.098Z,1761589023.098 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:17:03.098Z,1761589023.098 [marl:UpdateSpeed] Stopped
2025-10-27T18:17:03.098Z,1761589023.098 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:17:03.140Z,1761589023.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:03.393Z,1761589023.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:03.418Z,1761589023.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987342,0.065977,0.144235],[-0.099450,0.965932,0.238927],[-0.123558,-0.250247,0.960266]]
2025-10-27T18:17:03.478Z,1761589023.478 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:17:03.478Z,1761589023.478 [marl:UpdateRudder:B] Stopped
2025-10-27T18:17:03.478Z,1761589023.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:17:03.478Z,1761589023.478 [marl:UpdateRudder] Stopped
2025-10-27T18:17:03.478Z,1761589023.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:17:03.644Z,1761589023.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:03.822Z,1761589023.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987577,0.063964,0.143531],[-0.097656,0.965425,0.241696],[-0.123108,-0.252710,0.959678]]
2025-10-27T18:17:03.896Z,1761589023.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:04.148Z,1761589024.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:04.227Z,1761589024.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987778,0.062107,0.142956],[-0.096039,0.964908,0.244397],[-0.122761,-0.255139,0.959080]]
2025-10-27T18:17:04.401Z,1761589024.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:04.630Z,1761589024.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987883,0.060890,0.142755],[-0.095004,0.964602,0.246003],[-0.122722,-0.256584,0.958699]]
2025-10-27T18:17:04.652Z,1761589024.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:04.905Z,1761589024.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:05.132Z,1761589025.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988126,0.060913,0.141055],[-0.094992,0.963770,0.249247],[-0.120762,-0.259686,0.958112]]
2025-10-27T18:17:05.156Z,1761589025.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:05.408Z,1761589025.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:05.533Z,1761589025.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988337,0.061917,0.139124],[-0.095794,0.962990,0.251941],[-0.118376,-0.262330,0.957690]]
2025-10-27T18:17:05.660Z,1761589025.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:05.912Z,1761589025.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:05.940Z,1761589025.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988523,0.063795,0.136939],[-0.097436,0.961960,0.255222],[-0.115448,-0.265636,0.957136]]
2025-10-27T18:17:06.164Z,1761589026.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:06.342Z,1761589026.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988568,0.068039,0.134554],[-0.101686,0.959759,0.261769],[-0.111329,-0.272459,0.955705]]
2025-10-27T18:17:06.416Z,1761589026.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:06.668Z,1761589026.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:06.920Z,1761589026.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:07.171Z,1761589027.171 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:17:07.172Z,1761589027.172 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:17:07.172Z,1761589027.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:07.317Z,1761589027.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987167,0.089494,0.132259],[-0.125154,0.947987,0.292673],[-0.099187,-0.305470,0.947022]]
2025-10-27T18:17:07.424Z,1761589027.424 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:17:07.424Z,1761589027.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:07.676Z,1761589027.676 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:17:07.676Z,1761589027.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:07.831Z,1761589027.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985490,0.104860,0.133467],[-0.142477,0.938427,0.314731],[-0.092246,-0.329180,0.939751]]
2025-10-27T18:17:07.928Z,1761589027.928 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:17:07.929Z,1761589027.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:08.180Z,1761589028.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:08.321Z,1761589028.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980310,0.141084,0.138158],[-0.181741,0.918232,0.351880],[-0.077217,-0.370061,0.925793]]
2025-10-27T18:17:08.432Z,1761589028.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:08.684Z,1761589028.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:08.723Z,1761589028.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976868,0.160988,0.140755],[-0.202207,0.909567,0.363042],[-0.069581,-0.383106,0.921080]]
2025-10-27T18:17:08.936Z,1761589028.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:09.129Z,1761589029.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973068,0.180942,0.142824],[-0.222050,0.902127,0.369946],[-0.061907,-0.391697,0.918009]]
2025-10-27T18:17:09.188Z,1761589029.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:09.440Z,1761589029.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:09.529Z,1761589029.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969190,0.199797,0.144052],[-0.240243,0.895820,0.373884],[-0.054344,-0.396972,0.916220]]
2025-10-27T18:17:09.692Z,1761589029.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:09.933Z,1761589029.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965644,0.216519,0.143703],[-0.255558,0.891514,0.374022],[-0.047130,-0.397897,0.916219]]
2025-10-27T18:17:09.944Z,1761589029.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:10.196Z,1761589030.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:10.338Z,1761589030.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962299,0.231500,0.142791],[-0.268985,0.887849,0.373325],[-0.040352,-0.397659,0.916646]]
2025-10-27T18:17:10.448Z,1761589030.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:10.700Z,1761589030.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:10.755Z,1761589030.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959216,0.244956,0.141073],[-0.280692,0.884406,0.372879],[-0.033426,-0.397269,0.917093]]
2025-10-27T18:17:10.952Z,1761589030.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:11.184Z,1761589031.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955986,0.257800,0.140109],[-0.292153,0.880565,0.373164],[-0.027173,-0.397673,0.917125]]
2025-10-27T18:17:11.204Z,1761589031.204 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:17:10.4512

2025-10-27T18:17:11.205Z,1761589031.205 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:17:11.205Z,1761589031.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:11.456Z,1761589031.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:11.597Z,1761589031.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952551,0.270395,0.139763],[-0.303639,0.876150,0.374385],[-0.021221,-0.399058,0.916680]]
2025-10-27T18:17:11.708Z,1761589031.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:11.960Z,1761589031.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:11.994Z,1761589031.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948565,0.283760,0.140371],[-0.316201,0.870905,0.376220],[-0.015493,-0.401254,0.915836]]
2025-10-27T18:17:12.212Z,1761589032.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:12.464Z,1761589032.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:12.509Z,1761589032.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943952,0.298132,0.141674],[-0.329942,0.864707,0.378708],[-0.009602,-0.404227,0.914608]]
2025-10-27T18:17:12.716Z,1761589032.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:12.973Z,1761589032.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:13.033Z,1761589033.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938845,0.313345,0.142775],[-0.344321,0.858618,0.379760],[-0.003593,-0.405696,0.914001]]
2025-10-27T18:17:13.220Z,1761589033.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:13.472Z,1761589033.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:13.529Z,1761589033.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927688,0.344076,0.144939],[-0.373273,0.846495,0.379623],[0.007929,-0.406274,0.913717]]
2025-10-27T18:17:13.724Z,1761589033.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:13.976Z,1761589033.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:14.228Z,1761589034.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:14.334Z,1761589034.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916719,0.372221,0.145184],[-0.399120,0.836651,0.375125],[0.018161,-0.401829,0.915534]]
2025-10-27T18:17:14.480Z,1761589034.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:14.732Z,1761589034.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:14.750Z,1761589034.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911574,0.384934,0.144425],[-0.410480,0.832282,0.372577],[0.023215,-0.398915,0.916694]]
2025-10-27T18:17:14.984Z,1761589034.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:15.200Z,1761589035.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906510,0.396970,0.143718],[-0.421248,0.827818,0.370496],[0.028104,-0.396399,0.917648]]
2025-10-27T18:17:15.236Z,1761589035.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:15.489Z,1761589035.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:15.605Z,1761589035.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901406,0.408489,0.143539],[-0.431730,0.822873,0.369445],[0.032800,-0.394990,0.918100]]
2025-10-27T18:17:15.627Z,1761589035.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:17:15.740Z,1761589035.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:15.996Z,1761589035.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:16.010Z,1761589036.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896223,0.419422,0.144465],[-0.442045,0.817100,0.370060],[0.037168,-0.395516,0.917707]]
2025-10-27T18:17:16.249Z,1761589036.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:16.485Z,1761589036.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890688,0.430407,0.146373],[-0.452739,0.810554,0.371523],[0.041263,-0.397180,0.916813]]
2025-10-27T18:17:16.500Z,1761589036.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:16.632Z,1761589036.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:17:16.752Z,1761589036.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:16.937Z,1761589036.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884464,0.442244,0.148806],[-0.464432,0.803612,0.372170],[0.045007,-0.398281,0.916158]]
2025-10-27T18:17:16.989Z,1761589036.989 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:17:16.989Z,1761589036.989 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:17:16.989Z,1761589036.989 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:17:16.989Z,1761589036.989 [marl:UpdateRudder:A] Stopped
2025-10-27T18:17:16.989Z,1761589036.989 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode] Stopped
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:17:16.990Z,1761589036.990 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:17:16.991Z,1761589036.991 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:17:17.004Z,1761589037.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:17.011Z,1761589037.011 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:17:17.011Z,1761589037.011 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:17:17.011Z,1761589037.011 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:17:17.011Z,1761589037.011 [marl:UpdateSpeed] Stopped
2025-10-27T18:17:17.011Z,1761589037.011 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:17:17.256Z,1761589037.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:17.437Z,1761589037.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877478,0.454941,0.151861],[-0.477185,0.796260,0.371839],[0.048244,-0.398746,0.915791]]
2025-10-27T18:17:17.498Z,1761589037.498 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:17:17.498Z,1761589037.498 [marl:UpdateRudder:B] Stopped
2025-10-27T18:17:17.498Z,1761589037.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:17:17.498Z,1761589037.498 [marl:UpdateRudder] Stopped
2025-10-27T18:17:17.498Z,1761589037.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:17:17.519Z,1761589037.519 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:17.762Z,1761589037.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:17.840Z,1761589037.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869753,0.468495,0.155053],[-0.490823,0.788650,0.370302],[0.051202,-0.398175,0.915879]]
2025-10-27T18:17:18.012Z,1761589038.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:18.241Z,1761589038.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861026,0.482845,0.159668],[-0.505714,0.779745,0.369122],[0.053729,-0.398571,0.915563]]
2025-10-27T18:17:18.264Z,1761589038.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:18.516Z,1761589038.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:18.647Z,1761589038.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851388,0.497935,0.164925],[-0.521565,0.770204,0.367092],[0.055762,-0.398556,0.915447]]
2025-10-27T18:17:18.770Z,1761589038.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:19.020Z,1761589039.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:19.202Z,1761589039.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829882,0.529381,0.176215],[-0.554879,0.750051,0.359908],[0.058358,-0.396459,0.916196]]
2025-10-27T18:17:19.272Z,1761589039.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:19.524Z,1761589039.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:19.637Z,1761589039.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818639,0.545460,0.179733],[-0.571236,0.741027,0.352942],[0.059329,-0.391602,0.918220]]
2025-10-27T18:17:19.776Z,1761589039.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:20.028Z,1761589040.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:20.072Z,1761589040.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806946,0.561781,0.182321],[-0.587493,0.731715,0.345608],[0.060749,-0.385999,0.920497]]
2025-10-27T18:17:20.280Z,1761589040.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:20.532Z,1761589040.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:20.616Z,1761589040.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794911,0.578157,0.183984],[-0.603435,0.721833,0.338856],[0.063107,-0.380383,0.922673]]
2025-10-27T18:17:20.790Z,1761589040.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:20.997Z,1761589040.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783098,0.593558,0.185595],[-0.618349,0.711310,0.334190],[0.066346,-0.376466,0.924052]]
2025-10-27T18:17:21.036Z,1761589041.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:21.288Z,1761589041.288 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:17:21.288Z,1761589041.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:21.468Z,1761589041.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771313,0.608289,0.187244],[-0.632616,0.700461,0.330381],[0.069810,-0.373281,0.925088]]
2025-10-27T18:17:21.540Z,1761589041.540 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:17:21.540Z,1761589041.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:21.792Z,1761589041.792 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:17:21.792Z,1761589041.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:21.869Z,1761589041.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760217,0.621590,0.188932],[-0.645608,0.690350,0.326508],[0.072525,-0.370193,0.926119]]
2025-10-27T18:17:22.045Z,1761589042.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:22.270Z,1761589042.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750296,0.632525,0.192271],[-0.656893,0.680526,0.324617],[0.074483,-0.369860,0.926097]]
2025-10-27T18:17:22.296Z,1761589042.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:22.552Z,1761589042.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:22.675Z,1761589042.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740687,0.642477,0.196485],[-0.667544,0.670702,0.323332],[0.075950,-0.370651,0.925662]]
2025-10-27T18:17:22.807Z,1761589042.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:23.058Z,1761589043.058 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:23.081Z,1761589043.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731397,0.651663,0.200982],[-0.677593,0.661178,0.322043],[0.076979,-0.371726,0.925146]]
2025-10-27T18:17:23.308Z,1761589043.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:23.485Z,1761589043.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722454,0.660208,0.205389],[-0.687028,0.652038,0.320684],[0.077796,-0.372788,0.924650]]
2025-10-27T18:17:23.560Z,1761589043.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:23.813Z,1761589043.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:24.065Z,1761589044.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:24.298Z,1761589044.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704338,0.676402,0.215379],[-0.705444,0.633148,0.318547],[0.079099,-0.376303,0.923114]]
2025-10-27T18:17:24.316Z,1761589044.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:24.569Z,1761589044.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:24.698Z,1761589044.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695526,0.684052,0.219812],[-0.714091,0.624267,0.316805],[0.079490,-0.377312,0.922668]]
2025-10-27T18:17:24.822Z,1761589044.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:25.072Z,1761589045.072 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:17:24.3011

2025-10-27T18:17:25.073Z,1761589045.073 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:17:25.073Z,1761589045.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:25.105Z,1761589045.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677851,0.697914,0.231158],[-0.730912,0.605815,0.314255],[0.079284,-0.381974,0.920766]]
2025-10-27T18:17:25.326Z,1761589045.326 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:25.576Z,1761589045.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:25.580Z,1761589045.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668067,0.705361,0.236965],[-0.739892,0.595876,0.312237],[0.079038,-0.383923,0.919976]]
2025-10-27T18:17:25.828Z,1761589045.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:25.977Z,1761589045.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657441,0.713340,0.242731],[-0.749411,0.585470,0.309207],[0.078458,-0.385190,0.919496]]
2025-10-27T18:17:26.080Z,1761589046.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:26.332Z,1761589046.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:26.425Z,1761589046.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646008,0.721667,0.248738],[-0.759420,0.574679,0.304999],[0.077163,-0.385929,0.919296]]
2025-10-27T18:17:26.584Z,1761589046.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:26.842Z,1761589046.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:27.088Z,1761589047.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:27.329Z,1761589047.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622189,0.738970,0.258464],[-0.779380,0.553561,0.293491],[0.073806,-0.384049,0.920358]]
2025-10-27T18:17:27.340Z,1761589047.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:27.592Z,1761589047.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:27.740Z,1761589047.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609302,0.747849,0.263578],[-0.789672,0.542148,0.287217],[0.071896,-0.383142,0.920887]]
2025-10-27T18:17:27.844Z,1761589047.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:28.096Z,1761589048.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:28.142Z,1761589048.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595761,0.756916,0.268602],[-0.800095,0.530119,0.280751],[0.070114,-0.382168,0.921429]]
2025-10-27T18:17:28.348Z,1761589048.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:28.556Z,1761589048.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581076,0.766367,0.273919],[-0.810987,0.517047,0.273793],[0.068197,-0.381239,0.921958]]
2025-10-27T18:17:28.613Z,1761589048.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:28.864Z,1761589048.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:28.946Z,1761589048.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566251,0.775632,0.278845],[-0.821583,0.504044,0.266347],[0.066036,-0.379914,0.922662]]
2025-10-27T18:17:29.116Z,1761589049.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:29.350Z,1761589049.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550112,0.785355,0.283892],[-0.832665,0.489950,0.258104],[0.063610,-0.378373,0.923465]]
2025-10-27T18:17:29.368Z,1761589049.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:29.620Z,1761589049.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:29.761Z,1761589049.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533243,0.795317,0.288311],[-0.843766,0.475476,0.248961],[0.060918,-0.376024,0.924605]]
2025-10-27T18:17:29.873Z,1761589049.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:30.124Z,1761589050.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:30.158Z,1761589050.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515619,0.805428,0.292270],[-0.854844,0.460434,0.239255],[0.058132,-0.373210,0.925924]]
2025-10-27T18:17:30.376Z,1761589050.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:30.578Z,1761589050.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497351,0.815707,0.295404],[-0.865754,0.444769,0.229457],[0.055783,-0.369868,0.927408]]
2025-10-27T18:17:30.604Z,1761589050.604 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:17:30.604Z,1761589050.604 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:17:30.604Z,1761589050.604 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:17:30.604Z,1761589050.604 [marl:UpdateRudder:A] Stopped
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode] Stopped
2025-10-27T18:17:30.605Z,1761589050.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed] Stopped
2025-10-27T18:17:30.606Z,1761589050.606 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:17:30.637Z,1761589050.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:30.888Z,1761589050.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:30.966Z,1761589050.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478179,0.826362,0.297441],[-0.876577,0.428085,0.219901],[0.054387,-0.365882,0.929071]]
2025-10-27T18:17:31.035Z,1761589051.035 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:17:31.035Z,1761589051.035 [marl:UpdateRudder:B] Stopped
2025-10-27T18:17:31.035Z,1761589051.035 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:17:31.035Z,1761589051.035 [marl:UpdateRudder] Stopped
2025-10-27T18:17:31.036Z,1761589051.036 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:17:31.141Z,1761589051.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:31.392Z,1761589051.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:31.644Z,1761589051.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:31.787Z,1761589051.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440419,0.845783,0.301136],[-0.896165,0.393967,0.204152],[0.054030,-0.359780,0.931471]]
2025-10-27T18:17:31.896Z,1761589051.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:32.148Z,1761589052.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:32.189Z,1761589052.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424041,0.853122,0.303929],[-0.904020,0.378652,0.198418],[0.054191,-0.358895,0.931803]]
2025-10-27T18:17:32.400Z,1761589052.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:32.594Z,1761589052.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410551,0.858872,0.306246],[-0.910239,0.366143,0.193403],[0.053978,-0.358159,0.932099]]
2025-10-27T18:17:32.652Z,1761589052.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:32.904Z,1761589052.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:33.002Z,1761589053.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401324,0.863573,0.305255],[-0.914423,0.358610,0.187693],[0.052619,-0.354458,0.933590]]
2025-10-27T18:17:33.156Z,1761589053.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:33.404Z,1761589053.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396843,0.868273,0.297687],[-0.916540,0.357282,0.179734],[0.049700,-0.344168,0.937592]]
2025-10-27T18:17:33.408Z,1761589053.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:33.660Z,1761589053.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:33.805Z,1761589053.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396189,0.872537,0.285855],[-0.917050,0.360673,0.170101],[0.045320,-0.329535,0.943055]]
2025-10-27T18:17:33.913Z,1761589053.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:34.164Z,1761589054.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:34.210Z,1761589054.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398049,0.875259,0.274734],[-0.916518,0.366568,0.160070],[0.039394,-0.315514,0.948103]]
2025-10-27T18:17:34.416Z,1761589054.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:34.668Z,1761589054.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:34.920Z,1761589054.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:35.044Z,1761589055.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405562,0.877487,0.256000],[-0.913787,0.382276,0.137326],[0.022639,-0.289623,0.956873]]
2025-10-27T18:17:35.172Z,1761589055.172 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:17:35.173Z,1761589055.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:35.422Z,1761589055.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408043,0.878767,0.247527],[-0.912869,0.388838,0.124397],[0.013068,-0.276719,0.960862]]
2025-10-27T18:17:35.424Z,1761589055.424 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:17:35.424Z,1761589055.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:35.676Z,1761589055.676 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:17:35.676Z,1761589055.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:35.928Z,1761589055.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:36.180Z,1761589056.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:36.230Z,1761589056.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405501,0.883769,0.233497],[-0.914089,0.392943,0.100187],[-0.003209,-0.254063,0.967182]]
2025-10-27T18:17:36.432Z,1761589056.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:36.635Z,1761589056.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401757,0.887768,0.224632],[-0.915695,0.392062,0.088266],[-0.009710,-0.241155,0.970438]]
2025-10-27T18:17:36.700Z,1761589056.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:36.952Z,1761589056.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:37.049Z,1761589057.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397813,0.891130,0.218248],[-0.917331,0.390427,0.077912],[-0.015780,-0.231201,0.972778]]
2025-10-27T18:17:37.204Z,1761589057.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:37.442Z,1761589057.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393787,0.894139,0.213185],[-0.918962,0.388249,0.069084],[-0.020998,-0.223113,0.974566]]
2025-10-27T18:17:37.456Z,1761589057.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:37.708Z,1761589057.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:37.960Z,1761589057.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:38.212Z,1761589058.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:38.249Z,1761589058.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386164,0.898912,0.206966],[-0.921942,0.383420,0.054889],[-0.030015,-0.212007,0.976807]]
2025-10-27T18:17:38.464Z,1761589058.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:38.653Z,1761589058.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384215,0.899888,0.206351],[-0.922605,0.382550,0.049558],[-0.034343,-0.209421,0.977222]]
2025-10-27T18:17:38.716Z,1761589058.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:38.968Z,1761589058.968 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:17:38.2010

2025-10-27T18:17:38.969Z,1761589058.969 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:17:38.969Z,1761589058.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:39.220Z,1761589059.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:39.463Z,1761589059.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383976,0.899278,0.209432],[-0.922357,0.384051,0.041993],[-0.042669,-0.209295,0.976921]]
2025-10-27T18:17:39.472Z,1761589059.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:39.725Z,1761589059.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:39.866Z,1761589059.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383978,0.899134,0.210045],[-0.922157,0.384951,0.037924],[-0.046758,-0.208257,0.976956]]
2025-10-27T18:17:39.976Z,1761589059.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:40.228Z,1761589060.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:40.269Z,1761589060.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384111,0.898249,0.213557],[-0.921879,0.385893,0.035004],[-0.050968,-0.210319,0.976303]]
2025-10-27T18:17:40.480Z,1761589060.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:40.673Z,1761589060.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384047,0.897560,0.216549],[-0.921669,0.386662,0.031918],[-0.055083,-0.211845,0.975750]]
2025-10-27T18:17:40.733Z,1761589060.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:40.984Z,1761589060.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:41.084Z,1761589061.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383064,0.896775,0.221487],[-0.921820,0.386503,0.029388],[-0.059251,-0.215429,0.974720]]
2025-10-27T18:17:41.236Z,1761589061.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:41.488Z,1761589061.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:41.489Z,1761589061.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380747,0.896905,0.224929],[-0.922486,0.385180,0.025624],[-0.063656,-0.217250,0.974038]]
2025-10-27T18:17:41.740Z,1761589061.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:41.993Z,1761589061.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:42.244Z,1761589062.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:42.293Z,1761589062.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371709,0.898121,0.234972],[-0.925536,0.378205,0.018539],[-0.072217,-0.224366,0.971825]]
2025-10-27T18:17:42.496Z,1761589062.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:42.698Z,1761589062.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365403,0.899356,0.240081],[-0.927716,0.372997,0.014716],[-0.076314,-0.228104,0.970641]]
2025-10-27T18:17:42.750Z,1761589062.750 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:43.001Z,1761589063.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:43.101Z,1761589063.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358371,0.900774,0.245308],[-0.930126,0.367078,0.010908],[-0.080222,-0.232077,0.969384]]
2025-10-27T18:17:43.252Z,1761589063.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:43.504Z,1761589063.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:43.532Z,1761589063.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346059,0.904016,0.250994],[-0.934175,0.356803,0.002886],[-0.086946,-0.235471,0.967984]]
2025-10-27T18:17:43.565Z,1761589063.565 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateRudder:A] Stopped
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:17:43.566Z,1761589063.566 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateCommandMode] Stopped
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:17:43.567Z,1761589063.567 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:17:43.568Z,1761589063.568 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:17:43.568Z,1761589063.568 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:17:43.568Z,1761589063.568 [marl:UpdateSpeed] Stopped
2025-10-27T18:17:43.568Z,1761589063.568 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:17:43.757Z,1761589063.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:43.964Z,1761589063.964 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:17:43.964Z,1761589063.964 [marl:UpdateRudder:B] Stopped
2025-10-27T18:17:43.965Z,1761589063.965 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:17:43.965Z,1761589063.965 [marl:UpdateRudder] Stopped
2025-10-27T18:17:43.965Z,1761589063.965 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:17:44.009Z,1761589064.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:44.260Z,1761589064.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:44.322Z,1761589064.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340825,0.905613,0.252395],[-0.935610,0.353019,-0.003245],[-0.092039,-0.235038,0.967619]]
2025-10-27T18:17:44.512Z,1761589064.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:44.730Z,1761589064.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341975,0.905491,0.251275],[-0.935048,0.354489,-0.004868],[-0.093482,-0.233289,0.967903]]
2025-10-27T18:17:44.764Z,1761589064.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:45.018Z,1761589065.018 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:45.159Z,1761589065.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345097,0.904136,0.251886],[-0.933778,0.357817,-0.005046],[-0.094691,-0.233465,0.967744]]
2025-10-27T18:17:45.269Z,1761589065.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:45.522Z,1761589065.522 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:45.772Z,1761589065.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:45.970Z,1761589065.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354792,0.900607,0.251057],[-0.929960,0.367632,-0.004578],[-0.096420,-0.231849,0.967961]]
2025-10-27T18:17:46.024Z,1761589066.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:46.276Z,1761589066.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:46.374Z,1761589066.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361569,0.898153,0.250179],[-0.927156,0.374643,-0.005016],[-0.098233,-0.230141,0.968187]]
2025-10-27T18:17:46.530Z,1761589066.530 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:46.763Z,1761589066.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:17:46.780Z,1761589066.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:46.793Z,1761589066.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370680,0.897153,0.240234],[-0.923252,0.384072,-0.009742],[-0.101007,-0.218185,0.970666]]
2025-10-27T18:17:47.032Z,1761589067.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:47.286Z,1761589067.286 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:47.341Z,1761589067.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382440,0.898102,0.217147],[-0.918123,0.395792,-0.019959],[-0.103871,-0.191735,0.975935]]
2025-10-27T18:17:47.536Z,1761589067.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:47.766Z,1761589067.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396110,0.898888,0.187345],[-0.911983,0.408859,-0.033480],[-0.106692,-0.157594,0.981724]]
2025-10-27T18:17:47.767Z,1761589067.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:17:47.788Z,1761589067.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:48.040Z,1761589068.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:48.161Z,1761589068.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410212,0.898542,0.156041],[-0.905535,0.421623,-0.047324],[-0.108313,-0.121888,0.986616]]
2025-10-27T18:17:48.293Z,1761589068.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:48.544Z,1761589068.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:48.566Z,1761589068.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424279,0.896638,0.126599],[-0.898936,0.433895,-0.060404],[-0.109091,-0.088176,0.990113]]
2025-10-27T18:17:48.798Z,1761589068.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:48.969Z,1761589068.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437342,0.893546,0.101521],[-0.892716,0.444998,-0.070956],[-0.108579,-0.059598,0.992300]]
2025-10-27T18:17:49.048Z,1761589069.048 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:17:49.048Z,1761589069.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:49.300Z,1761589069.300 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:17:49.300Z,1761589069.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:49.375Z,1761589069.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449191,0.889494,0.083835],[-0.887073,0.455203,-0.076762],[-0.106441,-0.039887,0.993519]]
2025-10-27T18:17:49.552Z,1761589069.552 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:17:49.552Z,1761589069.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:49.778Z,1761589069.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460808,0.884643,0.071152],[-0.881470,0.465534,-0.079301],[-0.103277,-0.026176,0.994308]]
2025-10-27T18:17:49.804Z,1761589069.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:50.056Z,1761589070.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:50.182Z,1761589070.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473447,0.878607,0.062425],[-0.875179,0.477241,-0.079392],[-0.099547,-0.017045,0.994887]]
2025-10-27T18:17:50.308Z,1761589070.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:50.560Z,1761589070.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:50.815Z,1761589070.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:51.003Z,1761589071.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500552,0.864262,0.049984],[-0.860977,0.503014,-0.075463],[-0.090362,-0.005261,0.995895]]
2025-10-27T18:17:51.064Z,1761589071.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:51.316Z,1761589071.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:51.394Z,1761589071.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514735,0.856110,0.046087],[-0.853076,0.516789,-0.072046],[-0.085497,-0.002230,0.996336]]
2025-10-27T18:17:51.568Z,1761589071.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:51.798Z,1761589071.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529403,0.847278,0.043037],[-0.844520,0.531149,-0.068317],[-0.080743,-0.000178,0.996735]]
2025-10-27T18:17:51.820Z,1761589071.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:52.072Z,1761589072.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:52.202Z,1761589072.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543240,0.838617,0.040144],[-0.836163,0.544720,-0.064121],[-0.075640,0.001266,0.997134]]
2025-10-27T18:17:52.327Z,1761589072.327 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:52.576Z,1761589072.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:52.832Z,1761589072.832 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:17:52.1010

2025-10-27T18:17:52.833Z,1761589072.833 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:17:52.834Z,1761589072.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:53.019Z,1761589073.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569313,0.821368,0.035168],[-0.819437,0.570389,-0.056390],[-0.066376,0.003286,0.997789]]
2025-10-27T18:17:53.080Z,1761589073.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:53.332Z,1761589073.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:53.414Z,1761589073.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580954,0.813252,0.033369],[-0.811565,0.581902,-0.052464],[-0.062084,0.003398,0.998065]]
2025-10-27T18:17:53.584Z,1761589073.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:53.817Z,1761589073.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592273,0.805077,0.032614],[-0.803659,0.593167,-0.047796],[-0.057825,0.002098,0.998325]]
2025-10-27T18:17:53.836Z,1761589073.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:54.088Z,1761589074.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:54.340Z,1761589074.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:54.592Z,1761589074.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:54.626Z,1761589074.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612411,0.789841,0.033216],[-0.789014,0.613299,-0.036362],[-0.049091,-0.003940,0.998787]]
2025-10-27T18:17:54.846Z,1761589074.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:55.030Z,1761589075.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622421,0.781985,0.033042],[-0.781386,0.623265,-0.031249],[-0.045030,-0.006369,0.998965]]
2025-10-27T18:17:55.096Z,1761589075.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:55.348Z,1761589075.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:55.434Z,1761589075.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632260,0.774063,0.032785],[-0.773686,0.633044,-0.025778],[-0.040708,-0.009067,0.999130]]
2025-10-27T18:17:55.600Z,1761589075.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:55.852Z,1761589075.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:56.104Z,1761589076.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:56.356Z,1761589076.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:56.447Z,1761589076.447 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:17:56.447Z,1761589076.447 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:17:56.609Z,1761589076.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:56.646Z,1761589076.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664347,0.746858,0.029080],[-0.746883,0.664844,-0.012209],[-0.028452,-0.013608,0.999503]]
2025-10-27T18:17:56.693Z,1761589076.693 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:17:56.693Z,1761589076.693 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:17:56.693Z,1761589076.693 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateRudder:A] Stopped
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:17:56.694Z,1761589076.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:17:56.695Z,1761589076.695 [marl:UpdateCommandMode] Stopped
2025-10-27T18:17:56.695Z,1761589076.695 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:17:56.695Z,1761589076.695 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:17:56.695Z,1761589076.695 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:17:56.695Z,1761589076.695 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:17:56.696Z,1761589076.696 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:17:56.696Z,1761589076.696 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:17:56.696Z,1761589076.696 [marl:UpdateSpeed] Stopped
2025-10-27T18:17:56.696Z,1761589076.696 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:17:56.860Z,1761589076.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:57.049Z,1761589077.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676623,0.735838,0.026912],[-0.735911,0.677019,-0.008983],[-0.024830,-0.013726,0.999597]]
2025-10-27T18:17:57.110Z,1761589077.110 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:17:57.110Z,1761589077.110 [marl:UpdateRudder:B] Stopped
2025-10-27T18:17:57.110Z,1761589077.110 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:17:57.111Z,1761589077.111 [marl:UpdateRudder] Stopped
2025-10-27T18:17:57.112Z,1761589077.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:57.114Z,1761589077.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:17:57.136Z,1761589077.136 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:17:57.364Z,1761589077.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:57.454Z,1761589077.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689346,0.724041,0.023798],[-0.724131,0.689634,-0.006166],[-0.020877,-0.012983,0.999698]]
2025-10-27T18:17:57.616Z,1761589077.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:57.859Z,1761589077.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702854,0.711056,0.019898],[-0.711131,0.703047,-0.004243],[-0.017006,-0.011168,0.999793]]
2025-10-27T18:17:57.868Z,1761589077.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:58.120Z,1761589078.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:58.268Z,1761589078.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717241,0.696635,0.016274],[-0.696701,0.717358,-0.002058],[-0.013108,-0.009862,0.999865]]
2025-10-27T18:17:58.372Z,1761589078.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:58.624Z,1761589078.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:58.666Z,1761589078.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731345,0.681874,0.013525],[-0.681949,0.731399,0.001293],[-0.009010,-0.010169,0.999908]]
2025-10-27T18:17:58.876Z,1761589078.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:59.070Z,1761589079.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745484,0.666434,0.010896],[-0.666505,0.745485,0.004755],[-0.004954,-0.010807,0.999929]]
2025-10-27T18:17:59.128Z,1761589079.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:59.380Z,1761589079.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:59.488Z,1761589079.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759610,0.650330,0.007967],[-0.650377,0.759578,0.007072],[-0.001453,-0.010554,0.999943]]
2025-10-27T18:17:59.648Z,1761589079.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:17:59.878Z,1761589079.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773132,0.634217,0.006032],[-0.634245,0.773078,0.009217],[0.001183,-0.010952,0.999939]]
2025-10-27T18:17:59.900Z,1761589079.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:00.152Z,1761589080.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:00.281Z,1761589080.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785664,0.618634,0.004877],[-0.618645,0.785588,0.011394],[0.003217,-0.011969,0.999923]]
2025-10-27T18:18:00.405Z,1761589080.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:00.656Z,1761589080.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:00.692Z,1761589080.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796590,0.604500,0.005002],[-0.604500,0.796467,0.014867],[0.005003,-0.014866,0.999877]]
2025-10-27T18:18:00.908Z,1761589080.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:01.090Z,1761589081.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805951,0.591952,0.006067],[-0.591942,0.805733,0.019973],[0.006935,-0.019688,0.999782]]
2025-10-27T18:18:01.160Z,1761589081.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:01.412Z,1761589081.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:01.498Z,1761589081.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813868,0.581006,0.007135],[-0.580982,0.813525,0.025223],[0.008851,-0.024673,0.999656]]
2025-10-27T18:18:01.665Z,1761589081.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:01.916Z,1761589081.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:01.944Z,1761589081.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828464,0.560021,0.005005],[-0.559875,0.827962,0.031916],[0.013730,-0.029244,0.999478]]
2025-10-27T18:18:02.169Z,1761589082.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:02.420Z,1761589082.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:02.672Z,1761589082.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:02.705Z,1761589082.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835979,0.548760,0.000994],[-0.548482,0.835496,0.033369],[0.017481,-0.028442,0.999443]]
2025-10-27T18:18:02.924Z,1761589082.924 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:18:02.924Z,1761589082.924 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:18:02.924Z,1761589082.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:03.109Z,1761589083.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844003,0.536320,-0.004350],[-0.535896,0.843610,0.033743],[0.021767,-0.026148,0.999421]]
2025-10-27T18:18:03.176Z,1761589083.176 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:18:03.177Z,1761589083.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:03.428Z,1761589083.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:18:03.428Z,1761589083.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:03.514Z,1761589083.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852754,0.522221,-0.009763],[-0.521658,0.852472,0.034115],[0.026139,-0.023998,0.999370]]
2025-10-27T18:18:03.680Z,1761589083.680 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:18:03.680Z,1761589083.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:03.919Z,1761589083.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861754,0.507082,-0.015724],[-0.506412,0.861648,0.033291],[0.030430,-0.020725,0.999322]]
2025-10-27T18:18:03.932Z,1761589083.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:04.184Z,1761589084.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:04.322Z,1761589084.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870595,0.491571,-0.020567],[-0.490806,0.870633,0.033287],[0.034269,-0.018885,0.999234]]
2025-10-27T18:18:04.436Z,1761589084.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:04.688Z,1761589084.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:04.728Z,1761589084.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878532,0.477126,-0.023068],[-0.476207,0.878589,0.036172],[0.037526,-0.020793,0.999079]]
2025-10-27T18:18:04.940Z,1761589084.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:05.131Z,1761589085.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885549,0.463889,-0.024691],[-0.462833,0.885597,0.038768],[0.039850,-0.022903,0.998943]]
2025-10-27T18:18:05.192Z,1761589085.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:05.444Z,1761589085.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:05.696Z,1761589085.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:05.949Z,1761589085.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:06.200Z,1761589086.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:06.347Z,1761589086.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908220,0.417725,-0.025360],[-0.416319,0.908009,0.046887],[0.042613,-0.032026,0.998578]]
2025-10-27T18:18:06.453Z,1761589086.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:06.704Z,1761589086.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:06.759Z,1761589086.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913544,0.405860,-0.026733],[-0.404447,0.913400,0.046076],[0.043118,-0.031281,0.998580]]
2025-10-27T18:18:06.957Z,1761589086.957 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:18:06.2009

2025-10-27T18:18:06.958Z,1761589086.958 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:18:06.959Z,1761589086.959 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:07.156Z,1761589087.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918833,0.393520,-0.029784],[-0.392136,0.918884,0.043366],[0.044433,-0.028167,0.998615]]
2025-10-27T18:18:07.208Z,1761589087.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:07.460Z,1761589087.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:07.557Z,1761589087.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923994,0.380873,-0.034232],[-0.379562,0.924336,0.039188],[0.046568,-0.023216,0.998645]]
2025-10-27T18:18:07.712Z,1761589087.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:07.965Z,1761589087.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:07.976Z,1761589087.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929212,0.367456,-0.039263],[-0.366261,0.929874,0.034468],[0.049175,-0.017648,0.998634]]
2025-10-27T18:18:08.216Z,1761589088.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:08.368Z,1761589088.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934827,0.352357,-0.044072],[-0.351305,0.935782,0.029944],[0.051793,-0.012510,0.998580]]
2025-10-27T18:18:08.473Z,1761589088.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:08.720Z,1761589088.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:08.776Z,1761589088.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940885,0.335158,-0.049040],[-0.334315,0.942137,0.024735],[0.054492,-0.006878,0.998491]]
2025-10-27T18:18:08.973Z,1761589088.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:09.224Z,1761589089.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:09.476Z,1761589089.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:09.582Z,1761589089.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953829,0.294923,-0.056836],[-0.294480,0.955520,0.016215],[0.059090,0.001271,0.998252]]
2025-10-27T18:18:09.729Z,1761589089.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:09.980Z,1761589089.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:09.993Z,1761589089.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959983,0.273649,-0.059565],[-0.273280,0.961826,0.014418],[0.061237,0.002437,0.998120]]
2025-10-27T18:18:10.017Z,1761589090.017 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:18:10.017Z,1761589090.017 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:18:10.017Z,1761589090.017 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateRudder:A] Stopped
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:18:10.018Z,1761589090.018 [marl:UpdateCommandMode] Stopped
2025-10-27T18:18:10.019Z,1761589090.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:18:10.019Z,1761589090.019 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:18:10.019Z,1761589090.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:18:10.019Z,1761589090.019 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:18:10.019Z,1761589090.019 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:18:10.020Z,1761589090.020 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:18:10.020Z,1761589090.020 [marl:UpdateSpeed] Stopped
2025-10-27T18:18:10.020Z,1761589090.020 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:18:10.232Z,1761589090.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:10.390Z,1761589090.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965668,0.252319,-0.061815],[-0.251990,0.967640,0.013198],[0.063145,0.002832,0.998000]]
2025-10-27T18:18:10.438Z,1761589090.438 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:18:10.438Z,1761589090.438 [marl:UpdateRudder:B] Stopped
2025-10-27T18:18:10.438Z,1761589090.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:18:10.438Z,1761589090.438 [marl:UpdateRudder] Stopped
2025-10-27T18:18:10.438Z,1761589090.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:18:10.484Z,1761589090.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:10.736Z,1761589090.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:10.851Z,1761589090.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970951,0.230780,-0.063205],[-0.230354,0.973005,0.014048],[0.064741,0.000920,0.997902]]
2025-10-27T18:18:10.988Z,1761589090.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:11.201Z,1761589091.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975692,0.209512,-0.064268],[-0.208940,0.977805,0.015560],[0.066102,-0.001753,0.997811]]
2025-10-27T18:18:11.240Z,1761589091.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:11.492Z,1761589091.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:11.601Z,1761589091.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979985,0.188140,-0.065062],[-0.187468,0.982135,0.016347],[0.066975,-0.003823,0.997747]]
2025-10-27T18:18:11.745Z,1761589091.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:11.996Z,1761589091.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:12.007Z,1761589092.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983872,0.166488,-0.065405],[-0.165736,0.986027,0.016804],[0.067289,-0.005693,0.997717]]
2025-10-27T18:18:12.248Z,1761589092.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:12.410Z,1761589092.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987213,0.145216,-0.065753],[-0.144353,0.989368,0.017725],[0.067628,-0.008007,0.997678]]
2025-10-27T18:18:12.500Z,1761589092.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:12.752Z,1761589092.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:12.854Z,1761589092.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989848,0.125730,-0.066276],[-0.124606,0.991987,0.020847],[0.068366,-0.012377,0.997584]]
2025-10-27T18:18:13.006Z,1761589093.006 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:13.217Z,1761589093.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991617,0.111096,-0.065983],[-0.109238,0.993528,0.031148],[0.069016,-0.023679,0.997334]]
2025-10-27T18:18:13.256Z,1761589093.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:13.508Z,1761589093.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:13.621Z,1761589093.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992593,0.102628,-0.065017],[-0.099517,0.993808,0.049422],[0.069686,-0.042585,0.996660]]
2025-10-27T18:18:13.760Z,1761589093.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:14.012Z,1761589094.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:14.027Z,1761589094.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992925,0.100114,-0.063851],[-0.095140,0.992506,0.076688],[0.071050,-0.070071,0.995009]]
2025-10-27T18:18:14.264Z,1761589094.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:14.437Z,1761589094.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992837,0.102226,-0.061847],[-0.095039,0.989409,0.109717],[0.072408,-0.103053,0.992037]]
2025-10-27T18:18:14.516Z,1761589094.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:14.771Z,1761589094.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:15.020Z,1761589095.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:15.272Z,1761589095.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:15.273Z,1761589095.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992205,0.111008,-0.056626],[-0.100056,0.980523,0.169009],[0.074284,-0.162026,0.983986]]
2025-10-27T18:18:15.524Z,1761589095.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:15.784Z,1761589095.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:16.032Z,1761589096.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:16.074Z,1761589096.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991494,0.120420,-0.049385],[-0.107800,0.972415,0.206852],[0.072931,-0.199769,0.977125]]
2025-10-27T18:18:16.284Z,1761589096.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:16.478Z,1761589096.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991172,0.124470,-0.045663],[-0.111834,0.969901,0.216300],[0.071211,-0.209284,0.975259]]
2025-10-27T18:18:16.536Z,1761589096.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:16.790Z,1761589096.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:16.890Z,1761589096.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991009,0.127000,-0.042099],[-0.114765,0.968618,0.220471],[0.068778,-0.213657,0.974485]]
2025-10-27T18:18:17.040Z,1761589097.040 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:18:17.041Z,1761589097.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:17.285Z,1761589097.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991023,0.127767,-0.039368],[-0.116212,0.968821,0.218819],[0.066099,-0.212279,0.974971]]
2025-10-27T18:18:17.292Z,1761589097.292 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:18:17.292Z,1761589097.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:17.544Z,1761589097.544 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:18:17.544Z,1761589097.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:17.690Z,1761589097.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991135,0.127506,-0.037337],[-0.116804,0.970161,0.212470],[0.063314,-0.206225,0.976454]]
2025-10-27T18:18:17.796Z,1761589097.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:17.892Z,1761589097.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:18:18.048Z,1761589098.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:18.104Z,1761589098.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991390,0.125721,-0.036605],[-0.115855,0.972466,0.202207],[0.061019,-0.196225,0.978659]]
2025-10-27T18:18:18.300Z,1761589098.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:18.497Z,1761589098.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991585,0.124155,-0.036680],[-0.115047,0.975002,0.190091],[0.059364,-0.184272,0.981081]]
2025-10-27T18:18:18.552Z,1761589098.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:18.806Z,1761589098.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:18.895Z,1761589098.895 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:18:18.904Z,1761589098.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991706,0.122807,-0.037903],[-0.114350,0.977727,0.175993],[0.058672,-0.170200,0.983661]]
2025-10-27T18:18:19.056Z,1761589099.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:19.306Z,1761589099.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991674,0.122488,-0.039730],[-0.114459,0.979821,0.163857],[0.058999,-0.157946,0.985684]]
2025-10-27T18:18:19.308Z,1761589099.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:19.560Z,1761589099.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:19.715Z,1761589099.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991686,0.121803,-0.041509],[-0.114020,0.981260,0.155329],[0.059650,-0.149305,0.986990]]
2025-10-27T18:18:19.812Z,1761589099.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:20.064Z,1761589100.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:20.113Z,1761589100.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991642,0.121704,-0.042825],[-0.114009,0.981979,0.150730],[0.060398,-0.144588,0.987647]]
2025-10-27T18:18:20.316Z,1761589100.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:20.517Z,1761589100.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991663,0.121442,-0.043095],[-0.113602,0.981754,0.152495],[0.060828,-0.146328,0.987364]]
2025-10-27T18:18:20.568Z,1761589100.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:20.824Z,1761589100.824 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:18:20.0508

2025-10-27T18:18:20.825Z,1761589100.825 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:18:20.826Z,1761589100.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:20.930Z,1761589100.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991910,0.119673,-0.042347],[-0.111597,0.981040,0.158452],[0.060506,-0.152444,0.986458]]
2025-10-27T18:18:21.072Z,1761589101.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:21.324Z,1761589101.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:21.329Z,1761589101.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992373,0.116421,-0.040526],[-0.108093,0.979850,0.167957],[0.059263,-0.162296,0.984961]]
2025-10-27T18:18:21.576Z,1761589101.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:21.746Z,1761589101.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992987,0.111935,-0.038050],[-0.103430,0.978395,0.179013],[0.057266,-0.173822,0.983111]]
2025-10-27T18:18:21.828Z,1761589101.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:22.080Z,1761589102.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:22.133Z,1761589102.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993720,0.105955,-0.035969],[-0.097355,0.977168,0.188849],[0.055157,-0.184161,0.981347]]
2025-10-27T18:18:22.332Z,1761589102.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:22.538Z,1761589102.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994467,0.099283,-0.034325],[-0.090535,0.975748,0.199296],[0.053280,-0.195085,0.979338]]
2025-10-27T18:18:22.584Z,1761589102.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:22.838Z,1761589102.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:22.950Z,1761589102.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995095,0.093288,-0.032921],[-0.084494,0.974555,0.207614],[0.051452,-0.203814,0.977657]]
2025-10-27T18:18:23.089Z,1761589103.089 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:23.340Z,1761589103.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:23.349Z,1761589103.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995565,0.088198,-0.032735],[-0.079297,0.973945,0.212468],[0.050622,-0.208930,0.976619]]
2025-10-27T18:18:23.394Z,1761589103.394 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:18:23.394Z,1761589103.394 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:18:23.394Z,1761589103.394 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:18:23.411Z,1761589103.411 [marl:UpdateRudder:A] Stopped
2025-10-27T18:18:23.411Z,1761589103.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:18:23.411Z,1761589103.411 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:18:23.412Z,1761589103.412 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:18:23.412Z,1761589103.412 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:18:23.413Z,1761589103.413 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:18:23.413Z,1761589103.413 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:18:23.413Z,1761589103.413 [marl:UpdateCommandMode] Stopped
2025-10-27T18:18:23.414Z,1761589103.414 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:18:23.414Z,1761589103.414 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:18:23.414Z,1761589103.414 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:18:23.414Z,1761589103.414 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:18:23.421Z,1761589103.421 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:18:23.421Z,1761589103.421 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:18:23.421Z,1761589103.421 [marl:UpdateSpeed] Stopped
2025-10-27T18:18:23.421Z,1761589103.421 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:18:23.593Z,1761589103.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:23.756Z,1761589103.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995837,0.085054,-0.032781],[-0.075889,0.972829,0.218733],[0.050495,-0.215335,0.975234]]
2025-10-27T18:18:23.797Z,1761589103.797 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:18:23.797Z,1761589103.797 [marl:UpdateRudder:B] Stopped
2025-10-27T18:18:23.797Z,1761589103.797 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:18:23.797Z,1761589103.797 [marl:UpdateRudder] Stopped
2025-10-27T18:18:23.797Z,1761589103.797 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:18:23.845Z,1761589103.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:24.096Z,1761589104.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:24.153Z,1761589104.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995999,0.082991,-0.033135],[-0.073596,0.972125,0.222612],[0.050686,-0.219282,0.974344]]
2025-10-27T18:18:24.348Z,1761589104.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:24.558Z,1761589104.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996021,0.082445,-0.033824],[-0.072817,0.971769,0.224418],[0.051371,-0.221062,0.973906]]
2025-10-27T18:18:24.600Z,1761589104.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:24.852Z,1761589104.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:24.961Z,1761589104.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996019,0.082192,-0.034514],[-0.072415,0.971789,0.224459],[0.051989,-0.221066,0.973872]]
2025-10-27T18:18:25.104Z,1761589105.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:25.356Z,1761589105.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:25.366Z,1761589105.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995992,0.082400,-0.034784],[-0.072668,0.972242,0.222406],[0.052145,-0.218987,0.974333]]
2025-10-27T18:18:25.608Z,1761589105.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:25.772Z,1761589105.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995940,0.082943,-0.034996],[-0.073344,0.973003,0.218830],[0.052202,-0.215375,0.975135]]
2025-10-27T18:18:25.861Z,1761589105.861 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:26.112Z,1761589106.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:26.172Z,1761589106.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995915,0.083308,-0.034835],[-0.073856,0.973472,0.216557],[0.051952,-0.213099,0.975648]]
2025-10-27T18:18:26.364Z,1761589106.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:26.574Z,1761589106.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995990,0.082472,-0.034681],[-0.073402,0.974882,0.210279],[0.051152,-0.206890,0.977026]]
2025-10-27T18:18:26.616Z,1761589106.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:26.868Z,1761589106.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:26.981Z,1761589106.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996402,0.077112,-0.035173],[-0.068924,0.978734,0.193206],[0.049324,-0.190086,0.980528]]
2025-10-27T18:18:27.121Z,1761589107.121 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:27.372Z,1761589107.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:27.386Z,1761589107.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997096,0.067193,-0.035848],[-0.060297,0.984053,0.167343],[0.046521,-0.164696,0.985247]]
2025-10-27T18:18:27.624Z,1761589107.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:27.788Z,1761589107.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997873,0.054302,-0.036073],[-0.048896,0.989394,0.136779],[0.043117,-0.134724,0.989945]]
2025-10-27T18:18:27.876Z,1761589107.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:28.128Z,1761589108.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:28.189Z,1761589108.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998613,0.039046,-0.035311],[-0.035018,0.993505,0.108266],[0.039309,-0.106880,0.993495]]
2025-10-27T18:18:28.380Z,1761589108.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:28.594Z,1761589108.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999152,0.023228,-0.033986],[-0.020432,0.996551,0.080422],[0.035736,-0.079659,0.996181]]
2025-10-27T18:18:28.632Z,1761589108.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:28.885Z,1761589108.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:29.002Z,1761589109.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999450,0.006500,-0.032527],[-0.004685,0.998443,0.055576],[0.032838,-0.055393,0.997925]]
2025-10-27T18:18:29.136Z,1761589109.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:29.388Z,1761589109.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:29.418Z,1761589109.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999473,-0.010462,-0.030720],[0.011606,0.999237,0.037290],[0.030307,-0.037627,0.998832]]
2025-10-27T18:18:29.640Z,1761589109.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:29.806Z,1761589109.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999200,-0.027857,-0.028690],[0.028526,0.999324,0.023178],[0.028025,-0.023978,0.999320]]
2025-10-27T18:18:29.892Z,1761589109.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:30.144Z,1761589110.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:30.210Z,1761589110.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998594,-0.045796,-0.026709],[0.046116,0.998870,0.011492],[0.026152,-0.012707,0.999577]]
2025-10-27T18:18:30.398Z,1761589110.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:30.648Z,1761589110.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:30.901Z,1761589110.901 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:18:30.901Z,1761589110.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:31.152Z,1761589111.152 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:18:31.152Z,1761589111.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:31.404Z,1761589111.404 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:18:31.405Z,1761589111.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:31.434Z,1761589111.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994655,-0.100611,-0.023234],[0.100415,0.994901,-0.009466],[0.024068,0.007082,0.999685]]
2025-10-27T18:18:31.656Z,1761589111.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:31.924Z,1761589111.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:32.176Z,1761589112.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:32.233Z,1761589112.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990577,-0.134960,-0.023306],[0.134702,0.990810,-0.012321],[0.024754,0.009065,0.999652]]
2025-10-27T18:18:32.430Z,1761589112.430 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:32.680Z,1761589112.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:32.932Z,1761589112.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:33.037Z,1761589113.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985423,-0.168491,-0.023483],[0.168228,0.985665,-0.012791],[0.025302,0.008654,0.999642]]
2025-10-27T18:18:33.184Z,1761589113.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:33.436Z,1761589113.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:33.443Z,1761589113.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982333,-0.185667,-0.023441],[0.185388,0.982572,-0.013565],[0.025551,0.008980,0.999633]]
2025-10-27T18:18:33.688Z,1761589113.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:33.846Z,1761589113.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979168,-0.201737,-0.023070],[0.201457,0.979399,-0.013886],[0.025396,0.008950,0.999637]]
2025-10-27T18:18:33.940Z,1761589113.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:34.192Z,1761589114.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:34.444Z,1761589114.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:34.653Z,1761589114.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971252,-0.237089,-0.021410],[0.236782,0.971433,-0.015904],[0.024568,0.010377,0.999644]]
2025-10-27T18:18:34.697Z,1761589114.697 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:18:33.9507

2025-10-27T18:18:34.697Z,1761589114.697 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:18:34.697Z,1761589114.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:34.948Z,1761589114.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:35.058Z,1761589115.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966578,-0.255527,-0.020801],[0.255248,0.966757,-0.015159],[0.023983,0.009343,0.999669]]
2025-10-27T18:18:35.201Z,1761589115.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:35.452Z,1761589115.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:35.464Z,1761589115.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961744,-0.273148,-0.020957],[0.272907,0.961943,-0.013667],[0.023892,0.007425,0.999687]]
2025-10-27T18:18:35.704Z,1761589115.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:35.866Z,1761589115.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956591,-0.290606,-0.021957],[0.290439,0.956836,-0.010518],[0.024066,0.003684,0.999704]]
2025-10-27T18:18:35.956Z,1761589115.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:36.208Z,1761589116.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:36.271Z,1761589116.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951622,-0.306402,-0.023091],[0.306304,0.951902,-0.007770],[0.024362,0.000322,0.999703]]
2025-10-27T18:18:36.310Z,1761589116.310 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:18:36.310Z,1761589116.310 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateRudder:A] Stopped
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:18:36.311Z,1761589116.311 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateCommandMode] Stopped
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:18:36.312Z,1761589116.312 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:18:36.313Z,1761589116.313 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:18:36.313Z,1761589116.313 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:18:36.313Z,1761589116.313 [marl:UpdateSpeed] Stopped
2025-10-27T18:18:36.313Z,1761589116.313 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:18:36.460Z,1761589116.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:36.675Z,1761589116.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946845,-0.320792,-0.024019],[0.320762,0.947146,-0.005204],[0.024419,-0.002777,0.999698]]
2025-10-27T18:18:36.699Z,1761589116.699 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:18:36.699Z,1761589116.699 [marl:UpdateRudder:B] Stopped
2025-10-27T18:18:36.699Z,1761589116.699 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:18:36.699Z,1761589116.699 [marl:UpdateRudder] Stopped
2025-10-27T18:18:36.699Z,1761589116.699 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:18:36.712Z,1761589116.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:36.964Z,1761589116.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:37.216Z,1761589117.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:37.468Z,1761589117.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:37.484Z,1761589117.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937683,-0.346589,-0.025018],[0.346646,0.937994,-0.002188],[0.024226,-0.006620,0.999685]]
2025-10-27T18:18:37.720Z,1761589117.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:37.896Z,1761589117.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933395,-0.357980,-0.024979],[0.358098,0.933684,0.000280],[0.023222,-0.009206,0.999688]]
2025-10-27T18:18:37.984Z,1761589117.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:38.224Z,1761589118.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:38.292Z,1761589118.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928972,-0.369374,-0.023945],[0.369510,0.929226,0.001354],[0.021750,-0.010106,0.999712]]
2025-10-27T18:18:38.476Z,1761589118.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:38.694Z,1761589118.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924140,-0.381398,-0.022364],[0.381529,0.924355,0.001740],[0.020008,-0.010141,0.999748]]
2025-10-27T18:18:38.728Z,1761589118.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:38.980Z,1761589118.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:39.098Z,1761589119.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918769,-0.394310,-0.019584],[0.394420,0.918928,0.001967],[0.017220,-0.009532,0.999806]]
2025-10-27T18:18:39.232Z,1761589119.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:39.484Z,1761589119.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:39.504Z,1761589119.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912679,-0.408366,-0.015980],[0.408433,0.912787,0.001090],[0.014142,-0.007522,0.999872]]
2025-10-27T18:18:39.736Z,1761589119.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:39.913Z,1761589119.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905578,-0.424010,-0.012026],[0.424031,0.905647,-0.000930],[0.011286,-0.004258,0.999927]]
2025-10-27T18:18:39.988Z,1761589119.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:40.240Z,1761589120.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:40.310Z,1761589120.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897673,-0.440575,-0.008775],[0.440576,0.897713,-0.001890],[0.008710,-0.002169,0.999960]]
2025-10-27T18:18:40.492Z,1761589120.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:40.714Z,1761589120.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888745,-0.458372,-0.005253],[0.458357,0.888760,-0.003827],[0.006423,0.000993,0.999979]]
2025-10-27T18:18:40.744Z,1761589120.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:40.996Z,1761589120.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:41.126Z,1761589121.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878883,-0.477032,-0.002183],[0.477014,0.878876,-0.005858],[0.004713,0.004108,0.999980]]
2025-10-27T18:18:41.248Z,1761589121.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:41.500Z,1761589121.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:41.525Z,1761589121.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868473,-0.495736,0.000368],[0.495722,0.868443,-0.008211],[0.003751,0.007313,0.999966]]
2025-10-27T18:18:41.753Z,1761589121.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:41.926Z,1761589121.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857899,-0.513817,0.001324],[0.513806,0.857855,-0.009426],[0.003708,0.008767,0.999955]]
2025-10-27T18:18:42.004Z,1761589122.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:42.256Z,1761589122.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:42.330Z,1761589122.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847322,-0.531076,0.001872],[0.531063,0.847262,-0.010934],[0.004221,0.010259,0.999938]]
2025-10-27T18:18:42.508Z,1761589122.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:42.742Z,1761589122.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837173,-0.546938,0.000730],[0.546915,0.837123,-0.010463],[0.005112,0.009159,0.999945]]
2025-10-27T18:18:42.760Z,1761589122.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:43.012Z,1761589123.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:43.138Z,1761589123.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827772,-0.561063,-0.001118],[0.561034,0.827747,-0.008703],[0.005808,0.006577,0.999961]]
2025-10-27T18:18:43.264Z,1761589123.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:43.516Z,1761589123.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:43.542Z,1761589123.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819268,-0.573407,-0.002192],[0.573381,0.819258,-0.007051],[0.005839,0.004519,0.999973]]
2025-10-27T18:18:43.770Z,1761589123.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:43.946Z,1761589123.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811545,-0.584278,-0.003901],[0.584264,0.811553,-0.004100],[0.005561,0.001048,0.999984]]
2025-10-27T18:18:44.020Z,1761589124.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:44.272Z,1761589124.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:44.351Z,1761589124.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804466,-0.593980,-0.004596],[0.593981,0.804478,-0.001278],[0.004456,-0.001701,0.999989]]
2025-10-27T18:18:44.524Z,1761589124.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:44.762Z,1761589124.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797797,-0.602913,-0.004088],[0.602921,0.797800,0.001001],[0.002658,-0.003263,0.999991]]
2025-10-27T18:18:44.776Z,1761589124.776 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:18:44.776Z,1761589124.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:45.028Z,1761589125.028 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:18:45.029Z,1761589125.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:45.158Z,1761589125.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791520,-0.611125,-0.004831],[0.611143,0.791505,0.004952],[0.000797,-0.006872,0.999976]]
2025-10-27T18:18:45.281Z,1761589125.281 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:18:45.282Z,1761589125.282 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:45.532Z,1761589125.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:45.589Z,1761589125.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785389,-0.618986,-0.004482],[0.619001,0.785350,0.007930],[-0.001389,-0.009003,0.999959]]
2025-10-27T18:18:45.784Z,1761589125.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:45.967Z,1761589125.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779279,-0.626665,-0.003889],[0.626665,0.779210,0.011066],[-0.003904,-0.011061,0.999931]]
2025-10-27T18:18:46.036Z,1761589126.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:46.288Z,1761589126.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:46.387Z,1761589126.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773377,-0.633941,-0.002706],[0.633916,0.773292,0.013033],[-0.006170,-0.011794,0.999911]]
2025-10-27T18:18:46.540Z,1761589126.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:46.778Z,1761589126.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767331,-0.641250,-0.001223],[0.641196,0.767239,0.014588],[-0.008416,-0.011978,0.999893]]
2025-10-27T18:18:46.794Z,1761589126.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:47.044Z,1761589127.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:47.179Z,1761589127.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761174,-0.648547,0.000563],[0.648457,0.761083,0.016001],[-0.010806,-0.011815,0.999872]]
2025-10-27T18:18:47.296Z,1761589127.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:47.548Z,1761589127.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:47.592Z,1761589127.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754439,-0.656361,0.003414],[0.656230,0.754375,0.016782],[-0.013590,-0.010420,0.999853]]
2025-10-27T18:18:47.800Z,1761589127.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:47.992Z,1761589127.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737875,-0.674863,0.009988],[0.674679,0.737922,0.016749],[-0.018674,-0.005620,0.999810]]
2025-10-27T18:18:48.052Z,1761589128.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:48.304Z,1761589128.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:48.556Z,1761589128.556 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:18:47.8006

2025-10-27T18:18:48.557Z,1761589128.557 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:18:48.557Z,1761589128.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:48.810Z,1761589128.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:48.857Z,1761589128.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714079,-0.699862,0.016887],[0.699673,0.714278,0.016281],[-0.023456,0.000190,0.999725]]
2025-10-27T18:18:49.027Z,1761589129.027 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:18:49.060Z,1761589129.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:49.202Z,1761589129.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699874,-0.714014,0.018962],[0.713814,0.700129,0.016981],[-0.025401,0.001651,0.999676]]
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateRudder:A] Stopped
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:18:49.234Z,1761589129.234 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:18:49.235Z,1761589129.235 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:18:49.235Z,1761589129.235 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:18:49.235Z,1761589129.235 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:18:49.235Z,1761589129.235 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:18:49.235Z,1761589129.235 [marl:UpdateCommandMode] Stopped
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed] Stopped
2025-10-27T18:18:49.236Z,1761589129.236 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:18:49.313Z,1761589129.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:49.564Z,1761589129.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:49.603Z,1761589129.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684630,-0.728606,0.020367],[0.728388,0.684928,0.018022],[-0.027081,0.002497,0.999630]]
2025-10-27T18:18:49.656Z,1761589129.656 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:18:49.657Z,1761589129.657 [marl:UpdateRudder:B] Stopped
2025-10-27T18:18:49.657Z,1761589129.657 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:18:49.657Z,1761589129.657 [marl:UpdateRudder] Stopped
2025-10-27T18:18:49.657Z,1761589129.657 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:18:49.816Z,1761589129.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:50.006Z,1761589130.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668334,-0.743553,0.021420],[0.743330,0.668668,0.018566],[-0.028128,0.003514,0.999598]]
2025-10-27T18:18:50.031Z,1761589130.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:18:50.069Z,1761589130.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:50.320Z,1761589130.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:50.412Z,1761589130.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651325,-0.758474,0.022199],[0.758264,0.651685,0.018501],[-0.028499,0.004782,0.999582]]
2025-10-27T18:18:50.575Z,1761589130.575 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:50.826Z,1761589130.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:50.865Z,1761589130.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633722,-0.773264,0.021447],[0.773043,0.634068,0.019000],[-0.028291,0.004538,0.999589]]
2025-10-27T18:18:51.076Z,1761589131.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:51.328Z,1761589131.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:51.580Z,1761589131.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:51.624Z,1761589131.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598055,-0.801223,0.019311],[0.801020,0.598350,0.018548],[-0.026416,0.004376,0.999641]]
2025-10-27T18:18:51.832Z,1761589131.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:52.027Z,1761589132.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581297,-0.813475,0.018761],[0.813308,0.581576,0.017269],[-0.024959,0.005220,0.999675]]
2025-10-27T18:18:52.084Z,1761589132.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:52.336Z,1761589132.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:52.429Z,1761589132.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566094,-0.824129,0.018710],[0.823994,0.566368,0.016138],[-0.023896,0.006282,0.999695]]
2025-10-27T18:18:52.588Z,1761589132.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:52.843Z,1761589132.843 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:52.880Z,1761589132.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552664,-0.833214,0.017804],[0.833064,0.552923,0.016769],[-0.023816,0.005565,0.999701]]
2025-10-27T18:18:53.092Z,1761589133.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:53.238Z,1761589133.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540401,-0.841270,0.015210],[0.841057,0.540609,0.019091],[-0.024283,0.002476,0.999702]]
2025-10-27T18:18:53.348Z,1761589133.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:53.596Z,1761589133.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:53.645Z,1761589133.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529471,-0.848212,0.014020],[0.847946,0.529657,0.021267],[-0.025465,0.000628,0.999676]]
2025-10-27T18:18:53.849Z,1761589133.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:54.046Z,1761589134.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518418,-0.855010,0.014146],[0.854695,0.518611,0.023209],[-0.027180,0.000059,0.999631]]
2025-10-27T18:18:54.100Z,1761589134.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:54.352Z,1761589134.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:54.450Z,1761589134.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507105,-0.861786,0.013027],[0.861409,0.507270,0.025534],[-0.028613,-0.001726,0.999589]]
2025-10-27T18:18:54.605Z,1761589134.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:54.857Z,1761589134.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:55.108Z,1761589135.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:55.258Z,1761589135.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484314,-0.874818,0.011568],[0.874332,0.484434,0.029451],[-0.031368,-0.004149,0.999499]]
2025-10-27T18:18:55.361Z,1761589135.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:55.612Z,1761589135.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:55.662Z,1761589135.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472112,-0.881442,0.013032],[0.880939,0.472285,0.029894],[-0.032505,-0.002633,0.999468]]
2025-10-27T18:18:55.872Z,1761589135.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:56.066Z,1761589136.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459917,-0.887854,0.013871],[0.887325,0.460123,0.030676],[-0.033618,-0.001801,0.999433]]
2025-10-27T18:18:56.124Z,1761589136.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:56.376Z,1761589136.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:56.470Z,1761589136.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447470,-0.894195,0.013625],[0.893628,0.447672,0.031906],[-0.034630,-0.002101,0.999398]]
2025-10-27T18:18:56.628Z,1761589136.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:56.687Z,1761589136.687 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:18:56.687Z,1761589136.687 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:18:56.880Z,1761589136.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:57.132Z,1761589137.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:57.278Z,1761589137.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420345,-0.907230,0.015607],[0.906602,0.420634,0.033768],[-0.037200,-0.000045,0.999308]]
2025-10-27T18:18:57.326Z,1761589137.326 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:18:57.384Z,1761589137.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:57.636Z,1761589137.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:57.682Z,1761589137.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406351,-0.913570,0.016399],[0.912885,0.406682,0.035359],[-0.038972,0.000602,0.999240]]
2025-10-27T18:18:57.888Z,1761589137.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:58.086Z,1761589138.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391744,-0.919921,0.016776],[0.919199,0.392101,0.036457],[-0.040115,0.001139,0.999194]]
2025-10-27T18:18:58.140Z,1761589138.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:58.396Z,1761589138.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:58.491Z,1761589138.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376895,-0.926110,0.016457],[0.925346,0.377253,0.037611],[-0.041040,0.001053,0.999157]]
2025-10-27T18:18:58.644Z,1761589138.644 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:18:58.644Z,1761589138.644 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:18:58.644Z,1761589138.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:58.894Z,1761589138.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362575,-0.931801,0.016909],[0.931020,0.362964,0.038190],[-0.041723,0.001896,0.999127]]
2025-10-27T18:18:58.896Z,1761589138.896 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:18:58.896Z,1761589138.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:59.149Z,1761589139.149 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:18:59.149Z,1761589139.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:59.298Z,1761589139.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347913,-0.937377,0.016729],[0.936609,0.348307,0.038022],[-0.041467,0.002440,0.999137]]
2025-10-27T18:18:59.400Z,1761589139.400 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:18:59.400Z,1761589139.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:59.652Z,1761589139.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:18:59.704Z,1761589139.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334454,-0.942285,0.015459],[0.941529,0.334806,0.037804],[-0.040798,0.001911,0.999166]]
2025-10-27T18:18:59.904Z,1761589139.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:00.106Z,1761589140.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322205,-0.946575,0.013381],[0.945843,0.322482,0.037228],[-0.039554,0.000661,0.999217]]
2025-10-27T18:19:00.156Z,1761589140.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:00.408Z,1761589140.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:00.510Z,1761589140.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311306,-0.950256,0.010107],[0.949537,0.311464,0.037018],[-0.038324,-0.001927,0.999264]]
2025-10-27T18:19:00.661Z,1761589140.661 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:00.912Z,1761589140.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:00.920Z,1761589140.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301549,-0.953423,0.007282],[0.952738,0.301610,0.036364],[-0.036867,-0.004028,0.999312]]
2025-10-27T18:19:01.164Z,1761589141.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:01.318Z,1761589141.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292817,-0.956150,0.005899],[0.955486,0.292835,0.035961],[-0.036111,-0.004894,0.999336]]
2025-10-27T18:19:01.417Z,1761589141.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:01.668Z,1761589141.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:01.722Z,1761589141.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284682,-0.958612,0.004272],[0.957937,0.284645,0.036519],[-0.036223,-0.006304,0.999324]]
2025-10-27T18:19:01.920Z,1761589141.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:02.125Z,1761589142.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276334,-0.961059,0.002185],[0.960331,0.276212,0.038356],[-0.037466,-0.008501,0.999262]]
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateRudder:A] Stopped
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:19:02.150Z,1761589142.150 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:19:02.151Z,1761589142.151 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:19:02.151Z,1761589142.151 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:19:02.151Z,1761589142.151 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:19:02.151Z,1761589142.151 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:19:02.151Z,1761589142.151 [marl:UpdateCommandMode] Stopped
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed] Stopped
2025-10-27T18:19:02.152Z,1761589142.152 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:19:02.172Z,1761589142.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:02.424Z,1761589142.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:02.531Z,1761589142.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267244,-0.963629,0.000620],[0.962813,0.267044,0.040982],[-0.039657,-0.010355,0.999160]]
2025-10-27T18:19:02.577Z,1761589142.577 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:19:02.578Z,1761589142.578 [marl:UpdateRudder:B] Stopped
2025-10-27T18:19:02.578Z,1761589142.578 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:19:02.578Z,1761589142.578 [marl:UpdateRudder] Stopped
2025-10-27T18:19:02.578Z,1761589142.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:19:02.676Z,1761589142.676 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:19:01.9505

2025-10-27T18:19:02.677Z,1761589142.677 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:19:02.677Z,1761589142.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:02.928Z,1761589142.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:02.935Z,1761589142.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255440,-0.966825,-0.000188],[0.965889,0.255184,0.044046],[-0.042537,-0.011433,0.999029]]
2025-10-27T18:19:03.180Z,1761589143.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:03.350Z,1761589143.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240434,-0.970666,0.000232],[0.969566,0.240173,0.047532],[-0.046193,-0.011203,0.998870]]
2025-10-27T18:19:03.432Z,1761589143.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:03.684Z,1761589143.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:03.757Z,1761589143.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223068,-0.974800,0.002550],[0.973513,0.222906,0.050837],[-0.050125,-0.008857,0.998704]]
2025-10-27T18:19:03.936Z,1761589143.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:04.145Z,1761589144.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203466,-0.979072,0.004390],[0.977600,0.203403,0.054092],[-0.053853,-0.006714,0.998526]]
2025-10-27T18:19:04.188Z,1761589144.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:04.440Z,1761589144.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:04.549Z,1761589144.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182110,-0.983259,0.006091],[0.981617,0.182159,0.056975],[-0.057131,-0.004397,0.998357]]
2025-10-27T18:19:04.692Z,1761589144.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:04.944Z,1761589144.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:05.196Z,1761589145.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:05.361Z,1761589145.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140465,-0.990079,0.003701],[0.988328,0.140437,0.059041],[-0.058975,-0.004635,0.998249]]
2025-10-27T18:19:05.448Z,1761589145.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:05.700Z,1761589145.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:05.869Z,1761589145.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124975,-0.992103,-0.010586],[0.990538,0.124154,0.058475],[-0.056699,-0.017794,0.998233]]
2025-10-27T18:19:05.952Z,1761589145.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:06.204Z,1761589146.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:06.276Z,1761589146.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113171,-0.992986,-0.034225],[0.992195,0.111131,0.056562],[-0.052362,-0.040359,0.997812]]
2025-10-27T18:19:06.456Z,1761589146.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:06.677Z,1761589146.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103720,-0.992662,-0.062162],[0.993538,0.100509,0.052734],[-0.046099,-0.067229,0.996672]]
2025-10-27T18:19:06.708Z,1761589146.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:06.960Z,1761589146.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:07.212Z,1761589147.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:07.464Z,1761589147.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:07.482Z,1761589147.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089675,-0.988633,-0.120681],[0.995518,0.085321,0.040787],[-0.030027,-0.123798,0.991853]]
2025-10-27T18:19:07.716Z,1761589147.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:07.885Z,1761589147.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086135,-0.985539,-0.145925],[0.996020,0.081815,0.035367],[-0.022917,-0.148390,0.988663]]
2025-10-27T18:19:07.968Z,1761589147.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:08.220Z,1761589148.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:08.296Z,1761589148.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086995,-0.982077,-0.167204],[0.996041,0.082666,0.032690],[-0.018281,-0.169386,0.985380]]
2025-10-27T18:19:08.472Z,1761589148.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:08.693Z,1761589148.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090140,-0.978893,-0.183420],[0.995809,0.085729,0.031857],[-0.015460,-0.185523,0.982518]]
2025-10-27T18:19:08.724Z,1761589148.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:08.976Z,1761589148.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:09.233Z,1761589149.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:09.484Z,1761589149.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:09.503Z,1761589149.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097485,-0.974612,-0.201566],[0.995169,0.093096,0.031162],[-0.011606,-0.203630,0.978979]]
2025-10-27T18:19:09.736Z,1761589149.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:09.988Z,1761589149.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:10.240Z,1761589150.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:10.336Z,1761589150.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105221,-0.971328,-0.213191],[0.994417,0.101044,0.030428],[-0.008014,-0.215202,0.976537]]
2025-10-27T18:19:10.492Z,1761589150.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:10.714Z,1761589150.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109412,-0.970043,-0.216900],[0.993980,0.105514,0.029507],[-0.005737,-0.218823,0.975748]]
2025-10-27T18:19:10.745Z,1761589150.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:10.996Z,1761589150.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:11.249Z,1761589151.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:11.500Z,1761589151.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:11.752Z,1761589151.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:11.926Z,1761589151.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123190,-0.967444,-0.221080],[0.992381,0.120514,0.025606],[0.001871,-0.222550,0.974919]]
2025-10-27T18:19:12.004Z,1761589152.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:12.256Z,1761589152.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:12.341Z,1761589152.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127538,-0.966783,-0.221506],[0.991827,0.125111,0.025011],[0.003532,-0.222885,0.974838]]
2025-10-27T18:19:12.508Z,1761589152.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:12.743Z,1761589152.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131596,-0.966014,-0.222486],[0.991296,0.129102,0.025785],[0.003815,-0.223943,0.974595]]
2025-10-27T18:19:12.760Z,1761589152.760 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:19:12.760Z,1761589152.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:13.012Z,1761589153.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:19:13.012Z,1761589153.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:13.264Z,1761589153.264 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:19:13.264Z,1761589153.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:13.516Z,1761589153.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:13.546Z,1761589153.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135363,-0.965504,-0.222438],[0.990796,0.131942,0.030238],[0.000154,-0.224484,0.974478]]
2025-10-27T18:19:13.768Z,1761589153.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:13.954Z,1761589153.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133040,-0.966181,-0.220896],[0.991105,0.128945,0.032922],[-0.003325,-0.223311,0.974741]]
2025-10-27T18:19:14.020Z,1761589154.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:14.272Z,1761589154.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:14.354Z,1761589154.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128074,-0.967211,-0.219315],[0.991736,0.123233,0.035674],[-0.007478,-0.222071,0.975002]]
2025-10-27T18:19:14.524Z,1761589154.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:14.760Z,1761589154.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121778,-0.968781,-0.215947],[0.992480,0.116141,0.038654],[-0.012367,-0.219030,0.975640]]
2025-10-27T18:19:14.776Z,1761589154.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:15.028Z,1761589155.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:15.280Z,1761589155.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:15.532Z,1761589155.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:15.564Z,1761589155.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105685,-0.972460,-0.207731],[0.994179,0.098926,0.042691],[-0.020965,-0.211034,0.977254]]
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateRudder:A] Stopped
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:19:15.630Z,1761589155.630 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:19:15.631Z,1761589155.631 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:19:15.635Z,1761589155.635 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:19:15.635Z,1761589155.635 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:19:15.635Z,1761589155.635 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:19:15.635Z,1761589155.635 [marl:UpdateCommandMode] Stopped
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed] Stopped
2025-10-27T18:19:15.636Z,1761589155.636 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:19:15.784Z,1761589155.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:15.966Z,1761589155.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096314,-0.974423,-0.203036],[0.995086,0.089552,0.042252],[-0.022989,-0.206108,0.978259]]
2025-10-27T18:19:16.006Z,1761589156.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:19:16.006Z,1761589156.006 [marl:UpdateRudder:B] Stopped
2025-10-27T18:19:16.007Z,1761589156.007 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:19:16.007Z,1761589156.007 [marl:UpdateRudder] Stopped
2025-10-27T18:19:16.007Z,1761589156.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:19:16.036Z,1761589156.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:16.288Z,1761589156.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:16.370Z,1761589156.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086462,-0.976278,-0.198510],[0.996005,0.080244,0.039171],[-0.022312,-0.201103,0.979316]]
2025-10-27T18:19:16.542Z,1761589156.542 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:19:15.8004

2025-10-27T18:19:16.543Z,1761589156.543 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:19:16.544Z,1761589156.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:16.779Z,1761589156.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076295,-0.978023,-0.194035],[0.996912,0.071190,0.033155],[-0.018613,-0.195966,0.980434]]
2025-10-27T18:19:16.794Z,1761589156.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:17.044Z,1761589157.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:17.297Z,1761589157.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:17.548Z,1761589157.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:17.608Z,1761589157.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056486,-0.980523,-0.188109],[0.998391,0.054548,0.015469],[-0.004906,-0.188680,0.982026]]
2025-10-27T18:19:17.800Z,1761589157.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:18.010Z,1761589158.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049406,-0.981358,-0.185731],[0.998773,0.049172,0.005865],[0.003378,-0.185793,0.982583]]
2025-10-27T18:19:18.052Z,1761589158.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:18.306Z,1761589158.306 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:18.416Z,1761589158.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046516,-0.981433,-0.186078],[0.998860,0.047696,-0.001868],[0.010708,-0.185779,0.982533]]
2025-10-27T18:19:18.556Z,1761589158.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:18.818Z,1761589158.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:18.859Z,1761589158.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052441,-0.980734,-0.188178],[0.998424,0.055265,-0.009787],[0.019999,-0.187368,0.982086]]
2025-10-27T18:19:19.064Z,1761589159.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:19.227Z,1761589159.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057844,-0.979781,-0.191529],[0.998065,0.061139,-0.011334],[0.022814,-0.190503,0.981421]]
2025-10-27T18:19:19.317Z,1761589159.317 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:19.568Z,1761589159.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:19.632Z,1761589159.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063990,-0.978512,-0.196010],[0.997652,0.067531,-0.011426],[0.024418,-0.194818,0.980535]]
2025-10-27T18:19:19.821Z,1761589159.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:20.034Z,1761589160.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070374,-0.977039,-0.201104],[0.997214,0.073907,-0.010106],[0.024737,-0.199833,0.979518]]
2025-10-27T18:19:20.072Z,1761589160.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:20.152Z,1761589160.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:19:20.324Z,1761589160.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:20.436Z,1761589160.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076717,-0.975701,-0.205235],[0.996781,0.079862,-0.007073],[0.023292,-0.204032,0.978687]]
2025-10-27T18:19:20.576Z,1761589160.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:20.830Z,1761589160.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:20.862Z,1761589160.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082502,-0.974245,-0.209859],[0.996383,0.084933,-0.002580],[0.020338,-0.208887,0.977728]]
2025-10-27T18:19:21.080Z,1761589161.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:21.155Z,1761589161.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:19:21.287Z,1761589161.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086995,-0.973220,-0.212780],[0.996074,0.088484,0.002531],[0.016365,-0.212165,0.977097]]
2025-10-27T18:19:21.332Z,1761589161.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:21.584Z,1761589161.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:21.685Z,1761589161.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089481,-0.972413,-0.215422],[0.995919,0.089907,0.007841],[0.011744,-0.215245,0.976490]]
2025-10-27T18:19:21.837Z,1761589161.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:22.088Z,1761589162.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:22.092Z,1761589162.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088895,-0.972045,-0.217318],[0.996015,0.088317,0.012392],[0.007147,-0.217553,0.976022]]
2025-10-27T18:19:22.340Z,1761589162.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:22.495Z,1761589162.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085045,-0.972225,-0.218052],[0.996373,0.083606,0.015833],[0.002837,-0.218608,0.975809]]
2025-10-27T18:19:22.592Z,1761589162.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:22.846Z,1761589162.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:22.897Z,1761589162.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078892,-0.973125,-0.216340],[0.996882,0.076726,0.018406],[-0.001313,-0.217118,0.976144]]
2025-10-27T18:19:23.096Z,1761589163.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:23.313Z,1761589163.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071738,-0.974454,-0.212820],[0.997407,0.068873,0.020856],[-0.005666,-0.213764,0.976869]]
2025-10-27T18:19:23.348Z,1761589163.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:23.600Z,1761589163.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:23.705Z,1761589163.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063731,-0.975822,-0.209067],[0.997923,0.060350,0.022517],[-0.009355,-0.210068,0.977642]]
2025-10-27T18:19:23.852Z,1761589163.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:24.104Z,1761589164.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:24.114Z,1761589164.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055421,-0.977338,-0.204299],[0.998388,0.051739,0.023327],[-0.012228,-0.205262,0.978631]]
2025-10-27T18:19:24.356Z,1761589164.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:24.513Z,1761589164.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046819,-0.978689,-0.199940],[0.998807,0.043086,0.022985],[-0.013881,-0.200777,0.979539]]
2025-10-27T18:19:24.613Z,1761589164.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:24.864Z,1761589164.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:24.918Z,1761589164.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038217,-0.979893,-0.195830],[0.999172,0.034742,0.021149],[-0.013921,-0.196477,0.980410]]
2025-10-27T18:19:25.116Z,1761589165.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:25.322Z,1761589165.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029730,-0.980735,-0.193069],[0.999483,0.026805,0.017746],[-0.012229,-0.193497,0.981025]]
2025-10-27T18:19:25.368Z,1761589165.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:25.620Z,1761589165.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:25.731Z,1761589165.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021930,-0.981304,-0.191213],[0.999718,0.019790,0.013096],[-0.009067,-0.191447,0.981461]]
2025-10-27T18:19:25.872Z,1761589165.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:26.124Z,1761589166.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:26.131Z,1761589166.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015099,-0.981646,-0.190115],[0.999874,0.013911,0.007580],[-0.004796,-0.190206,0.981733]]
2025-10-27T18:19:26.376Z,1761589166.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:26.534Z,1761589166.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010327,-0.981977,-0.188719],[0.999947,0.010182,0.001738],[0.000215,-0.188727,0.982030]]
2025-10-27T18:19:26.629Z,1761589166.629 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:19:26.629Z,1761589166.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:26.879Z,1761589166.879 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:19:26.880Z,1761589166.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:26.962Z,1761589166.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008623,-0.981787,-0.189789],[0.999952,0.009359,-0.002986],[0.004708,-0.189754,0.981820]]
2025-10-27T18:19:27.132Z,1761589167.132 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:19:27.132Z,1761589167.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:27.343Z,1761589167.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009970,-0.981470,-0.191357],[0.999916,0.011366,-0.006196],[0.008256,-0.191279,0.981501]]
2025-10-27T18:19:27.396Z,1761589167.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:27.648Z,1761589167.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:27.754Z,1761589167.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013061,-0.980835,-0.194401],[0.999850,0.015019,-0.008602],[0.011357,-0.194260,0.980884]]
2025-10-27T18:19:27.900Z,1761589167.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:28.149Z,1761589168.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016688,-0.980117,-0.197715],[0.999761,0.019149,-0.010542],[0.014118,-0.197492,0.980203]]
2025-10-27T18:19:28.152Z,1761589168.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:28.404Z,1761589168.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:28.554Z,1761589168.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020618,-0.979549,-0.200145],[0.999651,0.023510,-0.012082],[0.016541,-0.199826,0.979692]]
2025-10-27T18:19:28.656Z,1761589168.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:28.908Z,1761589168.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:28.961Z,1761589168.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024872,-0.978726,-0.203657],[0.999527,0.028037,-0.012668],[0.018108,-0.203245,0.978960]]
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateRudder:A] Stopped
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:19:29.042Z,1761589169.042 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:19:29.043Z,1761589169.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:19:29.043Z,1761589169.043 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:19:29.043Z,1761589169.043 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:19:29.043Z,1761589169.043 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:19:29.043Z,1761589169.043 [marl:UpdateCommandMode] Stopped
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed] Stopped
2025-10-27T18:19:29.044Z,1761589169.044 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:19:29.160Z,1761589169.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:29.362Z,1761589169.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029472,-0.977786,-0.207524],[0.999392,0.032692,-0.012105],[0.018620,-0.207041,0.978155]]
2025-10-27T18:19:29.412Z,1761589169.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:29.418Z,1761589169.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:19:29.418Z,1761589169.418 [marl:UpdateRudder:B] Stopped
2025-10-27T18:19:29.418Z,1761589169.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:19:29.418Z,1761589169.418 [marl:UpdateRudder] Stopped
2025-10-27T18:19:29.418Z,1761589169.418 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:19:29.664Z,1761589169.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:29.774Z,1761589169.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034028,-0.977169,-0.209719],[0.999265,0.036970,-0.010123],[0.017645,-0.209220,0.977709]]
2025-10-27T18:19:29.916Z,1761589169.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:30.168Z,1761589170.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:30.174Z,1761589170.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038363,-0.976682,-0.211238],[0.999142,0.040793,-0.007156],[0.015606,-0.210782,0.977408]]
2025-10-27T18:19:30.420Z,1761589170.420 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:19:29.6504

2025-10-27T18:19:30.421Z,1761589170.421 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:19:30.421Z,1761589170.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:30.574Z,1761589170.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042433,-0.976082,-0.213223],[0.999021,0.044119,-0.003153],[0.012485,-0.212880,0.976999]]
2025-10-27T18:19:30.672Z,1761589170.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:30.924Z,1761589170.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:30.978Z,1761589170.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045179,-0.975744,-0.214202],[0.998939,0.046053,0.000909],[0.008978,-0.214016,0.976789]]
2025-10-27T18:19:31.176Z,1761589171.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:31.383Z,1761589171.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045012,-0.975923,-0.213421],[0.998971,0.045155,0.004208],[0.005530,-0.213391,0.976951]]
2025-10-27T18:19:31.428Z,1761589171.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:31.680Z,1761589171.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:31.797Z,1761589171.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041519,-0.976369,-0.212086],[0.999133,0.041218,0.005840],[0.003040,-0.212144,0.977234]]
2025-10-27T18:19:31.932Z,1761589171.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:32.184Z,1761589172.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:32.191Z,1761589172.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036107,-0.977063,-0.209867],[0.999347,0.035561,0.006375],[0.001234,-0.209960,0.977709]]
2025-10-27T18:19:32.436Z,1761589172.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:32.594Z,1761589172.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029517,-0.977757,-0.207653],[0.999564,0.028824,0.006363],[-0.000236,-0.207751,0.978182]]
2025-10-27T18:19:32.688Z,1761589172.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:32.940Z,1761589172.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:33.033Z,1761589173.033 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T18:19:33.033Z,1761589173.033 [NAL9602] Data Fault, FailCount= 1
2025-10-27T18:19:33.033Z,1761589173.033 [NAL9602](ERROR): Data Fault
2025-10-27T18:19:33.116Z,1761589173.116 [marl:NeedComms] Running Loop=1
2025-10-27T18:19:33.116Z,1761589173.116 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T18:19:33.116Z,1761589173.116 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T18:19:33.116Z,1761589173.116 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:19:33.117Z,1761589173.117 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T18:19:33.117Z,1761589173.117 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T18:19:33.117Z,1761589173.117 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T18:19:33.118Z,1761589173.118 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T18:19:33.118Z,1761589173.118 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:19:33.118Z,1761589173.118 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:19:33.119Z,1761589173.119 [marl:NeedComms:A] Running Loop=1
2025-10-27T18:19:33.124Z,1761589173.124 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T18:19:33.124Z,1761589173.124 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T18:19:33.124Z,1761589173.124 [marl:NeedComms:A] Stopped
2025-10-27T18:19:33.192Z,1761589173.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:33.266Z,1761589173.266 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T18:19:33.402Z,1761589173.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014969,-0.979207,-0.202311],[0.999888,0.014527,0.003668],[-0.000653,-0.202343,0.979314]]
2025-10-27T18:19:33.410Z,1761589173.410 [NAL9602](INFO): Powering down
2025-10-27T18:19:33.445Z,1761589173.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:33.696Z,1761589173.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:33.949Z,1761589173.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:34.200Z,1761589174.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:34.212Z,1761589174.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000367,-0.980079,-0.198607],[0.999995,0.000235,-0.003004],[0.002991,-0.198607,0.980075]]
2025-10-27T18:19:34.452Z,1761589174.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:34.667Z,1761589174.667 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T18:19:34.667Z,1761589174.667 [NAL9602] No Fault, FailCount= 1
2025-10-27T18:19:34.692Z,1761589174.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007311,-0.980467,-0.196547],[0.999954,-0.005940,-0.007564],[0.006249,-0.196593,0.980465]]
2025-10-27T18:19:34.704Z,1761589174.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:34.956Z,1761589174.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:35.208Z,1761589175.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:35.460Z,1761589175.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:35.562Z,1761589175.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016323,-0.980931,-0.193672],[0.999804,-0.013849,-0.014119],[0.011168,-0.193865,0.980965]]
2025-10-27T18:19:35.713Z,1761589175.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:35.957Z,1761589175.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017710,-0.980996,-0.193217],[0.999810,-0.015808,-0.011381],[0.008111,-0.193382,0.981090]]
2025-10-27T18:19:35.964Z,1761589175.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:36.218Z,1761589176.218 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:36.361Z,1761589176.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015855,-0.981300,-0.191829],[0.999873,-0.015814,-0.001740],[-0.001326,-0.191832,0.981427]]
2025-10-27T18:19:36.469Z,1761589176.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:36.720Z,1761589176.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:36.789Z,1761589176.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011693,-0.981596,-0.190613],[0.999811,-0.014438,0.013015],[-0.015528,-0.190425,0.981579]]
2025-10-27T18:19:36.972Z,1761589176.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:37.224Z,1761589177.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:37.476Z,1761589177.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:37.574Z,1761589177.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000931,-0.982185,-0.187914],[0.998470,-0.009476,0.054477],[-0.055287,-0.187677,0.980674]]
2025-10-27T18:19:37.729Z,1761589177.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:37.980Z,1761589177.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:37.987Z,1761589177.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007744,-0.982510,-0.186047],[0.996836,-0.007134,0.079165],[-0.079108,-0.186071,0.979346]]
2025-10-27T18:19:38.232Z,1761589178.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:38.388Z,1761589178.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015315,-0.982698,-0.184579],[0.994381,-0.004369,0.105769],[-0.104745,-0.185161,0.977110]]
2025-10-27T18:19:38.484Z,1761589178.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:38.737Z,1761589178.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:38.825Z,1761589178.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021974,-0.982804,-0.183340],[0.991126,-0.002632,0.132896],[-0.131094,-0.184634,0.974025]]
2025-10-27T18:19:38.988Z,1761589178.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:39.242Z,1761589179.242 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:39.267Z,1761589179.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031705,-0.983128,-0.180152],[0.982584,-0.002360,0.185805],[-0.183096,-0.182906,0.965930]]
2025-10-27T18:19:39.492Z,1761589179.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:39.649Z,1761589179.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033822,-0.983394,-0.178304],[0.977688,-0.004453,0.210016],[-0.207323,-0.181429,0.961302]]
2025-10-27T18:19:39.745Z,1761589179.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:39.996Z,1761589179.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:40.053Z,1761589180.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034652,-0.983748,-0.176178],[0.972729,-0.007254,0.231830],[-0.229341,-0.179406,0.956669]]
2025-10-27T18:19:40.251Z,1761589180.251 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:40.454Z,1761589180.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033785,-0.984256,-0.173489],[0.967925,-0.011017,0.250997],[-0.248956,-0.176404,0.952314]]
2025-10-27T18:19:40.500Z,1761589180.500 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:19:40.500Z,1761589180.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:40.753Z,1761589180.753 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:19:40.753Z,1761589180.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:41.004Z,1761589181.004 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:19:41.004Z,1761589181.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:41.256Z,1761589181.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:41.278Z,1761589181.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029547,-0.984767,-0.171353],[0.959177,-0.020303,0.282075],[-0.281257,-0.172692,0.943966]]
2025-10-27T18:19:41.508Z,1761589181.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:41.661Z,1761589181.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026945,-0.985042,-0.170195],[0.955476,-0.024667,0.294035],[-0.293835,-0.170540,0.940520]]
2025-10-27T18:19:41.762Z,1761589181.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:42.012Z,1761589182.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:42.070Z,1761589182.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024121,-0.985054,-0.170551],[0.952303,-0.029271,0.303746],[-0.304198,-0.169743,0.937364]]
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateRudder:A] Stopped
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:19:42.175Z,1761589182.175 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode] Stopped
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:19:42.176Z,1761589182.176 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:19:42.177Z,1761589182.177 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:19:42.177Z,1761589182.177 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:19:42.177Z,1761589182.177 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:19:42.177Z,1761589182.177 [marl:UpdateSpeed] Stopped
2025-10-27T18:19:42.177Z,1761589182.177 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:19:42.265Z,1761589182.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:42.470Z,1761589182.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022525,-0.984880,-0.171765],[0.949461,-0.032729,0.312173],[-0.313075,-0.170116,0.934369]]
2025-10-27T18:19:42.502Z,1761589182.502 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:19:42.502Z,1761589182.502 [marl:UpdateRudder:B] Stopped
2025-10-27T18:19:42.502Z,1761589182.502 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:19:42.502Z,1761589182.502 [marl:UpdateRudder] Stopped
2025-10-27T18:19:42.503Z,1761589182.503 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:19:42.516Z,1761589182.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:42.770Z,1761589182.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:43.020Z,1761589183.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:43.272Z,1761589183.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:43.524Z,1761589183.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:43.682Z,1761589183.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026691,-0.983780,-0.177383],[0.942171,-0.034543,0.333348],[-0.334068,-0.176023,0.925967]]
2025-10-27T18:19:43.776Z,1761589183.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:44.028Z,1761589184.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:44.092Z,1761589184.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031703,-0.983320,-0.179100],[0.939476,-0.031844,0.341133],[-0.341146,-0.179075,0.922795]]
2025-10-27T18:19:44.284Z,1761589184.284 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:19:43.5503

2025-10-27T18:19:44.285Z,1761589184.285 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:19:44.285Z,1761589184.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:44.490Z,1761589184.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037701,-0.982928,-0.180086],[0.936410,-0.028167,0.349777],[-0.348878,-0.181821,0.919361]]
2025-10-27T18:19:44.533Z,1761589184.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:44.787Z,1761589184.787 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:45.036Z,1761589185.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:45.288Z,1761589185.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:45.441Z,1761589185.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051790,-0.982318,-0.179915],[0.928158,-0.019143,0.371695],[-0.368567,-0.186239,0.910754]]
2025-10-27T18:19:45.541Z,1761589185.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:45.792Z,1761589185.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:45.838Z,1761589185.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059553,-0.981906,-0.179759],[0.922598,-0.014616,0.385486],[-0.381138,-0.188802,0.905034]]
2025-10-27T18:19:46.047Z,1761589186.047 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:46.296Z,1761589186.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:46.326Z,1761589186.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067060,-0.981519,-0.179231],[0.916218,-0.010543,0.400542],[-0.395029,-0.191075,0.898578]]
2025-10-27T18:19:46.548Z,1761589186.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:46.731Z,1761589186.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074228,-0.981163,-0.178352],[0.909322,-0.006832,0.416037],[-0.409419,-0.193061,0.891686]]
2025-10-27T18:19:46.803Z,1761589186.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:47.053Z,1761589187.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:47.305Z,1761589187.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:47.556Z,1761589187.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:47.565Z,1761589187.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080911,-0.981329,-0.174488],[0.896757,-0.004742,0.442498],[-0.435064,-0.192276,0.879630]]
2025-10-27T18:19:47.808Z,1761589187.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:47.966Z,1761589187.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080516,-0.981123,-0.175824],[0.891954,-0.007814,0.452059],[-0.444899,-0.193225,0.874488]]
2025-10-27T18:19:48.060Z,1761589188.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:48.312Z,1761589188.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:48.371Z,1761589188.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078219,-0.980536,-0.180084],[0.888669,-0.013291,0.458356],[-0.451829,-0.195887,0.870333]]
2025-10-27T18:19:48.564Z,1761589188.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:48.778Z,1761589188.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075112,-0.979560,-0.186602],[0.886767,-0.019971,0.461786],[-0.456074,-0.200159,0.867141]]
2025-10-27T18:19:48.818Z,1761589188.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:49.069Z,1761589189.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:49.320Z,1761589189.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:49.572Z,1761589189.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:49.628Z,1761589189.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066173,-0.976083,-0.207082],[0.888168,-0.036961,0.458029],[-0.454729,-0.214233,0.864480]]
2025-10-27T18:19:49.826Z,1761589189.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:50.030Z,1761589190.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060415,-0.974122,-0.217799],[0.891436,-0.045517,0.450855],[-0.449101,-0.221392,0.865618]]
2025-10-27T18:19:50.076Z,1761589190.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:50.328Z,1761589190.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:50.434Z,1761589190.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054174,-0.972347,-0.227168],[0.896291,-0.052929,0.440296],[-0.440145,-0.227462,0.868639]]
2025-10-27T18:19:50.580Z,1761589190.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:50.834Z,1761589190.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:50.862Z,1761589190.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044097,-0.969175,-0.242394],[0.907135,-0.062801,0.416128],[-0.418524,-0.238234,0.876403]]
2025-10-27T18:19:51.084Z,1761589191.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:51.275Z,1761589191.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:19:51.336Z,1761589191.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:51.588Z,1761589191.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:51.647Z,1761589191.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041773,-0.968055,-0.247233],[0.911914,-0.064168,0.405333],[-0.408249,-0.242387,0.880103]]
2025-10-27T18:19:51.840Z,1761589191.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:52.049Z,1761589192.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041957,-0.967820,-0.248120],[0.915722,-0.062077,0.396989],[-0.399617,-0.243865,0.883649]]
2025-10-27T18:19:52.092Z,1761589192.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:52.279Z,1761589192.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:19:52.344Z,1761589192.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:52.460Z,1761589192.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047562,-0.969559,-0.240195],[0.920798,-0.050639,0.386739],[-0.387129,-0.239565,0.890359]]
2025-10-27T18:19:52.597Z,1761589192.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:52.849Z,1761589192.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:52.869Z,1761589192.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051004,-0.971220,-0.232659],[0.922586,-0.043381,0.383345],[-0.382405,-0.234200,0.893821]]
2025-10-27T18:19:53.100Z,1761589193.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:53.282Z,1761589193.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054679,-0.972594,-0.225988],[0.924012,-0.036492,0.380619],[-0.378434,-0.229628,0.896693]]
2025-10-27T18:19:53.352Z,1761589193.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:53.604Z,1761589193.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:53.687Z,1761589193.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059327,-0.973440,-0.221123],[0.924949,-0.029704,0.378930],[-0.375434,-0.227009,0.898619]]
2025-10-27T18:19:53.856Z,1761589193.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:54.090Z,1761589194.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064507,-0.973536,-0.219241],[0.925582,-0.023752,0.377802],[-0.373011,-0.227297,0.899555]]
2025-10-27T18:19:54.108Z,1761589194.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:54.360Z,1761589194.360 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:19:54.361Z,1761589194.361 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:19:54.361Z,1761589194.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:54.493Z,1761589194.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067663,-0.973124,-0.220115],[0.926424,-0.020614,0.375917],[-0.370352,-0.229355,0.900131]]
2025-10-27T18:19:54.612Z,1761589194.612 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:19:54.612Z,1761589194.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:54.864Z,1761589194.864 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:19:54.864Z,1761589194.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:54.898Z,1761589194.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068426,-0.971723,-0.225992],[0.927687,-0.021364,0.372748],[-0.367036,-0.235155,0.899993]]
2025-10-27T18:19:55.116Z,1761589195.116 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:19:55.116Z,1761589195.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:55.304Z,1761589195.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066232,-0.969994,-0.233936],[0.929624,-0.025191,0.367648],[-0.362509,-0.241822,0.900060]]
2025-10-27T18:19:55.341Z,1761589195.341 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:19:55.341Z,1761589195.341 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:19:55.341Z,1761589195.341 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateRudder:A] Stopped
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:19:55.342Z,1761589195.342 [marl:UpdateCommandMode] Stopped
2025-10-27T18:19:55.343Z,1761589195.343 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:19:55.343Z,1761589195.343 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:19:55.343Z,1761589195.343 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:19:55.343Z,1761589195.343 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:19:55.343Z,1761589195.343 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:19:55.344Z,1761589195.344 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:19:55.344Z,1761589195.344 [marl:UpdateSpeed] Stopped
2025-10-27T18:19:55.344Z,1761589195.344 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:19:55.368Z,1761589195.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:55.621Z,1761589195.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:55.706Z,1761589195.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061776,-0.968288,-0.242077],[0.931983,-0.030839,0.361189],[-0.357201,-0.247924,0.900523]]
2025-10-27T18:19:55.790Z,1761589195.790 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:19:55.790Z,1761589195.790 [marl:UpdateRudder:B] Stopped
2025-10-27T18:19:55.790Z,1761589195.790 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:19:55.790Z,1761589195.790 [marl:UpdateRudder] Stopped
2025-10-27T18:19:55.790Z,1761589195.790 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:19:55.872Z,1761589195.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:56.110Z,1761589196.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055690,-0.966849,-0.249202],[0.934744,-0.037238,0.353364],[-0.350930,-0.252619,0.901683]]
2025-10-27T18:19:56.124Z,1761589196.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:56.377Z,1761589196.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:56.514Z,1761589196.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048340,-0.966165,-0.253355],[0.937952,-0.043291,0.344052],[-0.343379,-0.254266,0.904124]]
2025-10-27T18:19:56.628Z,1761589196.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:56.760Z,1761589196.760 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:19:56.760Z,1761589196.760 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:19:56.880Z,1761589196.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:56.918Z,1761589196.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040269,-0.965882,-0.255833],[0.941640,-0.048955,0.333043],[-0.334205,-0.254314,0.907542]]
2025-10-27T18:19:57.132Z,1761589197.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:57.384Z,1761589197.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:57.509Z,1761589197.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032601,-0.965496,-0.258369],[0.945558,-0.053959,0.320949],[-0.323816,-0.254766,0.911174]]
2025-10-27T18:19:57.561Z,1761589197.561 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:19:57.636Z,1761589197.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:57.891Z,1761589197.891 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:58.140Z,1761589198.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:58.393Z,1761589198.393 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:19:57.6502

2025-10-27T18:19:58.393Z,1761589198.393 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:19:58.393Z,1761589198.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:58.470Z,1761589198.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024416,-0.964061,-0.264558],[0.957285,-0.053722,0.284113],[-0.288114,-0.260194,0.921569]]
2025-10-27T18:19:58.644Z,1761589198.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:58.896Z,1761589198.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:58.906Z,1761589198.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032141,-0.961165,-0.274095],[0.960880,-0.045765,0.273158],[-0.275094,-0.272152,0.922094]]
2025-10-27T18:19:59.148Z,1761589199.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:59.357Z,1761589199.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045936,-0.955946,-0.289927],[0.963862,-0.033826,0.264246],[-0.262412,-0.291588,0.919846]]
2025-10-27T18:19:59.400Z,1761589199.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:59.652Z,1761589199.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:19:59.779Z,1761589199.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064596,-0.949043,-0.308457],[0.965822,-0.018299,0.258559],[-0.251028,-0.314616,0.915424]]
2025-10-27T18:19:59.904Z,1761589199.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:00.156Z,1761589200.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:00.261Z,1761589200.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086412,-0.940701,-0.328046],[0.966405,-0.000857,0.257022],[-0.242062,-0.339235,0.909025]]
2025-10-27T18:20:00.408Z,1761589200.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:00.660Z,1761589200.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:00.675Z,1761589200.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109760,-0.932133,-0.345079],[0.965648,0.017732,0.259247],[-0.235534,-0.361680,0.902059]]
2025-10-27T18:20:00.912Z,1761589200.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:01.164Z,1761589201.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:01.171Z,1761589201.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133750,-0.924820,-0.356116],[0.963333,0.036990,0.265747],[-0.232595,-0.378602,0.895857]]
2025-10-27T18:20:01.417Z,1761589201.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:01.631Z,1761589201.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156502,-0.918357,-0.363494],[0.959817,0.054616,0.275261],[-0.232935,-0.391967,0.890002]]
2025-10-27T18:20:01.668Z,1761589201.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:01.921Z,1761589201.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:02.157Z,1761589202.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196205,-0.909379,-0.366788],[0.951104,0.085496,0.296803],[-0.238547,-0.407088,0.881689]]
2025-10-27T18:20:02.172Z,1761589202.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:02.424Z,1761589202.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:02.549Z,1761589202.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210567,-0.907166,-0.364295],[0.947625,0.097871,0.304020],[-0.240143,-0.409231,0.880262]]
2025-10-27T18:20:02.677Z,1761589202.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:02.928Z,1761589202.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:02.953Z,1761589202.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221592,-0.906260,-0.359985],[0.945228,0.108891,0.307711],[-0.239667,-0.408454,0.880752]]
2025-10-27T18:20:03.180Z,1761589203.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:03.357Z,1761589203.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231523,-0.906023,-0.354287],[0.943361,0.120135,0.309254],[-0.237629,-0.405820,0.882521]]
2025-10-27T18:20:03.432Z,1761589203.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:03.684Z,1761589203.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:03.769Z,1761589203.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241479,-0.905940,-0.347793],[0.941588,0.132048,0.309799],[-0.234733,-0.402288,0.884909]]
2025-10-27T18:20:03.775Z,1761589203.775 [NAL9602](INFO): Powering up NAL9602
2025-10-27T18:20:03.936Z,1761589203.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:04.170Z,1761589204.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252062,-0.906079,-0.339830],[0.939517,0.144983,0.310303],[-0.231890,-0.397492,0.887822]]
2025-10-27T18:20:04.188Z,1761589204.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:04.440Z,1761589204.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:04.593Z,1761589204.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263559,-0.905777,-0.331820],[0.936729,0.158163,0.312287],[-0.230381,-0.393131,0.890153]]
2025-10-27T18:20:04.692Z,1761589204.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:04.945Z,1761589204.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:04.994Z,1761589204.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276087,-0.905657,-0.321809],[0.932960,0.172054,0.316201],[-0.231001,-0.387534,0.892444]]
2025-10-27T18:20:05.196Z,1761589205.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:05.398Z,1761589205.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289863,-0.904470,-0.312911],[0.928061,0.185747,0.322802],[-0.233842,-0.383968,0.893245]]
2025-10-27T18:20:05.448Z,1761589205.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:05.701Z,1761589205.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:05.807Z,1761589205.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304692,-0.902553,-0.304237],[0.922054,0.199461,0.331711],[-0.238703,-0.381593,0.892977]]
2025-10-27T18:20:05.952Z,1761589205.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:06.205Z,1761589206.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:06.230Z,1761589206.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319250,-0.900197,-0.296184],[0.915863,0.212786,0.340466],[-0.243463,-0.379958,0.892389]]
2025-10-27T18:20:06.456Z,1761589206.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:06.610Z,1761589206.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332723,-0.897266,-0.290186],[0.910035,0.224825,0.348266],[-0.247247,-0.379956,0.891349]]
2025-10-27T18:20:06.709Z,1761589206.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:06.960Z,1761589206.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:07.014Z,1761589207.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345754,-0.893637,-0.286125],[0.904651,0.236513,0.354497],[-0.249119,-0.381412,0.890205]]
2025-10-27T18:20:07.213Z,1761589207.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:07.421Z,1761589207.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359546,-0.889922,-0.280652],[0.899459,0.250464,0.358107],[-0.248395,-0.381191,0.890502]]
2025-10-27T18:20:07.464Z,1761589207.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:07.717Z,1761589207.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:07.832Z,1761589207.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374295,-0.885319,-0.275887],[0.894230,0.265843,0.360111],[-0.245470,-0.381494,0.891183]]
2025-10-27T18:20:07.968Z,1761589207.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:08.221Z,1761589208.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:08.235Z,1761589208.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389823,-0.880195,-0.270730],[0.888728,0.282567,0.360996],[-0.241248,-0.381330,0.892405]]
2025-10-27T18:20:08.473Z,1761589208.473 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:20:08.473Z,1761589208.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:08.630Z,1761589208.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406836,-0.874708,-0.263384],[0.882307,0.301554,0.361384],[-0.236681,-0.379409,0.894444]]
2025-10-27T18:20:08.725Z,1761589208.725 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:20:08.726Z,1761589208.726 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:08.976Z,1761589208.976 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:20:08.977Z,1761589208.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:09.038Z,1761589209.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425864,-0.868246,-0.254538],[0.874228,0.322364,0.363053],[-0.233165,-0.377135,0.896328]]
2025-10-27T18:20:09.101Z,1761589209.101 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:20:09.101Z,1761589209.101 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:20:09.102Z,1761589209.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:20:09.102Z,1761589209.102 [marl:UpdateRudder:A] Stopped
2025-10-27T18:20:09.102Z,1761589209.102 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:20:09.102Z,1761589209.102 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:20:09.102Z,1761589209.102 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:20:09.103Z,1761589209.103 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:20:09.107Z,1761589209.107 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:20:09.107Z,1761589209.107 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:20:09.107Z,1761589209.107 [marl:UpdateCommandMode] Stopped
2025-10-27T18:20:09.107Z,1761589209.107 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed] Stopped
2025-10-27T18:20:09.108Z,1761589209.108 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:20:09.228Z,1761589209.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:09.444Z,1761589209.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447140,-0.861162,-0.241799],[0.863784,0.345533,0.366719],[-0.232255,-0.372837,0.898360]]
2025-10-27T18:20:09.469Z,1761589209.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:20:09.469Z,1761589209.469 [marl:UpdateRudder:B] Stopped
2025-10-27T18:20:09.469Z,1761589209.469 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:20:09.469Z,1761589209.469 [marl:UpdateRudder] Stopped
2025-10-27T18:20:09.469Z,1761589209.469 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:20:09.484Z,1761589209.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:09.733Z,1761589209.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:09.845Z,1761589209.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470221,-0.853028,-0.226353],[0.850626,0.369696,0.373846],[-0.235219,-0.368332,0.899446]]
2025-10-27T18:20:09.984Z,1761589209.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:10.236Z,1761589210.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:10.247Z,1761589210.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494019,-0.843789,-0.209677],[0.835052,0.393306,0.384707],[-0.242144,-0.365144,0.898908]]
2025-10-27T18:20:10.489Z,1761589210.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:10.679Z,1761589210.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516565,-0.834555,-0.191516],[0.818064,0.414976,0.398204],[-0.252848,-0.362371,0.897081]]
2025-10-27T18:20:10.741Z,1761589210.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:10.993Z,1761589210.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:11.082Z,1761589211.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535131,-0.827159,-0.171587],[0.801604,0.433106,0.412129],[-0.266581,-0.358088,0.894823]]
2025-10-27T18:20:11.244Z,1761589211.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:11.496Z,1761589211.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:11.734Z,1761589211.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550731,-0.826013,-0.119991],[0.778772,0.456775,0.429965],[-0.300348,-0.330241,0.894836]]
2025-10-27T18:20:11.748Z,1761589211.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:12.002Z,1761589212.002 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:12.181Z,1761589212.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547728,-0.831386,-0.093759],[0.774666,0.461619,0.432204],[-0.316047,-0.309362,0.896889]]
2025-10-27T18:20:12.252Z,1761589212.252 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:20:11.5001

2025-10-27T18:20:12.253Z,1761589212.253 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:20:12.253Z,1761589212.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:12.504Z,1761589212.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:12.582Z,1761589212.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539627,-0.838751,-0.072795],[0.775199,0.461279,0.431611],[-0.328435,-0.289340,0.899118]]
2025-10-27T18:20:12.757Z,1761589212.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:12.996Z,1761589212.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529125,-0.846629,-0.056967],[0.778737,0.457835,0.428900],[-0.337038,-0.271304,0.901554]]
2025-10-27T18:20:13.008Z,1761589213.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:13.261Z,1761589213.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:13.390Z,1761589213.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520126,-0.852919,-0.044695],[0.782290,0.454747,0.425709],[-0.342770,-0.256386,0.903756]]
2025-10-27T18:20:13.512Z,1761589213.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:13.764Z,1761589213.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:13.794Z,1761589213.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515823,-0.856027,-0.033821],[0.782900,0.454994,0.424320],[-0.347841,-0.245353,0.904880]]
2025-10-27T18:20:14.016Z,1761589214.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:14.222Z,1761589214.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518375,-0.854830,-0.023538],[0.778244,0.460167,0.427297],[-0.354435,-0.239819,0.903805]]
2025-10-27T18:20:14.268Z,1761589214.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:14.521Z,1761589214.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:14.601Z,1761589214.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525536,-0.850718,-0.009499],[0.769204,0.470351,0.432544],[-0.363506,-0.234624,0.901563]]
2025-10-27T18:20:14.605Z,1761589214.605 [NAL9602](INFO): NAL9602 initialized
2025-10-27T18:20:14.772Z,1761589214.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:15.025Z,1761589215.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:15.084Z,1761589215.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533619,-0.845707,0.005528],[0.758182,0.481269,0.439933],[-0.374715,-0.230565,0.898014]]
2025-10-27T18:20:15.280Z,1761589215.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:15.481Z,1761589215.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540758,-0.840917,0.020936],[0.746610,0.491282,0.448570],[-0.387496,-0.226937,0.893502]]
2025-10-27T18:20:15.528Z,1761589215.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:15.781Z,1761589215.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:15.888Z,1761589215.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546320,-0.836782,0.036482],[0.735466,0.500103,0.457150],[-0.400780,-0.222919,0.888641]]
2025-10-27T18:20:16.032Z,1761589216.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:16.284Z,1761589216.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:16.537Z,1761589216.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:16.716Z,1761589216.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543861,-0.837319,0.055787],[0.725676,0.502648,0.469830],[-0.421439,-0.215039,0.880992]]
2025-10-27T18:20:16.790Z,1761589216.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:17.040Z,1761589217.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:17.143Z,1761589217.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537549,-0.841153,0.059183],[0.726553,0.497647,0.473781],[-0.427975,-0.211681,0.878652]]
2025-10-27T18:20:17.293Z,1761589217.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:17.544Z,1761589217.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:17.549Z,1761589217.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531689,-0.844776,0.060494],[0.728412,0.492555,0.476242],[-0.432115,-0.209148,0.877231]]
2025-10-27T18:20:17.796Z,1761589217.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:17.955Z,1761589217.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527156,-0.847754,0.058474],[0.730674,0.487332,0.478146],[-0.433846,-0.209332,0.876332]]
2025-10-27T18:20:18.049Z,1761589218.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:18.300Z,1761589218.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:18.354Z,1761589218.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525186,-0.849137,0.056086],[0.731933,0.484351,0.479248],[-0.434113,-0.210644,0.875886]]
2025-10-27T18:20:18.552Z,1761589218.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:18.763Z,1761589218.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526609,-0.848436,0.053273],[0.730668,0.483763,0.481765],[-0.434519,-0.214777,0.874679]]
2025-10-27T18:20:18.806Z,1761589218.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:19.056Z,1761589219.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:19.162Z,1761589219.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529207,-0.846979,0.050666],[0.728284,0.484061,0.485064],[-0.435365,-0.219800,0.873010]]
2025-10-27T18:20:19.308Z,1761589219.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:19.560Z,1761589219.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:19.578Z,1761589219.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532007,-0.845329,0.048873],[0.725236,0.484697,0.488980],[-0.437038,-0.224696,0.870925]]
2025-10-27T18:20:19.813Z,1761589219.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:19.973Z,1761589219.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534782,-0.843681,0.047019],[0.721332,0.484794,0.494625],[-0.440101,-0.230600,0.867833]]
2025-10-27T18:20:20.064Z,1761589220.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:20.316Z,1761589220.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:20.377Z,1761589220.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538310,-0.841496,0.045908],[0.715950,0.485375,0.501823],[-0.444565,-0.237268,0.863751]]
2025-10-27T18:20:20.568Z,1761589220.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:20.812Z,1761589220.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541494,-0.839623,0.042637],[0.711528,0.484715,0.508703],[-0.447786,-0.245122,0.859886]]
2025-10-27T18:20:20.824Z,1761589220.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:21.072Z,1761589221.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:21.215Z,1761589221.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541880,-0.839711,0.035366],[0.711250,0.480587,0.512991],[-0.447760,-0.252825,0.857665]]
2025-10-27T18:20:21.328Z,1761589221.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:21.580Z,1761589221.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:21.593Z,1761589221.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539149,-0.841793,0.026509],[0.716180,0.474805,0.511513],[-0.443175,-0.256796,0.858866]]
2025-10-27T18:20:21.832Z,1761589221.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:21.994Z,1761589221.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535836,-0.844181,0.015457],[0.724858,0.469331,0.504292],[-0.432968,-0.259013,0.863395]]
2025-10-27T18:20:22.088Z,1761589222.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:22.336Z,1761589222.336 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:20:22.336Z,1761589222.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:22.399Z,1761589222.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534683,-0.845047,0.003081],[0.733553,0.465942,0.494770],[-0.419540,-0.262285,0.869018]]
2025-10-27T18:20:22.403Z,1761589222.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:20:22.451Z,1761589222.451 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateRudder:A] Stopped
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:20:22.452Z,1761589222.452 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateCommandMode] Stopped
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:20:22.453Z,1761589222.453 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:20:22.454Z,1761589222.454 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:20:22.454Z,1761589222.454 [marl:UpdateSpeed] Stopped
2025-10-27T18:20:22.454Z,1761589222.454 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:20:22.588Z,1761589222.588 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:20:22.588Z,1761589222.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:22.848Z,1761589222.848 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:20:22.849Z,1761589222.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:22.864Z,1761589222.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537139,-0.843470,-0.006414],[0.738843,0.466815,0.485999],[-0.406931,-0.265788,0.873936]]
2025-10-27T18:20:22.925Z,1761589222.925 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:20:22.925Z,1761589222.925 [marl:UpdateRudder:B] Stopped
2025-10-27T18:20:22.925Z,1761589222.925 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:20:22.925Z,1761589222.925 [marl:UpdateRudder] Stopped
2025-10-27T18:20:22.925Z,1761589222.925 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:20:23.102Z,1761589223.102 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:23.214Z,1761589223.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543370,-0.839422,-0.010951],[0.739055,0.472133,0.480507],[-0.398178,-0.269187,0.876922]]
2025-10-27T18:20:23.356Z,1761589223.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:23.408Z,1761589223.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:20:23.608Z,1761589223.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:23.611Z,1761589223.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551311,-0.834280,-0.005785],[0.733957,0.481695,0.478828],[-0.396691,-0.268229,0.877889]]
2025-10-27T18:20:23.860Z,1761589223.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:24.014Z,1761589224.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559225,-0.828982,0.007521],[0.724599,0.493176,0.481387],[-0.402770,-0.263754,0.876476]]
2025-10-27T18:20:24.112Z,1761589224.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:24.364Z,1761589224.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:24.422Z,1761589224.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566716,-0.823603,0.022599],[0.714022,0.504630,0.485305],[-0.411103,-0.258894,0.874053]]
2025-10-27T18:20:24.616Z,1761589224.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:24.856Z,1761589224.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573192,-0.818786,0.032255],[0.706723,0.513898,0.486262],[-0.414721,-0.255926,0.873217]]
2025-10-27T18:20:24.868Z,1761589224.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:25.120Z,1761589225.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:25.226Z,1761589225.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578769,-0.814628,0.037530],[0.704246,0.522491,0.480667],[-0.411174,-0.251764,0.876100]]
2025-10-27T18:20:25.372Z,1761589225.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:25.624Z,1761589225.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:25.633Z,1761589225.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584938,-0.810198,0.037779],[0.704185,0.530408,0.472007],[-0.402458,-0.249492,0.880785]]
2025-10-27T18:20:25.876Z,1761589225.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:26.132Z,1761589226.132 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:20:25.4000

2025-10-27T18:20:26.133Z,1761589226.133 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:20:26.133Z,1761589226.133 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:26.380Z,1761589226.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:26.438Z,1761589226.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599394,-0.799086,0.046782],[0.691511,0.546368,0.472540],[-0.403160,-0.250888,0.880066]]
2025-10-27T18:20:26.632Z,1761589226.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:26.884Z,1761589226.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:26.920Z,1761589226.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604107,-0.793948,0.068572],[0.664579,0.549412,0.506440],[-0.439762,-0.260372,0.859544]]
2025-10-27T18:20:27.140Z,1761589227.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:27.393Z,1761589227.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:27.644Z,1761589227.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:27.653Z,1761589227.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595783,-0.799560,0.075798],[0.662399,0.542552,0.516589],[-0.454169,-0.257567,0.852872]]
2025-10-27T18:20:27.896Z,1761589227.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:28.053Z,1761589228.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587003,-0.806669,0.068639],[0.671521,0.532501,0.515269],[-0.452202,-0.256372,0.854275]]
2025-10-27T18:20:28.148Z,1761589228.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:28.400Z,1761589228.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:28.458Z,1761589228.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588472,-0.807254,0.045188],[0.686240,0.528246,0.500031],[-0.427523,-0.263244,0.864828]]
2025-10-27T18:20:28.652Z,1761589228.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:28.866Z,1761589228.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597019,-0.802194,0.007301],[0.703416,0.527837,0.476019],[-0.385713,-0.279057,0.879405]]
2025-10-27T18:20:28.904Z,1761589228.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:29.157Z,1761589229.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:29.265Z,1761589229.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605283,-0.795879,-0.014451],[0.713576,0.534465,0.452941],[-0.352763,-0.284469,0.891423]]
2025-10-27T18:20:29.315Z,1761589229.315 [marl:NeedComms:C] Running Loop=1
2025-10-27T18:20:29.409Z,1761589229.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:29.660Z,1761589229.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:29.682Z,1761589229.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608107,-0.793694,-0.015967],[0.722260,0.544804,0.426063],[-0.329465,-0.270624,0.904553]]
2025-10-27T18:20:29.693Z,1761589229.693 [Radio_Surface](INFO): Powering up
2025-10-27T18:20:29.912Z,1761589229.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:30.166Z,1761589230.166 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:30.246Z,1761589230.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588181,-0.808635,0.012351],[0.731983,0.538796,0.417012],[-0.343865,-0.236238,0.908817]]
2025-10-27T18:20:30.416Z,1761589230.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:30.670Z,1761589230.670 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:30.676Z,1761589230.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590901,-0.806302,0.026687],[0.728130,0.547272,0.412698],[-0.347364,-0.224432,0.910477]]
2025-10-27T18:20:30.921Z,1761589230.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:31.054Z,1761589231.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617300,-0.786397,-0.022811],[0.741942,0.572272,0.349323],[-0.261652,-0.232562,0.936725]]
2025-10-27T18:20:31.172Z,1761589231.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:31.426Z,1761589231.425 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:31.521Z,1761589231.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632514,-0.770115,-0.082755],[0.751519,0.584335,0.306223],[-0.187470,-0.255883,0.948356]]
2025-10-27T18:20:31.676Z,1761589231.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:31.910Z,1761589231.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626155,-0.774650,-0.088578],[0.763190,0.585677,0.272989],[-0.159593,-0.238535,0.957931]]
2025-10-27T18:20:31.928Z,1761589231.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:32.181Z,1761589232.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:32.317Z,1761589232.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616993,-0.785660,-0.045361],[0.774704,0.596230,0.210580],[-0.138399,-0.165068,0.976524]]
2025-10-27T18:20:32.432Z,1761589232.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:32.684Z,1761589232.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:32.722Z,1761589232.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620490,-0.783525,-0.032858],[0.778027,0.609802,0.151045],[-0.098311,-0.119287,0.987981]]
2025-10-27T18:20:32.936Z,1761589232.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:33.121Z,1761589233.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612696,-0.788748,-0.049813],[0.787474,0.603933,0.123084],[-0.066998,-0.114639,0.991145]]
2025-10-27T18:20:33.189Z,1761589233.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:33.292Z,1761589233.292 [CTD_Seabird](ERROR): Failed to parse device response: 0.22.81
2025-10-27T18:20:33.440Z,1761589233.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:33.528Z,1761589233.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606009,-0.794194,-0.044812],[0.791611,0.596587,0.132047],[-0.078136,-0.115495,0.990230]]
2025-10-27T18:20:33.692Z,1761589233.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:33.930Z,1761589233.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622350,-0.781209,-0.048921],[0.779326,0.612595,0.131827],[-0.073016,-0.120167,0.990065]]
2025-10-27T18:20:33.944Z,1761589233.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:34.196Z,1761589234.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:34.339Z,1761589234.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632673,-0.771290,-0.069538],[0.773472,0.624909,0.105967],[-0.038276,-0.120828,0.991935]]
2025-10-27T18:20:34.449Z,1761589234.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:34.700Z,1761589234.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:34.750Z,1761589234.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607993,-0.791331,-0.064344],[0.792434,0.599848,0.110594],[-0.048920,-0.118229,0.991781]]
2025-10-27T18:20:34.944Z,1761589234.944 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T18:20:34.945Z,1761589234.945 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T18:20:34.952Z,1761589234.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:35.142Z,1761589235.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590823,-0.803471,-0.073227],[0.806779,0.587694,0.061016],[-0.005990,-0.095128,0.995447]]
2025-10-27T18:20:35.204Z,1761589235.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:35.456Z,1761589235.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:35.554Z,1761589235.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607851,-0.788280,-0.095559],[0.790671,0.611957,-0.018670],[0.073195,-0.064208,0.995249]]
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateRudder:A] Stopped
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:20:35.609Z,1761589235.609 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateCommandMode] Stopped
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:20:35.610Z,1761589235.610 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:20:35.611Z,1761589235.611 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:20:35.611Z,1761589235.611 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:20:35.611Z,1761589235.611 [marl:UpdateSpeed] Stopped
2025-10-27T18:20:35.611Z,1761589235.611 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:20:35.708Z,1761589235.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:35.950Z,1761589235.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612953,-0.786401,-0.076568],[0.789397,0.613654,0.016785],[0.033787,-0.070731,0.996923]]
2025-10-27T18:20:35.959Z,1761589235.959 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:36.009Z,1761589236.009 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:20:36.009Z,1761589236.009 [marl:UpdateRudder:B] Stopped
2025-10-27T18:20:36.009Z,1761589236.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:20:36.009Z,1761589236.009 [marl:UpdateRudder] Stopped
2025-10-27T18:20:36.009Z,1761589236.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:20:36.212Z,1761589236.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:36.354Z,1761589236.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621217,-0.779287,-0.082473],[0.783244,0.620795,0.033802],[0.024857,-0.085595,0.996020]]
2025-10-27T18:20:36.464Z,1761589236.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:36.716Z,1761589236.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:36.767Z,1761589236.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639408,-0.762347,-0.099922],[0.766627,0.642052,0.007229],[0.058644,-0.081225,0.994969]]
2025-10-27T18:20:36.968Z,1761589236.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:37.173Z,1761589237.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654359,-0.750818,-0.089923],[0.753748,0.657161,-0.002074],[0.060651,-0.066423,0.995947]]
2025-10-27T18:20:37.228Z,1761589237.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:37.480Z,1761589237.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:37.569Z,1761589237.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665779,-0.744410,-0.050906],[0.745936,0.665668,0.021573],[0.017827,-0.052335,0.998470]]
2025-10-27T18:20:37.732Z,1761589237.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:37.970Z,1761589237.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670775,-0.740994,-0.031446],[0.741585,0.669497,0.042731],[-0.010611,-0.051983,0.998592]]
2025-10-27T18:20:37.984Z,1761589237.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:38.236Z,1761589238.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:38.382Z,1761589238.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676654,-0.734009,-0.058057],[0.736266,0.675290,0.043538],[0.007248,-0.072206,0.997363]]
2025-10-27T18:20:38.488Z,1761589238.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:38.740Z,1761589238.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:38.800Z,1761589238.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691690,-0.718410,-0.073841],[0.721904,0.690690,0.042460],[0.020497,-0.082675,0.996366]]
2025-10-27T18:20:38.992Z,1761589238.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:39.187Z,1761589239.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715873,-0.692126,-0.092131],[0.696239,0.717549,0.019363],[0.052707,-0.078006,0.995559]]
2025-10-27T18:20:39.244Z,1761589239.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:39.499Z,1761589239.499 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:39.589Z,1761589239.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716444,-0.690678,-0.098343],[0.695617,0.717968,0.025274],[0.053151,-0.086517,0.994832]]
2025-10-27T18:20:39.748Z,1761589239.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:39.991Z,1761589239.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725734,-0.681641,-0.093140],[0.687956,0.720030,0.090953],[0.005066,-0.130084,0.991490]]
2025-10-27T18:20:39.000Z,1761589240.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:40.252Z,1761589240.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:40.404Z,1761589240.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718357,-0.685869,-0.116388],[0.694658,0.698157,0.173285],[-0.037594,-0.205330,0.977970]]
2025-10-27T18:20:40.507Z,1761589240.507 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:40.756Z,1761589240.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:41.008Z,1761589241.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:41.209Z,1761589241.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717174,-0.676155,-0.168746],[0.696854,0.693211,0.183992],[-0.007431,-0.249546,0.968334]]
2025-10-27T18:20:41.260Z,1761589241.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:41.512Z,1761589241.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:41.610Z,1761589241.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708638,-0.690019,-0.147328],[0.704079,0.705130,0.084053],[0.045887,-0.163293,0.985510]]
2025-10-27T18:20:41.764Z,1761589241.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:42.016Z,1761589242.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:42.016Z,1761589242.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731728,-0.679164,-0.057544],[0.679655,0.733406,-0.013568],[0.051418,-0.029182,0.998251]]
2025-10-27T18:20:42.268Z,1761589242.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:42.418Z,1761589242.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769318,-0.638814,-0.008162],[0.637266,0.768232,-0.060917],[0.045185,0.041663,0.998109]]
2025-10-27T18:20:42.520Z,1761589242.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:42.772Z,1761589242.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:42.852Z,1761589242.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779808,-0.625822,0.015678],[0.625473,0.777839,-0.061241],[0.026131,0.057562,0.998000]]
2025-10-27T18:20:43.024Z,1761589243.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:43.225Z,1761589243.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777996,-0.627959,0.019756],[0.628243,0.777866,-0.015321],[-0.005746,0.024331,0.999687]]
2025-10-27T18:20:43.276Z,1761589243.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:43.529Z,1761589243.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:43.636Z,1761589243.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774845,-0.628809,-0.064916],[0.632032,0.772593,0.060294],[0.012240,-0.087748,0.996068]]
2025-10-27T18:20:43.780Z,1761589243.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:44.032Z,1761589244.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:44.035Z,1761589244.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780201,-0.602097,-0.169601],[0.624200,0.767040,0.148404],[0.040737,-0.221650,0.974275]]
2025-10-27T18:20:44.284Z,1761589244.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:44.438Z,1761589244.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781351,-0.589787,-0.204062],[0.622416,0.760361,0.185604],[0.045694,-0.272033,0.961202]]
2025-10-27T18:20:44.541Z,1761589244.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:44.793Z,1761589244.793 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:44.858Z,1761589244.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788316,-0.597632,-0.146266],[0.613729,0.780614,0.118226],[0.043522,-0.182967,0.982155]]
2025-10-27T18:20:45.045Z,1761589245.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:45.296Z,1761589245.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:45.548Z,1761589245.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:45.694Z,1761589245.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789155,-0.614126,0.009146],[0.614194,0.789066,-0.011851],[0.000061,0.014969,0.999888]]
2025-10-27T18:20:45.802Z,1761589245.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:46.052Z,1761589246.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:46.056Z,1761589246.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790113,-0.612528,0.023023],[0.612855,0.790117,-0.011109],[-0.011387,0.022887,0.999673]]
2025-10-27T18:20:46.304Z,1761589246.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:46.458Z,1761589246.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795749,-0.605231,-0.021883],[0.605172,0.796032,-0.009976],[0.023457,-0.005305,0.999711]]
2025-10-27T18:20:46.557Z,1761589246.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:46.810Z,1761589246.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:46.867Z,1761589246.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801296,-0.594851,-0.063845],[0.594236,0.803720,-0.030297],[0.069336,-0.013662,0.997500]]
2025-10-27T18:20:47.060Z,1761589247.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:47.266Z,1761589247.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817938,-0.573276,-0.048294],[0.572585,0.819351,-0.028467],[0.055889,-0.004368,0.998427]]
2025-10-27T18:20:47.315Z,1761589247.315 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:47.564Z,1761589247.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:47.674Z,1761589247.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843236,-0.535622,-0.045410],[0.535098,0.844448,-0.024017],[0.051211,-0.004047,0.998680]]
2025-10-27T18:20:47.816Z,1761589247.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:48.068Z,1761589248.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:48.075Z,1761589248.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866661,-0.494758,-0.064134],[0.495569,0.868561,-0.003688],[0.057529,-0.028587,0.997934]]
2025-10-27T18:20:48.320Z,1761589248.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:48.478Z,1761589248.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878467,-0.469586,-0.088229],[0.473828,0.879946,0.034370],[0.061497,-0.071999,0.995507]]
2025-10-27T18:20:48.572Z,1761589248.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:48.826Z,1761589248.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:48.881Z,1761589248.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880178,-0.463387,-0.102760],[0.468455,0.882946,0.030923],[0.076402,-0.075357,0.994225]]
2025-10-27T18:20:48.934Z,1761589248.934 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:20:48.934Z,1761589248.934 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:20:48.951Z,1761589248.951 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:20:48.951Z,1761589248.951 [marl:UpdateRudder:A] Stopped
2025-10-27T18:20:48.951Z,1761589248.951 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode] Stopped
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:20:48.952Z,1761589248.952 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed] Stopped
2025-10-27T18:20:48.953Z,1761589248.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:20:49.076Z,1761589249.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:49.328Z,1761589249.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:49.335Z,1761589249.335 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:20:49.335Z,1761589249.335 [marl:UpdateRudder:B] Stopped
2025-10-27T18:20:49.335Z,1761589249.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:20:49.335Z,1761589249.335 [marl:UpdateRudder] Stopped
2025-10-27T18:20:49.335Z,1761589249.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:20:49.580Z,1761589249.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:49.832Z,1761589249.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:50.084Z,1761589250.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:50.095Z,1761589250.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903085,-0.428582,0.027483],[0.423889,0.899813,0.103221],[-0.068968,-0.081568,0.994279]]
2025-10-27T18:20:50.336Z,1761589250.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:50.497Z,1761589250.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908697,-0.417286,-0.011923],[0.417117,0.906434,0.066262],[-0.016842,-0.065185,0.997731]]
2025-10-27T18:20:50.588Z,1761589250.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:50.842Z,1761589250.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:50.902Z,1761589250.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920260,-0.389149,-0.041054],[0.390423,0.920164,0.029456],[0.026314,-0.043136,0.998723]]
2025-10-27T18:20:51.092Z,1761589251.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:51.305Z,1761589251.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926699,-0.374568,-0.030453],[0.375620,0.925737,0.043836],[0.011772,-0.052062,0.998575]]
2025-10-27T18:20:51.344Z,1761589251.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:51.596Z,1761589251.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:51.725Z,1761589251.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941795,-0.330726,-0.060346],[0.335454,0.936322,0.103787],[0.022179,-0.117990,0.992767]]
2025-10-27T18:20:51.849Z,1761589251.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:52.100Z,1761589252.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:52.123Z,1761589252.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947526,-0.317905,-0.033613],[0.319635,0.940433,0.115840],[-0.005215,-0.120506,0.992699]]
2025-10-27T18:20:52.352Z,1761589252.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:52.523Z,1761589252.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944738,-0.325464,-0.039295],[0.327827,0.938112,0.111691],[0.000512,-0.118401,0.992966]]
2025-10-27T18:20:52.604Z,1761589252.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:52.856Z,1761589252.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:52.927Z,1761589252.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946117,-0.322458,-0.029714],[0.323546,0.937518,0.127979],[-0.013410,-0.130697,0.991332]]
2025-10-27T18:20:53.108Z,1761589253.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:53.332Z,1761589253.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956546,-0.290749,-0.022007],[0.290912,0.946526,0.139494],[-0.019727,-0.139835,0.989978]]
2025-10-27T18:20:53.360Z,1761589253.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:53.527Z,1761589253.527 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:20:53.612Z,1761589253.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:53.754Z,1761589253.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958070,-0.282520,-0.047799],[0.286050,0.952747,0.102214],[0.016663,-0.111601,0.993613]]
2025-10-27T18:20:53.757Z,1761589253.757 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-10-27T18:20:53.864Z,1761589253.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:54.127Z,1761589254.127 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:54.368Z,1761589254.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:54.531Z,1761589254.531 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T18:20:54.532Z,1761589254.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:20:54.539Z,1761589254.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961695,-0.269480,-0.050229],[0.271778,0.961239,0.046442],[0.035766,-0.058314,0.997657]]
2025-10-27T18:20:54.621Z,1761589254.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:54.872Z,1761589254.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:54.943Z,1761589254.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970816,-0.230810,-0.065139],[0.235286,0.969232,0.072315],[0.046443,-0.085531,0.995252]]
2025-10-27T18:20:55.125Z,1761589255.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:55.376Z,1761589255.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:55.630Z,1761589255.630 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:55.881Z,1761589255.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:56.133Z,1761589256.133 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:56.160Z,1761589256.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969969,-0.243229,-0.000019],[0.242470,0.966936,0.079016],[-0.019200,-0.076647,0.996873]]
2025-10-27T18:20:56.384Z,1761589256.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:56.561Z,1761589256.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968097,-0.247724,0.037692],[0.244785,0.967116,0.069043],[-0.053556,-0.057614,0.996901]]
2025-10-27T18:20:56.636Z,1761589256.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:56.888Z,1761589256.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:56.961Z,1761589256.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970048,-0.242295,-0.017338],[0.242901,0.968251,0.059065],[0.002476,-0.061507,0.998104]]
2025-10-27T18:20:57.141Z,1761589257.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:57.145Z,1761589257.145 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:20:57.145Z,1761589257.145 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:20:57.366Z,1761589257.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966008,-0.242092,-0.090669],[0.248447,0.966338,0.066828],[0.071439,-0.087083,0.993636]]
2025-10-27T18:20:57.392Z,1761589257.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:57.644Z,1761589257.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:57.778Z,1761589257.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971576,-0.224058,-0.076409],[0.228065,0.972442,0.048411],[0.063456,-0.064461,0.995901]]
2025-10-27T18:20:57.805Z,1761589257.805 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:20:57.897Z,1761589257.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:58.148Z,1761589258.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:58.400Z,1761589258.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:58.578Z,1761589258.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979699,-0.197882,-0.032145],[0.193870,0.975980,-0.099388],[0.051040,0.091138,0.994529]]
2025-10-27T18:20:58.652Z,1761589258.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:58.904Z,1761589258.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:58.982Z,1761589258.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984525,-0.173898,-0.021686],[0.169292,0.975751,-0.138744],[0.045288,0.132926,0.990091]]
2025-10-27T18:20:59.156Z,1761589259.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:59.385Z,1761589259.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990107,-0.139931,0.010358],[0.140285,0.985709,-0.093264],[0.002841,0.093794,0.995588]]
2025-10-27T18:20:59.407Z,1761589259.407 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:59.660Z,1761589259.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:20:59.797Z,1761589259.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987316,-0.158468,-0.009735],[0.158679,0.986952,0.027330],[0.005277,-0.028528,0.999579]]
2025-10-27T18:20:59.912Z,1761589259.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:00.164Z,1761589260.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:00.193Z,1761589260.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980366,-0.185917,-0.065707],[0.194334,0.967436,0.162175],[0.033417,-0.171760,0.984572]]
2025-10-27T18:21:00.416Z,1761589260.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:00.598Z,1761589260.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973037,-0.198773,-0.116994],[0.221927,0.945021,0.240174],[0.062821,-0.259663,0.963654]]
2025-10-27T18:21:00.668Z,1761589260.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:00.920Z,1761589260.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:01.001Z,1761589261.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973839,-0.190206,-0.124337],[0.213745,0.952472,0.217049],[0.077144,-0.237947,0.968210]]
2025-10-27T18:21:01.172Z,1761589261.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:01.410Z,1761589261.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982404,-0.146017,-0.116451],[0.163777,0.973212,0.161353],[0.089771,-0.177586,0.980002]]
2025-10-27T18:21:01.424Z,1761589261.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:01.676Z,1761589261.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:01.817Z,1761589261.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987613,-0.124982,-0.094868],[0.135475,0.984237,0.113683],[0.079164,-0.125127,0.988977]]
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateRudder:A] Stopped
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:21:01.844Z,1761589261.844 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateCommandMode] Stopped
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:21:01.845Z,1761589261.845 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:21:01.846Z,1761589261.846 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:21:01.846Z,1761589261.846 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:21:01.846Z,1761589261.846 [marl:UpdateSpeed] Stopped
2025-10-27T18:21:01.846Z,1761589261.846 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:21:01.929Z,1761589261.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:02.180Z,1761589262.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:02.213Z,1761589262.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987450,-0.153562,-0.036901],[0.155668,0.985779,0.063302],[0.026655,-0.068252,0.997312]]
2025-10-27T18:21:02.252Z,1761589262.252 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:21:02.252Z,1761589262.252 [marl:UpdateRudder:B] Stopped
2025-10-27T18:21:02.252Z,1761589262.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:21:02.252Z,1761589262.252 [marl:UpdateRudder] Stopped
2025-10-27T18:21:02.252Z,1761589262.252 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:21:02.432Z,1761589262.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:02.628Z,1761589262.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987553,-0.155235,0.025330],[0.155395,0.987842,-0.004472],[-0.024327,0.008353,0.999669]]
2025-10-27T18:21:02.684Z,1761589262.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:02.936Z,1761589262.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:03.022Z,1761589263.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990898,-0.132173,0.025539],[0.133208,0.990099,-0.044267],[-0.019435,0.047266,0.998693]]
2025-10-27T18:21:03.188Z,1761589263.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:03.437Z,1761589263.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991675,-0.128760,-0.001289],[0.128643,0.991115,-0.033788],[0.005628,0.033341,0.999428]]
2025-10-27T18:21:03.440Z,1761589263.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:03.692Z,1761589263.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:03.833Z,1761589263.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990600,-0.132117,-0.035447],[0.133619,0.990056,0.044000],[0.029281,-0.048323,0.998402]]
2025-10-27T18:21:03.944Z,1761589263.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:04.196Z,1761589264.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:04.237Z,1761589264.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990847,-0.133519,-0.019880],[0.134982,0.981616,0.134947],[0.001496,-0.136395,0.990653]]
2025-10-27T18:21:04.448Z,1761589264.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:04.645Z,1761589264.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991942,-0.125426,0.017862],[0.122013,0.983729,0.131869],[-0.034112,-0.128627,0.991106]]
2025-10-27T18:21:04.700Z,1761589264.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:04.952Z,1761589264.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:05.047Z,1761589265.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992028,-0.125845,-0.006627],[0.126000,0.989570,0.069826],[-0.002230,-0.070104,0.997537]]
2025-10-27T18:21:05.204Z,1761589265.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:05.449Z,1761589265.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991210,-0.120202,-0.055257],[0.120068,0.992749,-0.005735],[0.055546,-0.000950,0.998456]]
2025-10-27T18:21:05.464Z,1761589265.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:05.716Z,1761589265.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:05.853Z,1761589265.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993097,-0.102943,-0.056219],[0.101006,0.994224,-0.036282],[0.059629,0.030353,0.997759]]
2025-10-27T18:21:05.968Z,1761589265.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:06.220Z,1761589266.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:06.472Z,1761589266.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:06.661Z,1761589266.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997083,-0.052825,-0.055089],[0.058750,0.991952,0.112158],[0.048721,-0.115068,0.992162]]
2025-10-27T18:21:06.724Z,1761589266.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:06.976Z,1761589266.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:07.065Z,1761589267.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.046080,-0.012513],[0.047709,0.973888,0.221958],[0.001958,-0.222302,0.974976]]
2025-10-27T18:21:07.229Z,1761589267.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:07.480Z,1761589267.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:07.735Z,1761589267.735 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:07.875Z,1761589267.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997842,-0.057396,-0.031876],[0.062612,0.978000,0.198988],[0.019754,-0.200554,0.979483]]
2025-10-27T18:21:07.984Z,1761589267.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:08.236Z,1761589268.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:08.278Z,1761589268.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997576,-0.062069,-0.031449],[0.063336,0.997149,0.041017],[0.028813,-0.042910,0.998663]]
2025-10-27T18:21:08.488Z,1761589268.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:08.682Z,1761589268.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998209,-0.058612,0.011950],[0.059612,0.991265,-0.117644],[-0.004950,0.118146,0.992984]]
2025-10-27T18:21:08.741Z,1761589268.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:08.992Z,1761589268.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:09.086Z,1761589269.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998205,-0.047970,0.035843],[0.053831,0.981037,-0.186196],[-0.026231,0.187792,0.981859]]
2025-10-27T18:21:09.244Z,1761589269.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:09.494Z,1761589269.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999026,-0.029679,-0.032660],[0.024449,0.988345,-0.150252],[0.036739,0.149307,0.988108]]
2025-10-27T18:21:09.496Z,1761589269.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:09.748Z,1761589269.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:09.894Z,1761589269.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995216,-0.019403,-0.095751],[0.019173,0.999811,-0.003320],[0.095797,0.001468,0.995400]]
2025-10-27T18:21:10.000Z,1761589270.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:10.252Z,1761589270.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:10.298Z,1761589270.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996804,-0.005923,-0.079666],[0.020215,0.983490,0.179827],[0.077286,-0.180863,0.980467]]
2025-10-27T18:21:10.504Z,1761589270.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:10.716Z,1761589270.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999179,0.000341,-0.040515],[0.011294,0.957990,0.286580],[0.038910,-0.286802,0.957199]]
2025-10-27T18:21:10.757Z,1761589270.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:11.008Z,1761589271.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:11.121Z,1761589271.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999263,0.015180,-0.035260],[-0.005435,0.965189,0.261497],[0.038002,-0.261112,0.964560]]
2025-10-27T18:21:11.260Z,1761589271.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:11.512Z,1761589271.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:11.764Z,1761589271.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:11.914Z,1761589271.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999512,0.022560,0.021596],[-0.023200,0.999284,0.029872],[-0.020907,-0.030359,0.999320]]
2025-10-27T18:21:12.017Z,1761589272.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:12.268Z,1761589272.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:12.321Z,1761589272.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999450,0.011785,0.030994],[-0.009875,0.998084,-0.061082],[-0.031654,0.060742,0.997652]]
2025-10-27T18:21:12.520Z,1761589272.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:12.722Z,1761589272.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999949,-0.008917,-0.004752],[0.008354,0.994155,-0.107639],[0.005684,0.107594,0.994179]]
2025-10-27T18:21:12.772Z,1761589272.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:13.024Z,1761589273.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:13.129Z,1761589273.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999354,0.008502,-0.034930],[-0.011020,0.997306,-0.072522],[0.034220,0.072860,0.996755]]
2025-10-27T18:21:13.276Z,1761589273.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:13.528Z,1761589273.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:13.780Z,1761589273.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:13.934Z,1761589273.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999104,0.039045,0.016334],[-0.040878,0.990223,0.133371],[-0.010967,-0.133920,0.990932]]
2025-10-27T18:21:14.032Z,1761589274.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:14.284Z,1761589274.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:14.339Z,1761589274.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997598,0.068505,-0.010288],[-0.065071,0.977630,0.200011],[0.023759,-0.198861,0.979740]]
2025-10-27T18:21:14.536Z,1761589274.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:14.748Z,1761589274.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997802,0.058689,-0.030758],[-0.052785,0.984639,0.166429],[0.040053,-0.164440,0.985574]]
2025-10-27T18:21:14.790Z,1761589274.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:15.040Z,1761589275.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:15.146Z,1761589275.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998997,0.041131,-0.017726],[-0.039293,0.994809,0.093869],[0.021495,-0.093079,0.995427]]
2025-10-27T18:21:15.207Z,1761589275.207 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateRudder:A] Stopped
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:21:15.208Z,1761589275.208 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateCommandMode] Stopped
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:21:15.209Z,1761589275.209 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:21:15.210Z,1761589275.210 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:21:15.210Z,1761589275.210 [marl:UpdateSpeed] Stopped
2025-10-27T18:21:15.210Z,1761589275.210 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:21:15.292Z,1761589275.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:15.544Z,1761589275.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:15.555Z,1761589275.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998305,0.053847,-0.022065],[-0.051697,0.994730,0.088543],[0.026717,-0.087252,0.995828]]
2025-10-27T18:21:15.625Z,1761589275.625 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:21:15.625Z,1761589275.625 [marl:UpdateRudder:B] Stopped
2025-10-27T18:21:15.625Z,1761589275.625 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:21:15.625Z,1761589275.625 [marl:UpdateRudder] Stopped
2025-10-27T18:21:15.626Z,1761589275.626 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:21:15.796Z,1761589275.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:15.954Z,1761589275.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996966,0.066146,-0.041042],[-0.060637,0.990502,0.123403],[0.048815,-0.120540,0.991508]]
2025-10-27T18:21:16.048Z,1761589276.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:16.300Z,1761589276.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:16.357Z,1761589276.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997068,0.066155,-0.038466],[-0.059955,0.987678,0.144562],[0.047555,-0.141832,0.988748]]
2025-10-27T18:21:16.552Z,1761589276.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:16.770Z,1761589276.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995451,0.090114,-0.030919],[-0.084754,0.985853,0.144606],[0.043513,-0.141327,0.989006]]
2025-10-27T18:21:16.808Z,1761589276.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:17.056Z,1761589277.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:17.168Z,1761589277.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993398,0.108484,-0.037302],[-0.102521,0.985439,0.135648],[0.051474,-0.130928,0.990055]]
2025-10-27T18:21:17.308Z,1761589277.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:17.561Z,1761589277.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:17.570Z,1761589277.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997455,0.070154,-0.012737],[-0.068812,0.993939,0.085736],[0.018674,-0.084641,0.996237]]
2025-10-27T18:21:17.812Z,1761589277.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:17.974Z,1761589277.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999421,0.033034,-0.008155],[-0.032681,0.998655,0.040239],[0.009474,-0.039949,0.999157]]
2025-10-27T18:21:18.064Z,1761589278.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:18.316Z,1761589278.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:18.378Z,1761589278.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998400,0.037898,-0.041966],[-0.035577,0.997867,0.054726],[0.043950,-0.053145,0.997619]]
2025-10-27T18:21:18.568Z,1761589278.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:18.801Z,1761589278.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994736,0.076893,-0.067736],[-0.067374,0.988815,0.133060],[0.077210,-0.127796,0.988791]]
2025-10-27T18:21:18.822Z,1761589278.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:19.072Z,1761589279.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:19.186Z,1761589279.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993126,0.102549,-0.056429],[-0.089497,0.975993,0.198567],[0.075438,-0.192152,0.978461]]
2025-10-27T18:21:19.324Z,1761589279.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:19.577Z,1761589279.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:19.602Z,1761589279.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994524,0.095701,-0.041982],[-0.086220,0.978406,0.187849],[0.059053,-0.183201,0.981300]]
2025-10-27T18:21:19.829Z,1761589279.829 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:19.995Z,1761589279.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992060,0.107637,-0.065047],[-0.098236,0.986154,0.133601],[0.078527,-0.126150,0.988898]]
2025-10-27T18:21:20.081Z,1761589280.081 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:20.332Z,1761589280.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:20.398Z,1761589280.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991652,0.095559,-0.086571],[-0.092877,0.995080,0.034507],[0.089442,-0.026179,0.995648]]
2025-10-27T18:21:20.584Z,1761589280.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:20.837Z,1761589280.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:20.845Z,1761589280.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988790,0.112075,-0.098657],[-0.120167,0.989502,-0.080289],[0.088622,0.091244,0.991877]]
2025-10-27T18:21:21.088Z,1761589281.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:21.207Z,1761589281.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985279,0.119443,-0.122306],[-0.133045,0.985004,-0.109847],[0.107351,0.124503,0.986395]]
2025-10-27T18:21:21.340Z,1761589281.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:21.592Z,1761589281.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:21.844Z,1761589281.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:22.013Z,1761589282.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995058,0.097672,-0.017876],[-0.097536,0.995197,0.008358],[0.018607,-0.006573,0.999805]]
2025-10-27T18:21:22.098Z,1761589282.098 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:22.348Z,1761589282.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:22.418Z,1761589282.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992745,0.118266,-0.021691],[-0.114539,0.985053,0.128651],[0.036581,-0.125233,0.991453]]
2025-10-27T18:21:22.601Z,1761589282.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:22.850Z,1761589282.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989944,0.140054,-0.019902],[-0.132491,0.967249,0.216508],[0.049573,-0.211694,0.976078]]
2025-10-27T18:21:22.852Z,1761589282.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:23.104Z,1761589283.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:23.225Z,1761589283.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990966,0.134114,0.000001],[-0.131590,0.972311,0.193119],[0.025899,-0.191374,0.981175]]
2025-10-27T18:21:23.356Z,1761589283.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:23.608Z,1761589283.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:23.629Z,1761589283.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992643,0.120957,0.005320],[-0.120987,0.989300,0.081529],[0.004599,-0.081573,0.996657]]
2025-10-27T18:21:23.860Z,1761589283.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:24.034Z,1761589284.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992982,0.116885,-0.018005],[-0.117630,0.991888,-0.048180],[0.012228,0.049960,0.998676]]
2025-10-27T18:21:24.112Z,1761589284.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:24.364Z,1761589284.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:24.442Z,1761589284.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991400,0.128047,-0.027010],[-0.130583,0.981501,-0.140012],[0.008582,0.142335,0.989781]]
2025-10-27T18:21:24.617Z,1761589284.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:24.663Z,1761589284.663 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:21:24.857Z,1761589284.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990182,0.135146,-0.035710],[-0.139070,0.978230,-0.154031],[0.014116,0.157485,0.987421]]
2025-10-27T18:21:24.868Z,1761589284.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:25.120Z,1761589285.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:25.245Z,1761589285.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992144,0.122400,-0.025864],[-0.123617,0.990948,-0.052353],[0.019222,0.055139,0.998294]]
2025-10-27T18:21:25.372Z,1761589285.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:25.624Z,1761589285.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:25.649Z,1761589285.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993544,0.113424,0.002210],[-0.112781,0.985425,0.127347],[0.012266,-0.126774,0.991856]]
2025-10-27T18:21:25.667Z,1761589285.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:21:25.876Z,1761589285.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:26.055Z,1761589286.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995225,0.097584,0.002093],[-0.094572,0.958753,0.268045],[0.024150,-0.266963,0.963404]]
2025-10-27T18:21:26.128Z,1761589286.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:26.380Z,1761589286.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:26.632Z,1761589286.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:26.862Z,1761589286.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993581,0.109551,-0.028202],[-0.098256,0.959297,0.264755],[0.056058,-0.260284,0.963903]]
2025-10-27T18:21:26.884Z,1761589286.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:27.136Z,1761589287.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:27.266Z,1761589287.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992132,0.123119,-0.022714],[-0.117323,0.977631,0.174566],[0.043698,-0.170528,0.984383]]
2025-10-27T18:21:27.388Z,1761589287.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:27.640Z,1761589287.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:27.672Z,1761589287.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988962,0.141672,-0.043401],[-0.135729,0.983674,0.118162],[0.059433,-0.110967,0.992045]]
2025-10-27T18:21:27.892Z,1761589287.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:28.087Z,1761589288.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986383,0.164448,0.002304],[-0.163787,0.980951,0.104443],[0.014915,-0.103399,0.994528]]
2025-10-27T18:21:28.145Z,1761589288.145 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:28.396Z,1761589288.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:28.481Z,1761589288.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980913,0.188071,0.049384],[-0.192255,0.976078,0.101532],[-0.029107,-0.109088,0.993606]]
2025-10-27T18:21:28.529Z,1761589288.529 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:21:28.529Z,1761589288.529 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateRudder:A] Stopped
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:21:28.530Z,1761589288.530 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:21:28.531Z,1761589288.531 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateCommandMode] Stopped
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:21:28.532Z,1761589288.532 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:21:28.533Z,1761589288.533 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:21:28.533Z,1761589288.533 [marl:UpdateSpeed] Stopped
2025-10-27T18:21:28.533Z,1761589288.533 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:21:28.648Z,1761589288.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:28.882Z,1761589288.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983183,0.178558,0.038317],[-0.180753,0.981402,0.064635],[-0.026063,-0.070474,0.997173]]
2025-10-27T18:21:28.900Z,1761589288.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:28.939Z,1761589288.939 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:21:28.940Z,1761589288.940 [marl:UpdateRudder:B] Stopped
2025-10-27T18:21:28.940Z,1761589288.940 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:21:28.940Z,1761589288.940 [marl:UpdateRudder] Stopped
2025-10-27T18:21:28.940Z,1761589288.940 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:21:29.152Z,1761589289.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:29.404Z,1761589289.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:29.656Z,1761589289.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:29.694Z,1761589289.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989937,0.141202,0.009265],[-0.140182,0.987506,-0.071979],[-0.019313,0.069956,0.997363]]
2025-10-27T18:21:29.908Z,1761589289.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:30.099Z,1761589290.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987778,0.152974,-0.029895],[-0.154969,0.984416,-0.083129],[0.016713,0.086746,0.996090]]
2025-10-27T18:21:30.161Z,1761589290.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:30.412Z,1761589290.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:30.501Z,1761589290.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979003,0.183688,-0.088382],[-0.186044,0.982355,-0.019121],[0.083311,0.035163,0.995903]]
2025-10-27T18:21:30.664Z,1761589290.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:30.902Z,1761589290.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975793,0.198183,-0.092476],[-0.192710,0.979110,0.064861],[0.103399,-0.045470,0.993600]]
2025-10-27T18:21:30.916Z,1761589290.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:31.168Z,1761589291.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:31.307Z,1761589291.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977744,0.205900,-0.040265],[-0.199347,0.971584,0.127611],[0.065396,-0.116744,0.991007]]
2025-10-27T18:21:31.420Z,1761589291.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:31.672Z,1761589291.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:31.721Z,1761589291.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975931,0.217388,0.017363],[-0.217224,0.961972,0.165602],[0.019297,-0.165387,0.986040]]
2025-10-27T18:21:31.924Z,1761589291.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:32.113Z,1761589292.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977238,0.209275,0.034786],[-0.212097,0.960237,0.181549],[0.004591,-0.184795,0.982766]]
2025-10-27T18:21:32.176Z,1761589292.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:32.428Z,1761589292.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:32.526Z,1761589292.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977975,0.208621,0.006498],[-0.207731,0.969824,0.127629],[0.020324,-0.126167,0.991801]]
2025-10-27T18:21:32.680Z,1761589292.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:32.921Z,1761589292.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979904,0.198481,-0.019857],[-0.197506,0.979369,0.042761],[0.027935,-0.037980,0.998888]]
2025-10-27T18:21:32.932Z,1761589292.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:33.184Z,1761589293.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:33.325Z,1761589293.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975387,0.217594,-0.035675],[-0.218332,0.975704,-0.018257],[0.030836,0.025597,0.999197]]
2025-10-27T18:21:33.436Z,1761589293.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:33.688Z,1761589293.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:33.733Z,1761589293.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970796,0.236204,-0.041979],[-0.234918,0.971442,0.033370],[0.048663,-0.022533,0.998561]]
2025-10-27T18:21:33.940Z,1761589293.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:34.133Z,1761589294.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971888,0.235046,0.013645],[-0.235125,0.965945,0.108007],[0.012206,-0.108179,0.994056]]
2025-10-27T18:21:34.192Z,1761589294.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:34.444Z,1761589294.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:34.542Z,1761589294.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970182,0.239280,0.038625],[-0.242377,0.957619,0.155625],[0.000250,-0.160347,0.987061]]
2025-10-27T18:21:34.696Z,1761589294.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:34.941Z,1761589294.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972607,0.229506,0.036919],[-0.232157,0.950960,0.204398],[0.011802,-0.207370,0.978191]]
2025-10-27T18:21:34.948Z,1761589294.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:35.200Z,1761589295.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:35.345Z,1761589295.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973832,0.225383,0.029203],[-0.226799,0.955521,0.188528],[0.014587,-0.190218,0.981634]]
2025-10-27T18:21:35.460Z,1761589295.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:35.713Z,1761589295.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:35.755Z,1761589295.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970975,0.239019,-0.008753],[-0.236862,0.966007,0.103568],[0.033211,-0.098489,0.994584]]
2025-10-27T18:21:35.964Z,1761589295.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:36.153Z,1761589296.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970165,0.238550,-0.043278],[-0.238993,0.971007,-0.005297],[0.040760,0.015482,0.999049]]
2025-10-27T18:21:36.216Z,1761589296.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:36.468Z,1761589296.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:36.596Z,1761589296.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975140,0.221309,-0.011176],[-0.221312,0.970144,-0.099203],[-0.011112,0.099210,0.995004]]
2025-10-27T18:21:36.720Z,1761589296.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:36.972Z,1761589296.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:37.224Z,1761589297.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:37.374Z,1761589297.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972199,0.232304,-0.029390],[-0.230622,0.971678,0.051529],[0.040528,-0.043319,0.998239]]
2025-10-27T18:21:37.476Z,1761589297.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:37.729Z,1761589297.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:37.775Z,1761589297.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968947,0.243079,-0.045329],[-0.238036,0.966586,0.095129],[0.066938,-0.081385,0.994432]]
2025-10-27T18:21:37.980Z,1761589297.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:38.178Z,1761589298.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970333,0.234832,-0.057519],[-0.226846,0.966583,0.119412],[0.083639,-0.102821,0.991177]]
2025-10-27T18:21:38.232Z,1761589298.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:38.484Z,1761589298.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:38.609Z,1761589298.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964838,0.255023,-0.063653],[-0.243106,0.957890,0.152795],[0.099939,-0.131948,0.986206]]
2025-10-27T18:21:38.738Z,1761589298.738 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:38.984Z,1761589298.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956364,0.284353,-0.067170],[-0.262588,0.937297,0.229175],[0.128125,-0.201536,0.971065]]
2025-10-27T18:21:38.988Z,1761589298.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:39.240Z,1761589299.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:39.385Z,1761589299.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959709,0.280814,-0.010142],[-0.266588,0.921312,0.283045],[0.088827,-0.268937,0.959053]]
2025-10-27T18:21:39.492Z,1761589299.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:39.744Z,1761589299.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:39.790Z,1761589299.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958154,0.281264,0.053216],[-0.285275,0.922876,0.258685],[0.023647,-0.263041,0.964495]]
2025-10-27T18:21:39.996Z,1761589299.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:40.195Z,1761589300.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952408,0.301611,0.044160],[-0.304426,0.933701,0.188484],[0.015616,-0.192957,0.981083]]
2025-10-27T18:21:40.248Z,1761589300.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:40.500Z,1761589300.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:40.598Z,1761589300.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954788,0.297033,-0.012270],[-0.293319,0.947965,0.123799],[0.048403,-0.114603,0.992232]]
2025-10-27T18:21:40.752Z,1761589300.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:41.002Z,1761589301.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958690,0.284453,0.000178],[-0.283637,0.955890,0.076313],[0.021537,-0.073211,0.997084]]
2025-10-27T18:21:41.004Z,1761589301.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:41.256Z,1761589301.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:41.406Z,1761589301.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953509,0.297509,0.048053],[-0.300267,0.951478,0.067298],[-0.025700,-0.078598,0.996575]]
2025-10-27T18:21:41.461Z,1761589301.461 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:21:41.461Z,1761589301.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:21:41.461Z,1761589301.461 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateRudder:A] Stopped
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:21:41.462Z,1761589301.462 [marl:UpdateCommandMode] Stopped
2025-10-27T18:21:41.463Z,1761589301.463 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:21:41.463Z,1761589301.463 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:21:41.463Z,1761589301.463 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:21:41.463Z,1761589301.463 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:21:41.463Z,1761589301.463 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:21:41.464Z,1761589301.464 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:21:41.464Z,1761589301.464 [marl:UpdateSpeed] Stopped
2025-10-27T18:21:41.464Z,1761589301.464 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:21:41.508Z,1761589301.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:41.760Z,1761589301.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:41.810Z,1761589301.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954167,0.295451,0.047694],[-0.298097,0.952393,0.063926],[-0.026536,-0.075213,0.996814]]
2025-10-27T18:21:41.885Z,1761589301.885 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:21:41.885Z,1761589301.885 [marl:UpdateRudder:B] Stopped
2025-10-27T18:21:41.885Z,1761589301.885 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:21:41.885Z,1761589301.885 [marl:UpdateRudder] Stopped
2025-10-27T18:21:41.885Z,1761589301.885 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:21:42.012Z,1761589302.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:42.213Z,1761589302.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957536,0.286759,0.029908],[-0.286870,0.957969,-0.000617],[-0.028828,-0.007989,0.999552]]
2025-10-27T18:21:42.264Z,1761589302.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:42.516Z,1761589302.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:42.618Z,1761589302.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960005,0.279390,0.018213],[-0.279182,0.960148,-0.013197],[-0.021174,0.007585,0.999747]]
2025-10-27T18:21:42.769Z,1761589302.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:43.020Z,1761589303.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:43.025Z,1761589303.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955453,0.294850,0.013160],[-0.295121,0.954983,0.030194],[-0.003665,-0.032733,0.999457]]
2025-10-27T18:21:43.272Z,1761589303.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:43.426Z,1761589303.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952745,0.303768,-0.001070],[-0.302745,0.949814,0.078736],[0.024934,-0.074691,0.996895]]
2025-10-27T18:21:43.524Z,1761589303.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:43.776Z,1761589303.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:43.829Z,1761589303.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954468,0.298054,0.012465],[-0.297234,0.946627,0.124699],[0.025367,-0.122726,0.992116]]
2025-10-27T18:21:44.028Z,1761589304.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:44.233Z,1761589304.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950140,0.310320,0.030569],[-0.311116,0.936829,0.159870],[0.020973,-0.161410,0.986665]]
2025-10-27T18:21:44.280Z,1761589304.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:44.532Z,1761589304.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:44.645Z,1761589304.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949264,0.314123,0.014971],[-0.312450,0.936666,0.158214],[0.035676,-0.154864,0.987291]]
2025-10-27T18:21:44.788Z,1761589304.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:45.037Z,1761589305.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:45.065Z,1761589305.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952052,0.305587,-0.014613],[-0.301011,0.944193,0.133761],[0.054673,-0.122949,0.990906]]
2025-10-27T18:21:45.288Z,1761589305.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:45.449Z,1761589305.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951065,0.308876,-0.008465],[-0.306036,0.945393,0.112139],[0.042640,-0.104061,0.993656]]
2025-10-27T18:21:45.540Z,1761589305.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:45.792Z,1761589305.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:45.853Z,1761589305.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944116,0.329469,0.009785],[-0.329277,0.941396,0.073150],[0.014890,-0.072284,0.997273]]
2025-10-27T18:21:46.044Z,1761589306.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:46.258Z,1761589306.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948395,0.316776,-0.014147],[-0.316178,0.948105,0.033606],[0.024058,-0.027399,0.999335]]
2025-10-27T18:21:46.296Z,1761589306.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:46.549Z,1761589306.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:46.802Z,1761589306.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:47.052Z,1761589307.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:47.075Z,1761589307.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960478,0.272004,-0.059132],[-0.275468,0.959343,-0.061477],[0.040006,0.075337,0.996355]]
2025-10-27T18:21:47.304Z,1761589307.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:47.469Z,1761589307.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954857,0.291367,-0.057903],[-0.290313,0.956577,0.026038],[0.062976,-0.008053,0.997983]]
2025-10-27T18:21:47.556Z,1761589307.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:47.808Z,1761589307.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:47.874Z,1761589307.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948418,0.316312,-0.021229],[-0.309077,0.937470,0.160067],[0.070533,-0.145249,0.986878]]
2025-10-27T18:21:48.060Z,1761589308.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:48.279Z,1761589308.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939734,0.341571,-0.015146],[-0.327381,0.911703,0.248232],[0.098598,-0.228314,0.968582]]
2025-10-27T18:21:48.312Z,1761589308.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:48.564Z,1761589308.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:48.681Z,1761589308.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938534,0.344361,-0.023865],[-0.323364,0.901287,0.288303],[0.120790,-0.262865,0.957242]]
2025-10-27T18:21:48.818Z,1761589308.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:49.068Z,1761589309.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:49.086Z,1761589309.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940283,0.340124,0.013510],[-0.331418,0.905718,0.264267],[0.077647,-0.252963,0.964355]]
2025-10-27T18:21:49.320Z,1761589309.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:49.491Z,1761589309.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933199,0.354991,0.055872],[-0.359166,0.916231,0.177540],[0.011833,-0.185747,0.982526]]
2025-10-27T18:21:49.577Z,1761589309.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:49.828Z,1761589309.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:49.893Z,1761589309.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936508,0.348446,0.039219],[-0.350091,0.935448,0.048719],[-0.019711,-0.059355,0.998042]]
2025-10-27T18:21:50.080Z,1761589310.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:50.298Z,1761589310.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945298,0.326038,0.010561],[-0.325296,0.944578,-0.044207],[-0.024389,0.038353,0.998967]]
2025-10-27T18:21:50.332Z,1761589310.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:50.584Z,1761589310.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:50.702Z,1761589310.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946967,0.321308,0.003939],[-0.320036,0.944177,-0.078145],[-0.028828,0.072741,0.996934]]
2025-10-27T18:21:50.845Z,1761589310.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:51.092Z,1761589311.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:51.109Z,1761589311.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943637,0.330712,-0.013406],[-0.330968,0.942434,-0.047723],[-0.003148,0.049470,0.998771]]
2025-10-27T18:21:51.344Z,1761589311.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:51.512Z,1761589311.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947056,0.319676,-0.029869],[-0.319586,0.947525,0.007840],[0.030808,0.002120,0.999523]]
2025-10-27T18:21:51.596Z,1761589311.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:51.848Z,1761589311.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:51.914Z,1761589311.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941224,0.337412,0.015812],[-0.336663,0.933272,0.125147],[0.027469,-0.123115,0.992012]]
2025-10-27T18:21:52.100Z,1761589312.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:52.317Z,1761589312.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931608,0.353103,0.086168],[-0.363275,0.896915,0.252141],[0.011747,-0.266199,0.963846]]
2025-10-27T18:21:52.352Z,1761589312.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:52.604Z,1761589312.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:52.728Z,1761589312.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938408,0.329354,0.104484],[-0.345455,0.887979,0.303569],[0.007202,-0.320966,0.947063]]
2025-10-27T18:21:52.858Z,1761589312.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:53.108Z,1761589313.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:53.130Z,1761589313.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940247,0.330183,0.083155],[-0.340411,0.906203,0.250830],[0.007465,-0.264149,0.964453]]
2025-10-27T18:21:53.360Z,1761589313.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:53.541Z,1761589313.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937234,0.348184,0.018973],[-0.347634,0.928727,0.128906],[0.027262,-0.127411,0.991475]]
2025-10-27T18:21:53.612Z,1761589313.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:53.864Z,1761589313.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:53.933Z,1761589313.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935077,0.351213,-0.047749],[-0.351445,0.936201,0.003735],[0.046014,0.013289,0.998852]]
2025-10-27T18:21:54.117Z,1761589314.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:54.337Z,1761589314.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924766,0.371710,-0.081476],[-0.377782,0.922494,-0.079281],[0.045691,0.104097,0.993517]]
2025-10-27T18:21:54.368Z,1761589314.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:54.620Z,1761589314.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:54.758Z,1761589314.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923449,0.378682,-0.061986],[-0.382693,0.920696,-0.076583],[0.028069,0.094442,0.995135]]
2025-10-27T18:21:54.830Z,1761589314.830 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:21:54.831Z,1761589314.831 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:21:54.835Z,1761589314.835 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:21:54.836Z,1761589314.836 [marl:UpdateRudder:A] Stopped
2025-10-27T18:21:54.837Z,1761589314.837 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:21:54.837Z,1761589314.837 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:21:54.837Z,1761589314.837 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:21:54.837Z,1761589314.837 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:21:54.838Z,1761589314.838 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:21:54.844Z,1761589314.844 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:21:54.844Z,1761589314.844 [marl:UpdateCommandMode] Stopped
2025-10-27T18:21:54.844Z,1761589314.844 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:21:54.845Z,1761589314.845 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:21:54.845Z,1761589314.845 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:21:54.845Z,1761589314.845 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:21:54.846Z,1761589314.846 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:21:54.851Z,1761589314.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:21:54.851Z,1761589314.851 [marl:UpdateSpeed] Stopped
2025-10-27T18:21:54.851Z,1761589314.851 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:21:54.872Z,1761589314.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:55.124Z,1761589315.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:55.145Z,1761589315.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933203,0.358105,-0.029889],[-0.358188,0.933646,0.002705],[0.028875,0.008182,0.999550]]
2025-10-27T18:21:55.209Z,1761589315.209 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:21:55.209Z,1761589315.209 [marl:UpdateRudder:B] Stopped
2025-10-27T18:21:55.209Z,1761589315.209 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:21:55.209Z,1761589315.209 [marl:UpdateRudder] Stopped
2025-10-27T18:21:55.209Z,1761589315.209 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:21:55.376Z,1761589315.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:55.554Z,1761589315.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928516,0.370805,-0.018999],[-0.366098,0.922857,0.119610],[0.061885,-0.104105,0.992639]]
2025-10-27T18:21:55.628Z,1761589315.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:55.788Z,1761589315.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:21:55.880Z,1761589315.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:55.955Z,1761589315.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919726,0.392265,0.015209],[-0.384559,0.892523,0.235621],[0.078852,-0.222556,0.971726]]
2025-10-27T18:21:56.132Z,1761589316.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:56.358Z,1761589316.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923091,0.378578,0.067684],[-0.381258,0.877748,0.290174],[0.050444,-0.293662,0.954577]]
2025-10-27T18:21:56.384Z,1761589316.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:56.636Z,1761589316.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:56.769Z,1761589316.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918495,0.390692,0.061049],[-0.393662,0.888827,0.234558],[0.037378,-0.239473,0.970183]]
2025-10-27T18:21:56.792Z,1761589316.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:21:56.891Z,1761589316.891 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:57.140Z,1761589317.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:57.168Z,1761589317.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910219,0.413916,0.013260],[-0.413621,0.907053,0.078574],[0.020495,-0.077004,0.996820]]
2025-10-27T18:21:57.317Z,1761589317.317 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:21:57.317Z,1761589317.317 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:21:57.392Z,1761589317.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:57.569Z,1761589317.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915946,0.396452,-0.062191],[-0.400782,0.911585,-0.091578],[0.020386,0.108806,0.993854]]
2025-10-27T18:21:57.644Z,1761589317.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:57.896Z,1761589317.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:57.973Z,1761589317.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924502,0.368859,-0.096123],[-0.380772,0.905309,-0.188225],[0.017593,0.210615,0.977411]]
2025-10-27T18:21:58.025Z,1761589318.025 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:21:58.148Z,1761589318.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:58.377Z,1761589318.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920021,0.377915,-0.103640],[-0.389911,0.909230,-0.145841],[0.039117,0.174587,0.983864]]
2025-10-27T18:21:58.400Z,1761589318.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:58.652Z,1761589318.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:58.826Z,1761589318.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918791,0.391566,-0.049986],[-0.390593,0.920127,0.028335],[0.057088,-0.006509,0.998348]]
2025-10-27T18:21:58.904Z,1761589318.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:59.156Z,1761589319.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:59.185Z,1761589319.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927162,0.370357,0.056632],[-0.373633,0.902799,0.212963],[0.027745,-0.218611,0.975418]]
2025-10-27T18:21:59.408Z,1761589319.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:59.681Z,1761589319.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:59.932Z,1761589319.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:21:59.994Z,1761589319.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926102,0.372963,0.056871],[-0.371187,0.873782,0.314205],[0.067494,-0.312096,0.947650]]
2025-10-27T18:22:00.184Z,1761589320.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:00.436Z,1761589320.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:00.688Z,1761589320.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:00.841Z,1761589320.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905820,0.423353,-0.016218],[-0.423021,0.905890,0.020387],[0.023323,-0.011606,0.999661]]
2025-10-27T18:22:00.940Z,1761589320.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:01.192Z,1761589321.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:01.207Z,1761589321.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907768,0.419361,-0.009644],[-0.419036,0.905537,-0.066421],[-0.019122,0.064336,0.997745]]
2025-10-27T18:22:01.444Z,1761589321.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:01.610Z,1761589321.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914047,0.405602,0.002339],[-0.404468,0.911894,-0.069681],[-0.030395,0.062746,0.997567]]
2025-10-27T18:22:01.696Z,1761589321.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:01.948Z,1761589321.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:02.025Z,1761589322.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920057,0.391781,0.001712],[-0.391562,0.919672,-0.029709],[-0.013214,0.026664,0.999557]]
2025-10-27T18:22:02.200Z,1761589322.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:02.420Z,1761589322.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918796,0.393750,-0.027840],[-0.393399,0.919204,0.017345],[0.032420,-0.004985,0.999462]]
2025-10-27T18:22:02.452Z,1761589322.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:02.704Z,1761589322.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:02.851Z,1761589322.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913661,0.405674,-0.025557],[-0.402210,0.911366,0.087398],[0.058747,-0.069573,0.995846]]
2025-10-27T18:22:02.857Z,1761589322.857 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182159.00,A,3646.59179,N,12151.84384,W,0.311,8.37,271025,,,A*77
2025-10-27T18:22:02.859Z,1761589322.859 [NAL9602](INFO): GPS fix at 20251027T182159: (36.776530, -121.864064)
2025-10-27T18:22:02.919Z,1761589322.919 [UniversalFixResidualReporter](INFO): Fix residual: 1.6 %DT, over the last 605.2 m. Residual distance 9.6 m at bearing -53.9 degrees. Fix at (36.7765, -121.8641) with 109.1 m made good.
2025-10-27T18:22:02.940Z,1761589322.940 [marl:NeedComms:C] Stopped
2025-10-27T18:22:02.941Z,1761589322.941 [marl:NeedComms:D] Running Loop=1
2025-10-27T18:22:02.942Z,1761589322.942 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:22:02.956Z,1761589322.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:03.208Z,1761589323.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:03.226Z,1761589323.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902156,0.431105,0.016196],[-0.428119,0.890017,0.156791],[0.053179,-0.148384,0.987499]]
2025-10-27T18:22:03.460Z,1761589323.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:03.662Z,1761589323.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899563,0.434944,0.040133],[-0.434301,0.880854,0.188358],[0.046574,-0.186870,0.981280]]
2025-10-27T18:22:03.712Z,1761589323.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:03.964Z,1761589323.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:04.066Z,1761589324.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910361,0.413155,0.023374],[-0.411127,0.896573,0.164719],[0.047098,-0.159564,0.986063]]
2025-10-27T18:22:04.216Z,1761589324.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:04.468Z,1761589324.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:04.471Z,1761589324.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913435,0.406476,-0.020353],[-0.402559,0.909726,0.101712],[0.059859,-0.084714,0.994606]]
2025-10-27T18:22:04.720Z,1761589324.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:04.875Z,1761589324.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904967,0.422090,-0.053617],[-0.418902,0.905946,0.061509],[0.074536,-0.033204,0.996665]]
2025-10-27T18:22:04.974Z,1761589324.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:05.224Z,1761589325.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:05.280Z,1761589325.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903546,0.423609,-0.064496],[-0.419746,0.905277,0.065478],[0.086123,-0.032090,0.995768]]
2025-10-27T18:22:05.476Z,1761589325.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:05.685Z,1761589325.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901896,0.430332,-0.037397],[-0.424710,0.899231,0.104909],[0.078774,-0.078734,0.993778]]
2025-10-27T18:22:05.730Z,1761589325.730 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:05.980Z,1761589325.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:06.086Z,1761589326.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894807,0.446451,-0.001279],[-0.441419,0.885144,0.147207],[0.066853,-0.131157,0.989105]]
2025-10-27T18:22:06.232Z,1761589326.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:06.485Z,1761589326.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:06.492Z,1761589326.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893703,0.446314,0.045826],[-0.446129,0.873179,0.196286],[0.047591,-0.195865,0.979475]]
2025-10-27T18:22:06.737Z,1761589326.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:06.893Z,1761589326.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890064,0.447687,0.085810],[-0.454995,0.861101,0.226904],[0.027691,-0.241002,0.970129]]
2025-10-27T18:22:06.988Z,1761589326.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:07.240Z,1761589327.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:07.492Z,1761589327.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:07.706Z,1761589327.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878546,0.470373,0.083110],[-0.477261,0.871524,0.112554],[-0.019490,-0.138549,0.990164]]
2025-10-27T18:22:07.744Z,1761589327.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:07.997Z,1761589327.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:08.106Z,1761589328.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885772,0.462889,0.033789],[-0.463250,0.886221,0.003306],[-0.028415,-0.018581,0.999424]]
2025-10-27T18:22:08.132Z,1761589328.132 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:22:08.132Z,1761589328.132 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateRudder:A] Stopped
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:22:08.133Z,1761589328.133 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateCommandMode] Stopped
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:22:08.134Z,1761589328.134 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:22:08.135Z,1761589328.135 [marl:UpdateSpeed] Stopped
2025-10-27T18:22:08.135Z,1761589328.135 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:22:08.248Z,1761589328.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:08.513Z,1761589328.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:08.522Z,1761589328.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889160,0.457484,-0.010108],[-0.457087,0.886913,-0.066760],[-0.021577,0.063981,0.997718]]
2025-10-27T18:22:08.553Z,1761589328.553 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:22:08.553Z,1761589328.553 [marl:UpdateRudder:B] Stopped
2025-10-27T18:22:08.553Z,1761589328.553 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:22:08.553Z,1761589328.553 [marl:UpdateRudder] Stopped
2025-10-27T18:22:08.553Z,1761589328.553 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:22:08.764Z,1761589328.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:08.913Z,1761589328.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888930,0.451876,-0.074910],[-0.457533,0.883702,-0.098660],[0.021616,0.121976,0.992298]]
2025-10-27T18:22:09.017Z,1761589329.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:09.268Z,1761589329.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:09.320Z,1761589329.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883081,0.463428,-0.073501],[-0.468142,0.880790,-0.071075],[0.031800,0.097174,0.994759]]
2025-10-27T18:22:09.520Z,1761589329.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:09.722Z,1761589329.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870062,0.492505,0.020772],[-0.492928,0.869594,0.028790],[-0.003884,-0.035288,0.999370]]
2025-10-27T18:22:09.772Z,1761589329.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:10.024Z,1761589330.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:10.126Z,1761589330.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871808,0.479894,0.098251],[-0.489355,0.862227,0.130753],[-0.021968,-0.162071,0.986534]]
2025-10-27T18:22:10.276Z,1761589330.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:10.529Z,1761589330.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:10.535Z,1761589330.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883689,0.462254,0.073594],[-0.467596,0.864691,0.183475],[0.021176,-0.196547,0.980266]]
2025-10-27T18:22:10.782Z,1761589330.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:10.934Z,1761589330.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887032,0.461707,-0.001302],[-0.454374,0.873439,0.175068],[0.081967,-0.154699,0.984556]]
2025-10-27T18:22:11.032Z,1761589331.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:11.284Z,1761589331.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:11.340Z,1761589331.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887283,0.461194,0.005425],[-0.456738,0.876953,0.149476],[0.064180,-0.135106,0.988750]]
2025-10-27T18:22:11.536Z,1761589331.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:11.788Z,1761589331.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:11.808Z,1761589331.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854970,0.516277,0.049839],[-0.518247,0.846395,0.122617],[0.021121,-0.130662,0.991202]]
2025-10-27T18:22:12.040Z,1761589332.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:12.292Z,1761589332.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:12.544Z,1761589332.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:12.798Z,1761589332.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:13.048Z,1761589333.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:13.300Z,1761589333.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:13.553Z,1761589333.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:13.807Z,1761589333.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:14.023Z,1761589334.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852178,0.520670,0.051912],[-0.523072,0.850283,0.058437],[-0.013713,-0.076953,0.996940]]
2025-10-27T18:22:14.059Z,1761589334.059 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:14.308Z,1761589334.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:14.406Z,1761589334.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824761,0.561372,0.068055],[-0.565473,0.818079,0.104823],[0.003170,-0.124937,0.992160]]
2025-10-27T18:22:14.560Z,1761589334.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:14.813Z,1761589334.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:14.852Z,1761589334.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803494,0.592189,0.060905],[-0.593892,0.790307,0.150691],[0.041103,-0.157250,0.986703]]
2025-10-27T18:22:15.064Z,1761589335.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:15.215Z,1761589335.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797415,0.599491,0.068841],[-0.603006,0.787371,0.128182],[0.022640,-0.143726,0.989358]]
2025-10-27T18:22:15.319Z,1761589335.319 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:15.572Z,1761589335.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:15.618Z,1761589335.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810515,0.579106,0.087763],[-0.584164,0.810145,0.049157],[-0.042634,-0.091110,0.994928]]
2025-10-27T18:22:15.824Z,1761589335.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:16.023Z,1761589336.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805583,0.592085,0.021714],[-0.591945,0.805872,-0.013083],[-0.025245,-0.002314,0.999679]]
2025-10-27T18:22:16.076Z,1761589336.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:16.328Z,1761589336.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:16.427Z,1761589336.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802888,0.592670,-0.064132],[-0.594110,0.804372,-0.004323],[0.049024,0.041572,0.997932]]
2025-10-27T18:22:16.580Z,1761589336.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:16.834Z,1761589336.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:16.957Z,1761589336.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799070,0.598289,-0.059473],[-0.599630,0.800254,-0.006120],[0.043932,0.040552,0.998211]]
2025-10-27T18:22:17.084Z,1761589337.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:17.336Z,1761589337.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:17.588Z,1761589337.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:17.638Z,1761589337.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760910,0.647383,0.043712],[-0.645753,0.748968,0.148488],[0.063389,-0.141214,0.987948]]
2025-10-27T18:22:17.840Z,1761589337.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:18.092Z,1761589338.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:18.344Z,1761589338.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:18.450Z,1761589338.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755488,0.642178,0.129790],[-0.653750,0.725919,0.213662],[0.042992,-0.246270,0.968247]]
2025-10-27T18:22:18.596Z,1761589338.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:18.848Z,1761589338.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:19.100Z,1761589339.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:19.254Z,1761589339.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749922,0.658501,0.063194],[-0.661505,0.745720,0.079453],[0.005195,-0.101387,0.994834]]
2025-10-27T18:22:19.365Z,1761589339.365 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:19.616Z,1761589339.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:19.657Z,1761589339.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730425,0.682940,-0.008538],[-0.682876,0.730474,0.009369],[0.012635,-0.001013,0.999920]]
2025-10-27T18:22:19.868Z,1761589339.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:20.061Z,1761589340.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720063,0.690239,-0.071279],[-0.691920,0.721972,0.001503],[0.052499,0.048237,0.997455]]
2025-10-27T18:22:20.120Z,1761589340.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:20.372Z,1761589340.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:20.476Z,1761589340.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714456,0.696464,-0.067017],[-0.694432,0.717546,0.053774],[0.085539,0.008119,0.996302]]
2025-10-27T18:22:20.624Z,1761589340.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:20.869Z,1761589340.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703028,0.710002,-0.040612],[-0.704198,0.702979,0.099630],[0.099287,-0.041444,0.994195]]
2025-10-27T18:22:20.876Z,1761589340.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:21.128Z,1761589341.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:21.274Z,1761589341.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705808,0.707881,0.027195],[-0.706271,0.700189,0.104486],[0.054922,-0.092954,0.994154]]
2025-10-27T18:22:21.380Z,1761589341.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:21.632Z,1761589341.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:21.678Z,1761589341.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701341,0.704664,0.107561],[-0.712799,0.694602,0.097188],[-0.006227,-0.144831,0.989437]]
2025-10-27T18:22:21.884Z,1761589341.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:22.081Z,1761589342.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680371,0.720837,0.132250],[-0.732837,0.670846,0.113648],[-0.006798,-0.174241,0.984680]]
2025-10-27T18:22:22.145Z,1761589342.145 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:22.396Z,1761589342.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:22.495Z,1761589342.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690843,0.718817,0.077704],[-0.722127,0.680710,0.123154],[0.035632,-0.141192,0.989341]]
2025-10-27T18:22:22.648Z,1761589342.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:22.889Z,1761589342.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705818,0.705997,0.058220],[-0.708181,0.701205,0.082410],[0.017357,-0.099396,0.994897]]
2025-10-27T18:22:22.900Z,1761589342.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:23.152Z,1761589343.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:23.293Z,1761589343.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676873,0.735118,0.038015],[-0.735950,0.674787,0.055136],[0.014880,-0.065297,0.997755]]
2025-10-27T18:22:23.327Z,1761589343.327 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:22:23.327Z,1761589343.327 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:22:23.327Z,1761589343.327 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateRudder:A] Stopped
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:22:23.328Z,1761589343.328 [marl:UpdateCommandMode] Stopped
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed] Stopped
2025-10-27T18:22:23.329Z,1761589343.329 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:22:23.404Z,1761589343.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:23.656Z,1761589343.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:23.697Z,1761589343.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662613,0.748873,-0.011515],[-0.745422,0.660896,0.086965],[0.072736,-0.049040,0.996145]]
2025-10-27T18:22:23.751Z,1761589343.751 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:22:23.751Z,1761589343.751 [marl:UpdateRudder:B] Stopped
2025-10-27T18:22:23.752Z,1761589343.752 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:22:23.752Z,1761589343.752 [marl:UpdateRudder] Stopped
2025-10-27T18:22:23.752Z,1761589343.752 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:22:23.908Z,1761589343.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:24.160Z,1761589344.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:24.412Z,1761589344.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:24.508Z,1761589344.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654346,0.752187,0.077749],[-0.756164,0.651776,0.058334],[-0.006797,-0.096962,0.995265]]
2025-10-27T18:22:24.664Z,1761589344.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:24.910Z,1761589344.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654045,0.749053,0.105566],[-0.755368,0.654195,0.038054],[-0.040557,-0.104630,0.993684]]
2025-10-27T18:22:24.916Z,1761589344.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:25.168Z,1761589345.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:25.314Z,1761589345.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665020,0.741268,0.090937],[-0.745766,0.665620,0.028002],[-0.039773,-0.086440,0.995463]]
2025-10-27T18:22:25.318Z,1761589345.318 [NAL9602](INFO): SBD MO Status=2, MOMSN=3078, MT Status=2, MTMSN=0
2025-10-27T18:22:25.318Z,1761589345.318 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T18:22:25.420Z,1761589345.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:25.672Z,1761589345.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:25.717Z,1761589345.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654348,0.754261,0.054018],[-0.755050,0.655616,-0.008147],[-0.041560,-0.035456,0.998507]]
2025-10-27T18:22:25.924Z,1761589345.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:26.121Z,1761589346.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665082,0.746663,0.012615],[-0.744971,0.664557,-0.058154],[-0.051805,0.029279,0.998228]]
2025-10-27T18:22:26.176Z,1761589346.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:26.428Z,1761589346.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:26.526Z,1761589346.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668133,0.744015,-0.006246],[-0.742050,0.665707,-0.078713],[-0.054406,0.057226,0.996878]]
2025-10-27T18:22:26.531Z,1761589346.531 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182225.00,A,3646.59356,N,12151.84763,W,0.739,286.72,271025,,,A*76
2025-10-27T18:22:26.533Z,1761589346.533 [NAL9602](INFO): GPS fix at 20251027T182225: (36.776559, -121.864127)
2025-10-27T18:22:26.581Z,1761589346.581 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:22:26.680Z,1761589346.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:26.912Z,1761589346.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:22:26.932Z,1761589346.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:26.937Z,1761589346.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652157,0.758069,0.004757],[-0.757277,0.651739,-0.042048],[-0.034975,0.023819,0.999104]]
2025-10-27T18:22:27.184Z,1761589347.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:27.333Z,1761589347.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647778,0.760607,0.043127],[-0.761724,0.645709,0.053265],[0.012666,-0.067355,0.997649]]
2025-10-27T18:22:27.436Z,1761589347.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:27.688Z,1761589347.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:27.745Z,1761589347.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654638,0.752415,0.072946],[-0.753045,0.640643,0.150000],[0.066130,-0.153128,0.985991]]
2025-10-27T18:22:27.915Z,1761589347.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:22:27.940Z,1761589347.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:28.192Z,1761589348.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:28.444Z,1761589348.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:28.551Z,1761589348.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654019,0.752821,0.074293],[-0.751338,0.635006,0.179610],[0.088038,-0.173287,0.980929]]
2025-10-27T18:22:28.696Z,1761589348.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:28.948Z,1761589348.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:29.200Z,1761589349.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:29.354Z,1761589349.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638971,0.769222,-0.003719],[-0.758421,0.630791,0.164010],[0.128506,-0.101977,0.986452]]
2025-10-27T18:22:29.452Z,1761589349.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:29.704Z,1761589349.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:29.764Z,1761589349.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622719,0.782320,-0.013971],[-0.777954,0.620957,0.095914],[0.083711,-0.048859,0.995292]]
2025-10-27T18:22:29.957Z,1761589349.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:30.164Z,1761589350.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615628,0.788018,0.005497],[-0.787202,0.614640,0.050302],[0.036260,-0.035294,0.998719]]
2025-10-27T18:22:30.208Z,1761589350.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:30.461Z,1761589350.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:30.712Z,1761589350.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:30.867Z,1761589350.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620177,0.778931,0.092996],[-0.781975,0.623283,-0.005717],[-0.062415,-0.069175,0.995650]]
2025-10-27T18:22:30.964Z,1761589350.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:31.216Z,1761589351.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:31.469Z,1761589351.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:31.721Z,1761589351.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:31.972Z,1761589351.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:32.226Z,1761589352.226 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:32.478Z,1761589352.478 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:32.728Z,1761589352.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:32.981Z,1761589352.981 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:33.095Z,1761589353.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624562,0.780949,-0.006361],[-0.776204,0.621625,0.105310],[0.086196,-0.060835,0.994419]]
2025-10-27T18:22:33.232Z,1761589353.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:33.484Z,1761589353.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:33.492Z,1761589353.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585691,0.808782,0.053265],[-0.806712,0.575295,0.135097],[0.078621,-0.122094,0.989400]]
2025-10-27T18:22:33.736Z,1761589353.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:33.886Z,1761589353.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589736,0.802721,0.088605],[-0.805539,0.576857,0.135435],[0.057604,-0.151246,0.986816]]
2025-10-27T18:22:33.988Z,1761589353.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:34.240Z,1761589354.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:34.290Z,1761589354.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578407,0.804437,0.135375],[-0.815498,0.566096,0.120412],[0.020228,-0.180045,0.983450]]
2025-10-27T18:22:34.492Z,1761589354.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:34.695Z,1761589354.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581106,0.803798,0.127372],[-0.813783,0.572268,0.101328],[0.008556,-0.162536,0.986666]]
2025-10-27T18:22:34.744Z,1761589354.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:34.996Z,1761589354.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:35.097Z,1761589355.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592116,0.801017,0.088148],[-0.805490,0.591581,0.034911],[-0.024182,-0.091673,0.995495]]
2025-10-27T18:22:35.248Z,1761589355.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:35.500Z,1761589355.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:35.505Z,1761589355.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577108,0.814960,0.052796],[-0.815461,0.578563,-0.016977],[-0.044382,-0.033255,0.998461]]
2025-10-27T18:22:35.753Z,1761589355.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:35.905Z,1761589355.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562026,0.826482,0.032470],[-0.825644,0.562935,-0.037628],[-0.049377,-0.005661,0.998764]]
2025-10-27T18:22:36.004Z,1761589356.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:36.256Z,1761589356.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:36.309Z,1761589356.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540786,0.841038,0.014324],[-0.840485,0.540956,-0.030843],[-0.033689,0.004640,0.999422]]
2025-10-27T18:22:36.508Z,1761589356.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:36.713Z,1761589356.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544009,0.838494,0.031333],[-0.839038,0.543230,0.030288],[0.008375,-0.042767,0.999050]]
2025-10-27T18:22:36.760Z,1761589356.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:37.012Z,1761589357.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:37.117Z,1761589357.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561186,0.825086,0.065602],[-0.825852,0.552901,0.110762],[0.055117,-0.116336,0.991679]]
2025-10-27T18:22:37.264Z,1761589357.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:37.516Z,1761589357.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:37.523Z,1761589357.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559182,0.825256,0.079172],[-0.827952,0.550988,0.104445],[0.042570,-0.123954,0.991374]]
2025-10-27T18:22:37.768Z,1761589357.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:37.926Z,1761589357.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549897,0.832082,0.072483],[-0.834673,0.544277,0.084168],[0.030584,-0.106783,0.993812]]
2025-10-27T18:22:38.020Z,1761589358.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:38.272Z,1761589358.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:38.332Z,1761589358.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558987,0.828727,0.027300],[-0.824505,0.552046,0.124244],[0.087894,-0.091960,0.991876]]
2025-10-27T18:22:38.524Z,1761589358.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:38.739Z,1761589358.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551325,0.834241,-0.009070],[-0.822294,0.545202,0.163056],[0.140973,-0.082439,0.986575]]
2025-10-27T18:22:38.776Z,1761589358.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:38.783Z,1761589358.783 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:22:38.784Z,1761589358.784 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:22:38.785Z,1761589358.785 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:22:38.786Z,1761589358.786 [marl:UpdateRudder:A] Stopped
2025-10-27T18:22:38.786Z,1761589358.786 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:22:38.786Z,1761589358.786 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:22:38.786Z,1761589358.786 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:22:38.787Z,1761589358.787 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:22:38.788Z,1761589358.788 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:22:38.789Z,1761589358.789 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:22:38.789Z,1761589358.789 [marl:UpdateCommandMode] Stopped
2025-10-27T18:22:38.789Z,1761589358.789 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:22:38.790Z,1761589358.790 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:22:38.790Z,1761589358.790 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:22:38.790Z,1761589358.790 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:22:38.828Z,1761589358.828 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:22:38.828Z,1761589358.828 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:22:38.828Z,1761589358.828 [marl:UpdateSpeed] Stopped
2025-10-27T18:22:38.829Z,1761589358.829 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:22:39.029Z,1761589359.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:39.137Z,1761589359.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528924,0.848463,0.018721],[-0.840751,0.520856,0.147805],[0.115656,-0.093917,0.988839]]
2025-10-27T18:22:39.194Z,1761589359.194 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:22:39.194Z,1761589359.194 [marl:UpdateRudder:B] Stopped
2025-10-27T18:22:39.195Z,1761589359.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:22:39.195Z,1761589359.195 [marl:UpdateRudder] Stopped
2025-10-27T18:22:39.195Z,1761589359.195 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:22:39.280Z,1761589359.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:39.540Z,1761589359.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:39.544Z,1761589359.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508660,0.858279,0.067980],[-0.859196,0.500967,0.103993],[0.055199,-0.111305,0.992252]]
2025-10-27T18:22:39.792Z,1761589359.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:39.958Z,1761589359.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500478,0.858146,0.114487],[-0.865741,0.495495,0.070555],[0.003819,-0.134427,0.990916]]
2025-10-27T18:22:40.045Z,1761589360.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:40.296Z,1761589360.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:40.349Z,1761589360.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512353,0.850223,0.120898],[-0.856626,0.515934,0.001950],[-0.060718,-0.104563,0.992663]]
2025-10-27T18:22:40.548Z,1761589360.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:40.802Z,1761589360.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:40.813Z,1761589360.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496342,0.864167,0.082827],[-0.864773,0.500548,-0.040253],[-0.076244,-0.051647,0.995751]]
2025-10-27T18:22:41.052Z,1761589361.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:41.162Z,1761589361.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473483,0.880503,0.023002],[-0.880105,0.473986,-0.027423],[-0.035049,-0.007260,0.999359]]
2025-10-27T18:22:41.304Z,1761589361.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:41.556Z,1761589361.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:41.568Z,1761589361.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469521,0.882921,0.000601],[-0.882688,0.469412,-0.022701],[-0.020325,0.010128,0.999742]]
2025-10-27T18:22:41.808Z,1761589361.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:41.971Z,1761589361.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455157,0.889178,0.046855],[-0.889764,0.456202,-0.014137],[-0.033946,-0.035256,0.998802]]
2025-10-27T18:22:42.060Z,1761589362.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:42.312Z,1761589362.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:42.370Z,1761589362.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437254,0.894958,0.088649],[-0.899208,0.436735,0.026196],[-0.015272,-0.091168,0.995718]]
2025-10-27T18:22:42.564Z,1761589362.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:42.777Z,1761589362.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439766,0.892932,0.096326],[-0.897291,0.432242,0.089641],[0.038407,-0.125853,0.991305]]
2025-10-27T18:22:42.818Z,1761589362.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:43.068Z,1761589363.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:43.178Z,1761589363.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458155,0.885507,0.077276],[-0.886395,0.448663,0.114036],[0.066309,-0.120743,0.990467]]
2025-10-27T18:22:43.320Z,1761589363.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:43.573Z,1761589363.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:43.584Z,1761589363.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471901,0.880308,0.048653],[-0.878913,0.465371,0.104606],[0.069444,-0.092126,0.993323]]
2025-10-27T18:22:43.824Z,1761589363.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:43.987Z,1761589363.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468344,0.883380,-0.017169],[-0.875295,0.466532,0.127310],[0.120473,-0.044596,0.991714]]
2025-10-27T18:22:44.002Z,1761589364.002 [NAL9602](INFO): SBD MO Status=1, MOMSN=3078, MT Status=0, MTMSN=0
2025-10-27T18:22:44.059Z,1761589364.059 [NAL9602](INFO): Sent 83 bytes from file Logs/20251027T165046/Courier0024.lzma
2025-10-27T18:22:44.059Z,1761589364.059 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:22:44.076Z,1761589364.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:44.328Z,1761589364.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:44.390Z,1761589364.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443714,0.894369,-0.056765],[-0.875077,0.446062,0.187800],[0.193284,-0.033655,0.980566]]
2025-10-27T18:22:44.580Z,1761589364.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:44.834Z,1761589364.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:45.084Z,1761589365.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:45.319Z,1761589365.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415391,0.908655,0.042389],[-0.893248,0.398653,0.207808],[0.171927,-0.124186,0.977251]]
2025-10-27T18:22:45.336Z,1761589365.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:45.588Z,1761589365.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:45.724Z,1761589365.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411546,0.910423,0.041949],[-0.895362,0.395287,0.205121],[0.170165,-0.121976,0.977837]]
2025-10-27T18:22:45.841Z,1761589365.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:46.092Z,1761589366.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:46.344Z,1761589366.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:46.596Z,1761589366.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:46.850Z,1761589366.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:47.104Z,1761589367.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:47.356Z,1761589367.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:47.608Z,1761589367.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:47.860Z,1761589367.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:47.938Z,1761589367.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402813,0.914527,0.037183],[-0.903892,0.391082,0.173302],[0.143948,-0.103417,0.984167]]
2025-10-27T18:22:48.112Z,1761589368.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:48.332Z,1761589368.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402236,0.914472,0.044121],[-0.907808,0.392129,0.148729],[0.118707,-0.099877,0.987893]]
2025-10-27T18:22:48.364Z,1761589368.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:48.616Z,1761589368.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:48.743Z,1761589368.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395299,0.915392,0.076132],[-0.916252,0.387091,0.103165],[0.064966,-0.110537,0.991746]]
2025-10-27T18:22:48.868Z,1761589368.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:49.120Z,1761589369.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:49.138Z,1761589369.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370026,0.922054,0.113567],[-0.928895,0.365188,0.061568],[0.015295,-0.128273,0.991621]]
2025-10-27T18:22:49.372Z,1761589369.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:49.542Z,1761589369.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369599,0.924716,0.091090],[-0.929136,0.368862,0.025419],[-0.010094,-0.094030,0.995518]]
2025-10-27T18:22:49.624Z,1761589369.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:49.876Z,1761589369.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:49.953Z,1761589369.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406600,0.913458,0.016488],[-0.913578,0.406378,0.015233],[0.007215,-0.021257,0.999748]]
2025-10-27T18:22:50.128Z,1761589370.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:50.351Z,1761589370.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388894,0.920496,-0.038065],[-0.918060,0.390656,0.067477],[0.076983,0.008704,0.996994]]
2025-10-27T18:22:50.380Z,1761589370.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:50.632Z,1761589370.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:50.806Z,1761589370.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349801,0.936820,-0.002653],[-0.925115,0.345875,0.156629],[0.147650,-0.052334,0.987654]]
2025-10-27T18:22:50.855Z,1761589370.855 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 790.91, 770.42, 795.01
2025-10-27T18:22:50.884Z,1761589370.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:51.136Z,1761589371.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:51.157Z,1761589371.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343123,0.935771,0.081236],[-0.931331,0.327706,0.158845],[0.122021,-0.130161,0.983956]]
2025-10-27T18:22:51.388Z,1761589371.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:51.562Z,1761589371.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324964,0.933478,0.151713],[-0.945131,0.314864,0.087105],[0.033541,-0.171694,0.984579]]
2025-10-27T18:22:51.640Z,1761589371.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:51.892Z,1761589371.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:51.980Z,1761589371.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321578,0.933630,0.157867],[-0.945041,0.326854,-0.007963],[-0.059034,-0.146631,0.987428]]
2025-10-27T18:22:52.144Z,1761589372.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:52.389Z,1761589372.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327729,0.938898,0.105185],[-0.938715,0.336190,-0.076091],[-0.106804,-0.073802,0.991537]]
2025-10-27T18:22:52.396Z,1761589372.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:52.649Z,1761589372.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:52.900Z,1761589372.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:52.917Z,1761589372.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323390,0.945139,0.046172],[-0.944427,0.325418,-0.046490],[-0.058965,-0.028572,0.997851]]
2025-10-27T18:22:53.152Z,1761589373.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:53.181Z,1761589373.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319085,0.947686,0.008743],[-0.947726,0.319064,0.003725],[0.000741,-0.009474,0.999955]]
2025-10-27T18:22:53.404Z,1761589373.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:53.583Z,1761589373.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325074,0.944736,0.042436],[-0.945486,0.325606,-0.006092],[-0.019573,-0.038142,0.999081]]
2025-10-27T18:22:53.657Z,1761589373.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:53.908Z,1761589373.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:53.985Z,1761589373.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326057,0.940028,0.100175],[-0.943186,0.330645,-0.032776],[-0.063933,-0.083797,0.994430]]
2025-10-27T18:22:54.006Z,1761589374.006 [NAL9602](INFO): SBD MO Status=1, MOMSN=3079, MT Status=0, MTMSN=0
2025-10-27T18:22:54.055Z,1761589374.055 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0025.lzma
2025-10-27T18:22:54.055Z,1761589374.055 [NAL9602](INFO): Packets left to send: 1
2025-10-27T18:22:54.160Z,1761589374.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:54.390Z,1761589374.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301039,0.944133,0.134117],[-0.951551,0.306645,-0.022810],[-0.062662,-0.120753,0.990703]]
2025-10-27T18:22:54.413Z,1761589374.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:54.664Z,1761589374.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:54.917Z,1761589374.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:55.134Z,1761589375.134 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:22:55.134Z,1761589375.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:22:55.134Z,1761589375.134 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:22:55.135Z,1761589375.135 [marl:UpdateRudder:A] Stopped
2025-10-27T18:22:55.135Z,1761589375.135 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:22:55.135Z,1761589375.135 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:22:55.135Z,1761589375.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:22:55.135Z,1761589375.135 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateCommandMode] Stopped
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:22:55.136Z,1761589375.136 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:22:55.137Z,1761589375.137 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:22:55.137Z,1761589375.137 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:22:55.137Z,1761589375.137 [marl:UpdateSpeed] Stopped
2025-10-27T18:22:55.137Z,1761589375.137 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:22:55.168Z,1761589375.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:55.259Z,1761589375.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279481,0.952998,0.116987],[-0.960088,0.278773,0.022703],[-0.010977,-0.118663,0.992874]]
2025-10-27T18:22:55.307Z,1761589375.307 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:22:55.307Z,1761589375.307 [marl:UpdateRudder:B] Stopped
2025-10-27T18:22:55.307Z,1761589375.307 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:22:55.307Z,1761589375.307 [marl:UpdateRudder] Stopped
2025-10-27T18:22:55.308Z,1761589375.308 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:22:55.420Z,1761589375.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:55.650Z,1761589375.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257411,0.962235,0.088559],[-0.966213,0.255064,0.037064],[0.013076,-0.095108,0.995381]]
2025-10-27T18:22:55.672Z,1761589375.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:55.924Z,1761589375.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:56.176Z,1761589376.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:56.428Z,1761589376.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:56.680Z,1761589376.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:56.932Z,1761589376.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:57.184Z,1761589377.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:57.437Z,1761589377.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:57.441Z,1761589377.441 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:22:57.441Z,1761589377.441 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:22:57.688Z,1761589377.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:57.856Z,1761589377.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249821,0.967716,0.033398],[-0.965624,0.251543,-0.065554],[-0.071839,-0.015873,0.997290]]
2025-10-27T18:22:57.940Z,1761589377.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:58.043Z,1761589378.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:22:58.192Z,1761589378.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:58.259Z,1761589378.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241665,0.968855,0.054018],[-0.964345,0.233606,0.124366],[0.107874,-0.082147,0.990765]]
2025-10-27T18:22:58.307Z,1761589378.307 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:22:58.444Z,1761589378.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:58.659Z,1761589378.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211321,0.974209,0.079125],[-0.969348,0.198509,0.144771],[0.125330,-0.107293,0.986296]]
2025-10-27T18:22:58.696Z,1761589378.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:58.948Z,1761589378.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:59.047Z,1761589379.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:22:59.064Z,1761589379.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209730,0.972237,0.103770],[-0.972371,0.196269,0.126389],[0.102513,-0.127410,0.986538]]
2025-10-27T18:22:59.200Z,1761589379.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:59.455Z,1761589379.455 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:59.468Z,1761589379.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224519,0.967765,0.114117],[-0.972963,0.216121,0.081448],[0.054159,-0.129318,0.990123]]
2025-10-27T18:22:59.704Z,1761589379.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:22:59.869Z,1761589379.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189421,0.976596,0.101886],[-0.981830,0.187181,0.031201],[0.011399,-0.105945,0.994307]]
2025-10-27T18:22:59.956Z,1761589379.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:00.208Z,1761589380.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:00.279Z,1761589380.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178531,0.981412,0.070409],[-0.983623,0.179816,-0.012296],[-0.024728,-0.067060,0.997442]]
2025-10-27T18:23:00.460Z,1761589380.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:00.673Z,1761589380.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191900,0.980662,0.038435],[-0.981243,0.192451,-0.011155],[-0.018337,-0.035573,0.999199]]
2025-10-27T18:23:00.712Z,1761589380.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:00.964Z,1761589380.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:01.090Z,1761589381.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200814,0.979613,0.005599],[-0.979587,0.200855,-0.008165],[-0.009123,-0.003845,0.999951]]
2025-10-27T18:23:01.126Z,1761589381.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322110, +14.4,   0.0,1505.:0,   0.00, 722.30, 789.27
2025-10-27T18:23:01.216Z,1761589381.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:01.468Z,1761589381.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:01.485Z,1761589381.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182632,0.983118,0.011127],[-0.982919,0.182833,-0.021029],[-0.022709,-0.007096,0.999717]]
2025-10-27T18:23:01.720Z,1761589381.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:01.887Z,1761589381.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156915,0.985634,0.062478],[-0.986740,0.159121,-0.032022],[-0.041503,-0.056625,0.997532]]
2025-10-27T18:23:01.972Z,1761589381.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:02.224Z,1761589382.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:02.293Z,1761589382.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147677,0.980876,0.126784],[-0.987395,0.153597,-0.038203],[-0.056946,-0.119544,0.991194]]
2025-10-27T18:23:02.476Z,1761589382.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:02.694Z,1761589382.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143568,0.975573,0.166269],[-0.988707,0.148689,-0.018706],[-0.042971,-0.161706,0.985903]]
2025-10-27T18:23:02.728Z,1761589382.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:02.980Z,1761589382.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:03.098Z,1761589383.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128105,0.981020,0.145564],[-0.991013,0.120926,0.057179],[0.038491,-0.151581,0.987695]]
2025-10-27T18:23:03.232Z,1761589383.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:03.484Z,1761589383.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:03.502Z,1761589383.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113963,0.990341,0.078971],[-0.988011,0.104643,0.113507],[0.104147,-0.090960,0.990394]]
2025-10-27T18:23:03.737Z,1761589383.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:03.918Z,1761589383.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096660,0.995100,0.020801],[-0.989116,0.093707,0.113438],[0.110933,-0.031539,0.993327]]
2025-10-27T18:23:03.938Z,1761589383.938 [NAL9602](INFO): SBD MO Status=1, MOMSN=3080, MT Status=0, MTMSN=0
2025-10-27T18:23:03.988Z,1761589383.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:04.011Z,1761589384.011 [NAL9602](INFO): Sent 306 bytes from file Logs/20251027T165046/Express0025.lzma
2025-10-27T18:23:04.011Z,1761589384.011 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:23:04.240Z,1761589384.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:04.492Z,1761589384.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:04.744Z,1761589384.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:04.996Z,1761589384.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:05.248Z,1761589385.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:05.500Z,1761589385.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:05.580Z,1761589385.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066654,0.993177,0.095693],[-0.989632,0.053576,0.133259],[0.127223,-0.103583,0.986451]]
2025-10-27T18:23:05.752Z,1761589385.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:05.966Z,1761589385.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050722,0.993287,0.103964],[-0.987963,0.034671,0.150756],[0.146139,-0.110359,0.983089]]
2025-10-27T18:23:06.004Z,1761589386.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:06.256Z,1761589386.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:06.369Z,1761589386.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058705,0.993759,0.094853],[-0.989248,0.045162,0.139097],[0.133946,-0.101999,0.985726]]
2025-10-27T18:23:06.508Z,1761589386.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:06.768Z,1761589386.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:06.782Z,1761589386.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057702,0.997431,0.042459],[-0.991051,0.052101,0.122895],[0.120367,-0.049171,0.991511]]
2025-10-27T18:23:07.012Z,1761589387.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:07.264Z,1761589387.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:07.516Z,1761589387.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:07.581Z,1761589387.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054914,0.998344,0.017145],[-0.980508,0.050673,0.189830],[0.188647,-0.027235,0.981667]]
2025-10-27T18:23:07.768Z,1761589387.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:07.985Z,1761589387.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073421,0.996545,0.038828],[-0.985853,0.066641,0.153792],[0.150673,-0.049570,0.987340]]
2025-10-27T18:23:08.020Z,1761589388.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:08.195Z,1761589388.195 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002815
2025-10-27T18:23:08.272Z,1761589388.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:08.396Z,1761589388.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045065,0.995502,0.083332],[-0.994335,0.036661,0.099767],[0.096263,-0.087356,0.991515]]
2025-10-27T18:23:08.524Z,1761589388.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:08.776Z,1761589388.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:08.848Z,1761589388.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016303,0.989829,0.141322],[-0.993023,-0.000480,0.117920],[0.116788,-0.142258,0.982916]]
2025-10-27T18:23:09.028Z,1761589389.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:09.230Z,1761589389.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032766,0.985234,0.168046],[-0.989706,0.008547,0.142863],[0.139317,-0.170997,0.975372]]
2025-10-27T18:23:09.280Z,1761589389.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:09.532Z,1761589389.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:09.602Z,1761589389.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046180,0.990864,0.126712],[-0.991432,0.029947,0.127144],[0.122188,-0.131498,0.983757]]
2025-10-27T18:23:09.784Z,1761589389.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:10.005Z,1761589390.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014991,0.995194,0.096763],[-0.996734,0.007193,0.080438],[0.079355,-0.097653,0.992052]]
2025-10-27T18:23:10.036Z,1761589390.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:10.044Z,1761589390.044 [marl:NeedComms:D] Stopped
2025-10-27T18:23:10.044Z,1761589390.044 [marl:NeedComms:E] Running Loop=1
2025-10-27T18:23:10.288Z,1761589390.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:10.417Z,1761589390.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039315,0.997355,0.061139],[-0.996701,-0.043490,0.068526],[0.071004,-0.058243,0.995774]]
2025-10-27T18:23:10.540Z,1761589390.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:10.797Z,1761589390.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:10.858Z,1761589390.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055150,0.995826,0.072722],[-0.995319,-0.060618,0.075264],[0.079358,-0.068230,0.994508]]
2025-10-27T18:23:10.870Z,1761589390.870 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322112976,35.0, +14.5,   0.0, 0
2025-10-27T18:23:10.899Z,1761589390.899 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:23:10.899Z,1761589390.899 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:23:10.899Z,1761589390.899 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:23:10.900Z,1761589390.900 [marl:UpdateRudder:A] Stopped
2025-10-27T18:23:10.900Z,1761589390.900 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:23:10.900Z,1761589390.900 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:23:10.900Z,1761589390.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:23:10.901Z,1761589390.901 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:23:10.901Z,1761589390.901 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:23:10.901Z,1761589390.901 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:23:10.901Z,1761589390.901 [marl:UpdateCommandMode] Stopped
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:23:10.902Z,1761589390.902 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:23:10.939Z,1761589390.939 [marl:UpdateSpeed] Stopped
2025-10-27T18:23:10.939Z,1761589390.939 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:23:11.048Z,1761589391.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:11.235Z,1761589391.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063457,0.989687,0.128425],[-0.990650,-0.078039,0.111903],[0.120771,-0.120124,0.985386]]
2025-10-27T18:23:11.300Z,1761589391.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:11.302Z,1761589391.302 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:23:11.302Z,1761589391.302 [marl:UpdateRudder:B] Stopped
2025-10-27T18:23:11.302Z,1761589391.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:23:11.303Z,1761589391.303 [marl:UpdateRudder] Stopped
2025-10-27T18:23:11.303Z,1761589391.303 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:23:11.552Z,1761589391.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:11.623Z,1761589391.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072182,0.985890,0.151031],[-0.987432,-0.091983,0.128516],[0.140594,-0.139856,0.980139]]
2025-10-27T18:23:11.804Z,1761589391.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:12.026Z,1761589392.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046451,0.990983,0.125682],[-0.992103,-0.060442,0.109899],[0.116504,-0.119584,0.985965]]
2025-10-27T18:23:12.056Z,1761589392.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:12.308Z,1761589392.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:12.430Z,1761589392.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010036,0.997754,0.066223],[-0.996650,-0.015356,0.080326],[0.081163,-0.065195,0.994566]]
2025-10-27T18:23:12.561Z,1761589392.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:12.814Z,1761589392.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:12.869Z,1761589392.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000679,0.999994,-0.003425],[-0.998079,-0.000465,0.061945],[0.061943,0.003461,0.998074]]
2025-10-27T18:23:13.066Z,1761589393.066 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:13.239Z,1761589393.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014255,0.999770,-0.016010],[-0.998456,-0.013373,0.053910],[0.053684,0.016753,0.998417]]
2025-10-27T18:23:13.316Z,1761589393.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:13.568Z,1761589393.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:13.642Z,1761589393.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018437,0.998573,0.050115],[-0.999136,-0.020268,0.036287],[0.037251,-0.049402,0.998084]]
2025-10-27T18:23:13.821Z,1761589393.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:14.045Z,1761589394.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013563,0.989825,0.141640],[-0.999827,-0.011625,-0.014505],[-0.012711,-0.141812,0.989812]]
2025-10-27T18:23:14.072Z,1761589394.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:14.325Z,1761589394.325 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:14.457Z,1761589394.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029126,0.984191,0.174699],[-0.999121,-0.023396,-0.034772],[-0.030135,-0.175558,0.984008]]
2025-10-27T18:23:14.576Z,1761589394.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:14.830Z,1761589394.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:14.858Z,1761589394.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041404,0.983073,0.178473],[-0.998995,-0.037662,-0.024307],[-0.017174,-0.179300,0.983645]]
2025-10-27T18:23:15.080Z,1761589395.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:15.258Z,1761589395.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081857,0.983361,0.162175],[-0.996299,-0.085022,0.012658],[0.026236,-0.160538,0.986681]]
2025-10-27T18:23:15.332Z,1761589395.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:15.584Z,1761589395.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:15.663Z,1761589395.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098145,0.987504,0.123303],[-0.993856,-0.103630,0.038868],[0.051160,-0.118730,0.991608]]
2025-10-27T18:23:15.836Z,1761589395.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:16.067Z,1761589396.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094673,0.994303,0.048983],[-0.995362,-0.095388,0.012454],[0.017055,-0.047577,0.998722]]
2025-10-27T18:23:16.088Z,1761589396.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:16.340Z,1761589396.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:16.469Z,1761589396.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105575,0.994109,0.024512],[-0.994411,-0.105560,-0.001940],[0.000659,-0.024580,0.999698]]
2025-10-27T18:23:16.592Z,1761589396.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:16.846Z,1761589396.846 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:16.879Z,1761589396.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110497,0.992369,0.054711],[-0.993876,-0.110340,-0.005897],[0.000185,-0.055028,0.998485]]
2025-10-27T18:23:17.096Z,1761589397.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:17.279Z,1761589397.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127451,0.987802,0.089463],[-0.991807,-0.126142,-0.020151],[-0.008620,-0.091298,0.995786]]
2025-10-27T18:23:17.348Z,1761589397.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:17.600Z,1761589397.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:17.681Z,1761589397.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148331,0.979158,0.138733],[-0.988388,-0.151460,0.012213],[0.032971,-0.135311,0.990254]]
2025-10-27T18:23:17.852Z,1761589397.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:18.086Z,1761589398.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157375,0.968331,0.193827],[-0.979984,-0.177364,0.090402],[0.121917,-0.175721,0.976862]]
2025-10-27T18:23:18.104Z,1761589398.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:18.356Z,1761589398.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:18.490Z,1761589398.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162210,0.961844,0.220330],[-0.965000,-0.201257,0.168137],[0.206064,-0.185345,0.960825]]
2025-10-27T18:23:18.608Z,1761589398.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:18.860Z,1761589398.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:18.904Z,1761589398.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168241,0.969795,0.176612],[-0.956331,-0.204021,0.209300],[0.239011,-0.133687,0.961770]]
2025-10-27T18:23:19.112Z,1761589399.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:19.298Z,1761589399.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143807,0.987627,0.062544],[-0.963423,-0.154164,0.219201],[0.226131,-0.028734,0.973673]]
2025-10-27T18:23:19.365Z,1761589399.365 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:19.616Z,1761589399.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:19.701Z,1761589399.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108405,0.993696,-0.028573],[-0.982229,-0.102636,0.157140],[0.153217,0.045100,0.987163]]
2025-10-27T18:23:19.869Z,1761589399.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:20.106Z,1761589400.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126175,0.991834,-0.018574],[-0.989387,-0.124460,0.074988],[0.072064,0.027839,0.997011]]
2025-10-27T18:23:20.120Z,1761589400.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:20.319Z,1761589400.319 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:23:20.374Z,1761589400.374 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:20.511Z,1761589400.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117358,0.992346,0.038430],[-0.992902,-0.116497,-0.023951],[-0.019291,-0.040968,0.998974]]
2025-10-27T18:23:20.624Z,1761589400.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:20.876Z,1761589400.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:20.913Z,1761589400.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113733,0.984616,0.132648],[-0.991334,-0.103633,-0.080726],[-0.065737,-0.140679,0.987870]]
2025-10-27T18:23:20.934Z,1761589400.934 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322113976,35.0, +14.5,   0.0, 0
2025-10-27T18:23:21.128Z,1761589401.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:21.317Z,1761589401.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167615,0.966708,0.193342],[-0.984518,-0.153935,-0.083836],[-0.051283,-0.204401,0.977543]]
2025-10-27T18:23:21.381Z,1761589401.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:21.632Z,1761589401.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:21.724Z,1761589401.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219775,0.956690,0.190899],[-0.975540,-0.214598,-0.047648],[-0.004618,-0.196701,0.980453]]
2025-10-27T18:23:21.884Z,1761589401.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:22.126Z,1761589402.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189816,0.969355,0.155953],[-0.980789,-0.194485,0.015105],[0.044973,-0.150090,0.987649]]
2025-10-27T18:23:22.136Z,1761589402.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:22.388Z,1761589402.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:22.529Z,1761589402.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162678,0.984220,0.069624],[-0.984836,-0.166281,0.049488],[0.060284,-0.060517,0.996345]]
2025-10-27T18:23:22.640Z,1761589402.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:22.892Z,1761589402.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:22.934Z,1761589402.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178322,0.983850,-0.015516],[-0.982247,-0.177054,0.061997],[0.058248,0.026296,0.997956]]
2025-10-27T18:23:23.144Z,1761589403.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:23.341Z,1761589403.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173730,0.984362,-0.029157],[-0.983763,-0.172118,0.050840],[0.045027,0.037516,0.998281]]
2025-10-27T18:23:23.396Z,1761589403.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:23.648Z,1761589403.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:23.751Z,1761589403.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153796,0.988081,0.006587],[-0.987765,-0.153914,0.025117],[0.025831,-0.002643,0.999663]]
2025-10-27T18:23:23.900Z,1761589403.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:24.146Z,1761589404.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157784,0.983096,0.092877],[-0.987274,-0.158943,0.005175],[0.019849,-0.090879,0.995664]]
2025-10-27T18:23:24.152Z,1761589404.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:24.191Z,1761589404.191 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:23:24.191Z,1761589404.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:23:24.191Z,1761589404.191 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateRudder:A] Stopped
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:23:24.192Z,1761589404.192 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateCommandMode] Stopped
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:23:24.193Z,1761589404.193 [marl:UpdateSpeed] Stopped
2025-10-27T18:23:24.194Z,1761589404.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:23:24.404Z,1761589404.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:24.605Z,1761589404.605 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:23:24.605Z,1761589404.605 [marl:UpdateRudder:B] Stopped
2025-10-27T18:23:24.605Z,1761589404.605 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:23:24.605Z,1761589404.605 [marl:UpdateRudder] Stopped
2025-10-27T18:23:24.605Z,1761589404.605 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:23:24.657Z,1761589404.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:24.908Z,1761589404.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:24.957Z,1761589404.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185121,0.956922,0.223675],[-0.982712,-0.180904,-0.039386],[0.002774,-0.227100,0.973868]]
2025-10-27T18:23:25.160Z,1761589405.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:25.363Z,1761589405.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216124,0.954493,0.205509],[-0.976313,-0.213453,-0.035353],[0.010123,-0.208281,0.978016]]
2025-10-27T18:23:25.412Z,1761589405.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:25.664Z,1761589405.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:25.764Z,1761589405.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204026,0.966413,0.156265],[-0.976319,-0.212595,0.040059],[0.071935,-0.144392,0.986902]]
2025-10-27T18:23:25.916Z,1761589405.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:26.166Z,1761589406.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178844,0.981481,0.068629],[-0.978708,-0.184612,0.089718],[0.100726,-0.051122,0.993600]]
2025-10-27T18:23:26.168Z,1761589406.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:26.173Z,1761589406.173 [NAL9602](INFO): SBD MO Status=0, MOMSN=3081, MT Status=0, MTMSN=0
2025-10-27T18:23:26.420Z,1761589406.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:26.571Z,1761589406.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165549,0.986080,-0.015503],[-0.977891,-0.162097,0.132113],[0.127761,0.037031,0.991113]]
2025-10-27T18:23:26.672Z,1761589406.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:26.924Z,1761589406.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:26.973Z,1761589406.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151922,0.987461,-0.042909],[-0.976433,-0.143209,0.161460],[0.153291,0.066427,0.985946]]
2025-10-27T18:23:27.176Z,1761589407.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:27.428Z,1761589407.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:27.438Z,1761589407.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167436,0.985828,-0.010367],[-0.981824,-0.165784,0.092404],[0.089376,0.025651,0.995668]]
2025-10-27T18:23:27.524Z,1761589407.524 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182326.00,A,3646.59812,N,12151.85121,W,0.330,23.75,271025,,,D*4C
2025-10-27T18:23:27.526Z,1761589407.526 [NAL9602](INFO): GPS fix at 20251027T182326: (36.776635, -121.864187)
2025-10-27T18:23:27.680Z,1761589407.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:27.700Z,1761589407.700 [marl:NeedComms:E] Stopped
2025-10-27T18:23:27.701Z,1761589407.701 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T18:23:27.701Z,1761589407.701 [marl:NeedComms] Stopped
2025-10-27T18:23:27.701Z,1761589407.701 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T18:23:27.701Z,1761589407.701 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T18:23:27.701Z,1761589407.701 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T18:23:27.702Z,1761589407.702 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:27.932Z,1761589407.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:27.997Z,1761589407.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180890,0.969269,0.166720],[-0.983473,-0.179597,-0.022931],[0.007716,-0.168113,0.985738]]
2025-10-27T18:23:28.184Z,1761589408.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:28.308Z,1761589408.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171705,0.972301,0.158584],[-0.984713,-0.164603,-0.056983],[-0.029301,-0.165944,0.985700]]
2025-10-27T18:23:28.436Z,1761589408.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:28.688Z,1761589408.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:28.738Z,1761589408.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191161,0.972876,0.130265],[-0.981557,-0.189203,-0.027363],[-0.001974,-0.133093,0.991102]]
2025-10-27T18:23:28.942Z,1761589408.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:29.130Z,1761589409.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201207,0.973802,0.105946],[-0.976305,-0.208159,0.059150],[0.079654,-0.091535,0.992611]]
2025-10-27T18:23:29.192Z,1761589409.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:29.447Z,1761589409.447 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:29.525Z,1761589409.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184498,0.980373,0.069490],[-0.974564,-0.191640,0.116185],[0.127222,-0.046287,0.990794]]
2025-10-27T18:23:29.701Z,1761589409.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:29.922Z,1761589409.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175332,0.984349,0.017742],[-0.976734,-0.176179,0.122274],[0.123486,0.004109,0.992338]]
2025-10-27T18:23:29.936Z,1761589409.936 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182329.00,A,3646.59834,N,12151.85224,W,0.253,289.31,271025,,,D*77
2025-10-27T18:23:29.938Z,1761589409.938 [NAL9602](INFO): GPS fix at 20251027T182329: (36.776639, -121.864204)
2025-10-27T18:23:29.952Z,1761589409.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:30.002Z,1761589410.002 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:30.205Z,1761589410.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:30.329Z,1761589410.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191258,0.981245,0.024047],[-0.972546,-0.192758,0.130379],[0.132569,0.001549,0.991173]]
2025-10-27T18:23:30.456Z,1761589410.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:30.708Z,1761589410.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:30.738Z,1761589410.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191348,0.976997,0.094142],[-0.967694,-0.203826,0.148405],[0.164180,-0.062704,0.984435]]
2025-10-27T18:23:30.968Z,1761589410.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:31.178Z,1761589411.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189847,0.970104,0.151185],[-0.969755,-0.209338,0.125508],[0.153405,-0.122785,0.980505]]
2025-10-27T18:23:31.205Z,1761589411.205 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -110.05,     +3889.4 +15.00,  0.00
2025-10-27T18:23:31.232Z,1761589411.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:31.486Z,1761589411.486 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:31.562Z,1761589411.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195670,0.963954,0.180292],[-0.974745,-0.211351,0.072129],[0.107634,-0.161625,0.980965]]
2025-10-27T18:23:31.736Z,1761589411.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:31.942Z,1761589411.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180027,0.970777,0.158690],[-0.977167,-0.195004,0.084370],[0.112849,-0.139878,0.983717]]
2025-10-27T18:23:31.988Z,1761589411.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:32.245Z,1761589412.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:32.367Z,1761589412.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153530,0.983832,0.092207],[-0.981142,-0.162866,0.104091],[0.117426,-0.074487,0.990284]]
2025-10-27T18:23:32.496Z,1761589412.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:32.748Z,1761589412.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:32.841Z,1761589412.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122480,0.991492,0.044082],[-0.987143,-0.126298,0.097968],[0.102702,-0.031516,0.994213]]
2025-10-27T18:23:32.000Z,1761589413.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:33.252Z,1761589413.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:33.290Z,1761589413.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113168,0.993409,0.018227],[-0.989909,-0.114306,0.083753],[0.085285,-0.008565,0.996320]]
2025-10-27T18:23:33.303Z,1761589413.303 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182332.00,A,3646.59845,N,12151.85187,W,0.292,14.99,271025,,,D*48
2025-10-27T18:23:33.306Z,1761589413.306 [NAL9602](INFO): GPS fix at 20251027T182332: (36.776641, -121.864198)
2025-10-27T18:23:33.400Z,1761589413.400 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:33.504Z,1761589413.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:33.692Z,1761589413.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149907,0.987295,0.052693],[-0.986892,-0.152642,0.052390],[0.059768,-0.044149,0.997236]]
2025-10-27T18:23:33.756Z,1761589413.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:34.008Z,1761589414.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:34.093Z,1761589414.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159850,0.981051,0.109484],[-0.985373,-0.165214,0.041755],[0.059052,-0.101208,0.993111]]
2025-10-27T18:23:34.260Z,1761589414.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:34.498Z,1761589414.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141206,0.972683,0.184251],[-0.986682,-0.153457,0.053947],[0.080748,-0.174180,0.981398]]
2025-10-27T18:23:34.512Z,1761589414.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:34.766Z,1761589414.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:34.902Z,1761589414.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128896,0.966847,0.220439],[-0.989764,-0.139162,0.031627],[0.061255,-0.214107,0.974888]]
2025-10-27T18:23:35.017Z,1761589415.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:35.268Z,1761589415.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:35.308Z,1761589415.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153651,0.962234,0.224715],[-0.987482,-0.157732,0.000212],[0.035649,-0.221869,0.974425]]
2025-10-27T18:23:35.520Z,1761589415.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:35.711Z,1761589415.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160835,0.970483,0.179706],[-0.986400,-0.164301,0.004470],[0.033864,-0.176543,0.983710]]
2025-10-27T18:23:35.772Z,1761589415.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:36.024Z,1761589416.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:36.116Z,1761589416.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148043,0.982167,0.115897],[-0.988549,-0.150421,0.012002],[0.029221,-0.112793,0.993189]]
2025-10-27T18:23:36.121Z,1761589416.121 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182335.00,A,3646.59869,N,12151.85229,W,0.836,296.77,271025,,,D*7A
2025-10-27T18:23:36.124Z,1761589416.124 [NAL9602](INFO): GPS fix at 20251027T182335: (36.776645, -121.864205)
2025-10-27T18:23:36.174Z,1761589416.174 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:36.276Z,1761589416.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:36.520Z,1761589416.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147576,0.984476,0.095021],[-0.988835,-0.148870,0.006635],[0.020678,-0.092981,0.995453]]
2025-10-27T18:23:36.528Z,1761589416.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:36.782Z,1761589416.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:36.845Z,1761589416.845 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:23:36.925Z,1761589416.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171884,0.979815,0.102074],[-0.984993,-0.169291,-0.033608],[-0.015649,-0.106319,0.994209]]
2025-10-27T18:23:37.032Z,1761589417.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:37.284Z,1761589417.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:37.326Z,1761589417.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188657,0.976741,0.101908],[-0.981328,-0.183543,-0.057502],[-0.037460,-0.110854,0.993131]]
2025-10-27T18:23:37.536Z,1761589417.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:37.736Z,1761589417.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196077,0.974476,0.109323],[-0.980442,-0.192897,-0.039050],[-0.016965,-0.114841,0.993239]]
2025-10-27T18:23:37.783Z,1761589417.783 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:23:37.783Z,1761589417.783 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:23:37.783Z,1761589417.783 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateRudder:A] Stopped
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:23:37.784Z,1761589417.784 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateCommandMode] Stopped
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:23:37.785Z,1761589417.785 [marl:UpdateSpeed] Stopped
2025-10-27T18:23:37.786Z,1761589417.786 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:23:37.788Z,1761589417.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:38.040Z,1761589418.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:38.140Z,1761589418.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193449,0.971366,0.137931],[-0.979546,-0.199159,0.028744],[0.055391,-0.129549,0.990025]]
2025-10-27T18:23:38.164Z,1761589418.164 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:23:38.164Z,1761589418.164 [marl:UpdateRudder:B] Stopped
2025-10-27T18:23:38.165Z,1761589418.165 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:23:38.165Z,1761589418.165 [marl:UpdateRudder] Stopped
2025-10-27T18:23:38.165Z,1761589418.165 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:23:38.295Z,1761589418.295 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:38.541Z,1761589418.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181235,0.967714,0.175169],[-0.977622,-0.196628,0.074788],[0.106816,-0.157695,0.981694]]
2025-10-27T18:23:38.544Z,1761589418.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:38.798Z,1761589418.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:38.941Z,1761589418.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191133,0.964005,0.184832],[-0.976117,-0.206482,0.067527],[0.103261,-0.167511,0.980447]]
2025-10-27T18:23:38.958Z,1761589418.958 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182338.00,A,3646.59872,N,12151.85298,W,0.350,278.91,271025,,,D*74
2025-10-27T18:23:38.964Z,1761589418.964 [NAL9602](INFO): GPS fix at 20251027T182338: (36.776645, -121.864216)
2025-10-27T18:23:39.048Z,1761589419.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:39.070Z,1761589419.070 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:39.301Z,1761589419.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:39.426Z,1761589419.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184612,0.970300,0.156319],[-0.979137,-0.195321,0.056041],[0.084909,-0.142712,0.986116]]
2025-10-27T18:23:39.552Z,1761589419.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:39.804Z,1761589419.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:39.820Z,1761589419.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155996,0.980299,0.121159],[-0.985375,-0.162960,0.049804],[0.068566,-0.111618,0.991383]]
2025-10-27T18:23:40.056Z,1761589420.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:40.245Z,1761589420.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156059,0.980980,0.115431],[-0.987340,-0.158282,0.010297],[0.028372,-0.112362,0.993262]]
2025-10-27T18:23:40.308Z,1761589420.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:40.562Z,1761589420.562 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:40.637Z,1761589420.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187093,0.972454,0.139031],[-0.982095,-0.181991,-0.048662],[-0.022020,-0.145646,0.989092]]
2025-10-27T18:23:40.820Z,1761589420.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:41.068Z,1761589421.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:41.155Z,1761589421.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158426,0.977896,0.136455],[-0.987305,-0.155299,-0.033330],[-0.011402,-0.140003,0.990085]]
2025-10-27T18:23:41.320Z,1761589421.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:41.538Z,1761589421.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163598,0.976009,0.143673],[-0.986526,-0.162092,-0.022206],[0.001616,-0.145370,0.989376]]
2025-10-27T18:23:41.572Z,1761589421.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:41.825Z,1761589421.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:41.942Z,1761589421.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210153,0.965000,0.156876],[-0.977540,-0.210002,-0.017727],[0.015837,-0.157078,0.987459]]
2025-10-27T18:23:41.950Z,1761589421.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182341.00,A,3646.59887,N,12151.85462,W,1.613,276.22,271025,,,D*76
2025-10-27T18:23:41.952Z,1761589421.952 [NAL9602](INFO): GPS fix at 20251027T182341: (36.776648, -121.864244)
2025-10-27T18:23:42.022Z,1761589422.022 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:42.077Z,1761589422.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:42.329Z,1761589422.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:42.390Z,1761589422.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218776,0.957082,0.190083],[-0.974834,-0.222930,0.000482],[0.042837,-0.185194,0.981768]]
2025-10-27T18:23:42.581Z,1761589422.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:42.804Z,1761589422.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180074,0.948519,0.260549],[-0.979470,-0.197305,0.041338],[0.090618,-0.247756,0.964575]]
2025-10-27T18:23:42.834Z,1761589422.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:43.085Z,1761589423.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:43.337Z,1761589423.337 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:43.361Z,1761589423.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133801,0.949889,0.282504],[-0.980056,-0.169096,0.104389],[0.146928,-0.262902,0.953569]]
2025-10-27T18:23:43.588Z,1761589423.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:43.735Z,1761589423.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118814,0.966947,0.225604],[-0.981847,-0.148250,0.118318],[0.147853,-0.207451,0.967008]]
2025-10-27T18:23:43.841Z,1761589423.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:44.092Z,1761589424.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:44.145Z,1761589424.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136079,0.983377,0.120217],[-0.985912,-0.146333,0.081013],[0.097258,-0.107499,0.989437]]
2025-10-27T18:23:44.344Z,1761589424.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:44.538Z,1761589424.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166830,0.982266,0.085559],[-0.982576,-0.172836,0.068347],[0.081923,-0.072666,0.993986]]
2025-10-27T18:23:44.596Z,1761589424.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:44.849Z,1761589424.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:44.942Z,1761589424.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188351,0.967826,0.166842],[-0.967767,-0.211823,0.136228],[0.167186,-0.135805,0.976527]]
2025-10-27T18:23:44.954Z,1761589424.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182344.00,A,3646.59892,N,12151.85583,W,1.516,279.55,271025,,,D*70
2025-10-27T18:23:44.965Z,1761589424.965 [NAL9602](INFO): GPS fix at 20251027T182344: (36.776649, -121.864264)
2025-10-27T18:23:45.006Z,1761589425.006 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:45.103Z,1761589425.103 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:45.352Z,1761589425.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:45.358Z,1761589425.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192698,0.947316,0.255853],[-0.946737,-0.248039,0.205342],[0.257985,-0.202656,0.944656]]
2025-10-27T18:23:45.604Z,1761589425.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:45.760Z,1761589425.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176142,0.950442,0.256193],[-0.943402,-0.237293,0.231701],[0.281011,-0.200881,0.938445]]
2025-10-27T18:23:45.856Z,1761589425.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:46.108Z,1761589426.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:46.160Z,1761589426.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135462,0.968647,0.208265],[-0.955273,-0.183460,0.231941],[0.262877,-0.167530,0.950173]]
2025-10-27T18:23:46.362Z,1761589426.362 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:46.557Z,1761589426.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109643,0.982660,0.149523],[-0.956404,-0.145265,0.253357],[0.270684,-0.115226,0.955747]]
2025-10-27T18:23:46.616Z,1761589426.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:46.868Z,1761589426.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:46.962Z,1761589426.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134487,0.983488,0.121096],[-0.942824,-0.164610,0.289804],[0.304952,-0.075197,0.949394]]
2025-10-27T18:23:47.121Z,1761589427.121 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:47.283Z,1761589427.283 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:23:47.372Z,1761589427.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:47.624Z,1761589427.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:47.773Z,1761589427.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153678,0.975948,0.154623],[-0.924861,-0.197158,0.325208],[0.347871,-0.093027,0.932916]]
2025-10-27T18:23:47.876Z,1761589427.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:48.128Z,1761589428.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:48.174Z,1761589428.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138651,0.970788,0.195823],[-0.926380,-0.197044,0.320928],[0.350138,-0.136910,0.926638]]
2025-10-27T18:23:48.186Z,1761589428.186 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182347.00,A,3646.59887,N,12151.85701,W,1.749,275.15,271025,,,D*7F
2025-10-27T18:23:48.188Z,1761589428.188 [NAL9602](INFO): GPS fix at 20251027T182347: (36.776648, -121.864283)
2025-10-27T18:23:48.214Z,1761589428.214 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:48.380Z,1761589428.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:48.578Z,1761589428.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135242,0.965987,0.220405],[-0.931666,-0.199689,0.303517],[0.337207,-0.164296,0.926984]]
2025-10-27T18:23:48.632Z,1761589428.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:48.884Z,1761589428.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:49.136Z,1761589429.136 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:23:49.136Z,1761589429.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:49.388Z,1761589429.388 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:23:49.388Z,1761589429.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:49.416Z,1761589429.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161806,0.951742,0.260779],[-0.919100,-0.241553,0.311300],[0.359269,-0.189312,0.913831]]
2025-10-27T18:23:49.640Z,1761589429.640 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:23:49.640Z,1761589429.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:49.794Z,1761589429.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164016,0.943762,0.287075],[-0.918416,-0.252302,0.304722],[0.360015,-0.213674,0.908148]]
2025-10-27T18:23:49.892Z,1761589429.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:50.144Z,1761589430.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:50.198Z,1761589430.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163709,0.944740,0.284016],[-0.918153,-0.251217,0.306408],[0.360826,-0.210609,0.908542]]
2025-10-27T18:23:50.396Z,1761589430.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:50.602Z,1761589430.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172235,0.948597,0.265516],[-0.916120,-0.253314,0.310734],[0.362020,-0.189725,0.912659]]
2025-10-27T18:23:50.648Z,1761589430.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:50.901Z,1761589430.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:51.035Z,1761589431.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180040,0.950564,0.253010],[-0.913689,-0.256882,0.314935],[0.364360,-0.174472,0.914769]]
2025-10-27T18:23:51.044Z,1761589431.044 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182350.00,A,3646.59866,N,12151.85921,W,3.305,271.85,271025,,,D*79
2025-10-27T18:23:51.046Z,1761589431.046 [NAL9602](INFO): GPS fix at 20251027T182350: (36.776644, -121.864320)
2025-10-27T18:23:51.149Z,1761589431.149 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:51.152Z,1761589431.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:51.405Z,1761589431.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:51.573Z,1761589431.573 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:23:51.573Z,1761589431.573 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:23:51.573Z,1761589431.573 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateRudder:A] Stopped
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:23:51.574Z,1761589431.574 [marl:UpdateCommandMode] Stopped
2025-10-27T18:23:51.575Z,1761589431.575 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:23:51.579Z,1761589431.579 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:23:51.579Z,1761589431.579 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:23:51.579Z,1761589431.579 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:23:51.579Z,1761589431.579 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:23:51.580Z,1761589431.580 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:23:51.580Z,1761589431.580 [marl:UpdateSpeed] Stopped
2025-10-27T18:23:51.580Z,1761589431.580 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:23:51.656Z,1761589431.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:51.889Z,1761589431.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183840,0.933560,0.307681],[-0.890676,-0.290623,0.349620],[0.415811,-0.209770,0.884928]]
2025-10-27T18:23:51.911Z,1761589431.911 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:51.955Z,1761589431.955 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:23:51.955Z,1761589431.955 [marl:UpdateRudder:B] Stopped
2025-10-27T18:23:51.955Z,1761589431.955 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:23:51.955Z,1761589431.955 [marl:UpdateRudder] Stopped
2025-10-27T18:23:51.955Z,1761589431.955 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:23:52.160Z,1761589432.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:52.300Z,1761589432.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188290,0.918058,0.348879],[-0.878366,-0.316327,0.358345],[0.439341,-0.238971,0.865952]]
2025-10-27T18:23:52.412Z,1761589432.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:52.664Z,1761589432.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:52.704Z,1761589432.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188108,0.903869,0.384235],[-0.876608,-0.330938,0.349339],[0.442914,-0.271110,0.854591]]
2025-10-27T18:23:52.918Z,1761589432.918 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:23:52.1500

2025-10-27T18:23:52.918Z,1761589432.918 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:23:52.918Z,1761589432.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:53.106Z,1761589433.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180840,0.901801,0.392494],[-0.884328,-0.323742,0.336384],[0.430418,-0.286262,0.856034]]
2025-10-27T18:23:53.196Z,1761589433.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:53.449Z,1761589433.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:53.693Z,1761589433.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141460,0.929342,0.341045],[-0.905300,-0.260832,0.335259],[0.400526,-0.261323,0.878231]]
2025-10-27T18:23:53.700Z,1761589433.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:53.957Z,1761589433.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:54.094Z,1761589434.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123910,0.945409,0.301411],[-0.909372,-0.229747,0.346783],[0.397100,-0.231125,0.888197]]
2025-10-27T18:23:54.103Z,1761589434.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182353.00,A,3646.59691,N,12151.86031,W,2.955,271.85,271025,,,D*79
2025-10-27T18:23:54.106Z,1761589434.106 [NAL9602](INFO): GPS fix at 20251027T182353: (36.776615, -121.864339)
2025-10-27T18:23:54.193Z,1761589434.193 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:54.208Z,1761589434.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:54.461Z,1761589434.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:54.562Z,1761589434.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114785,0.956683,0.267550],[-0.911413,-0.208558,0.354726],[0.395160,-0.203131,0.895872]]
2025-10-27T18:23:54.714Z,1761589434.714 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:54.964Z,1761589434.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:55.049Z,1761589435.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121976,0.962760,0.241278],[-0.912868,-0.204244,0.353492],[0.389608,-0.177138,0.903785]]
2025-10-27T18:23:55.216Z,1761589435.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:55.468Z,1761589435.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:55.720Z,1761589435.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:55.867Z,1761589435.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156501,0.957194,0.243488],[-0.917697,-0.232068,0.322454],[0.365156,-0.172984,0.914734]]
2025-10-27T18:23:55.973Z,1761589435.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:56.224Z,1761589436.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:56.288Z,1761589436.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181157,0.945889,0.269214],[-0.917156,-0.261298,0.300912],[0.354974,-0.192399,0.914864]]
2025-10-27T18:23:56.476Z,1761589436.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:56.717Z,1761589436.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208830,0.928585,0.306790],[-0.913305,-0.297344,0.278316],[0.349662,-0.222072,0.910176]]
2025-10-27T18:23:56.729Z,1761589436.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:56.980Z,1761589436.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:57.230Z,1761589437.230 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182356.00,A,3646.59284,N,12151.85849,W,5.132,271.85,271025,,,A*73
2025-10-27T18:23:57.236Z,1761589437.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:57.239Z,1761589437.239 [NAL9602](INFO): GPS fix at 20251027T182356: (36.776547, -121.864308)
2025-10-27T18:23:57.299Z,1761589437.299 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:23:57.488Z,1761589437.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:57.495Z,1761589437.495 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:23:57.495Z,1761589437.495 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:23:57.664Z,1761589437.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282565,0.841596,0.460297],[-0.878378,-0.419849,0.228427],[0.385499,-0.339769,0.857874]]
2025-10-27T18:23:57.741Z,1761589437.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:57.992Z,1761589437.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:58.096Z,1761589438.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300421,0.800089,0.519235],[-0.863031,-0.459806,0.209179],[0.406109,-0.385275,0.828637]]
2025-10-27T18:23:58.244Z,1761589438.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:58.496Z,1761589438.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:58.502Z,1761589438.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315754,0.759530,0.568694],[-0.853504,-0.489202,0.179475],[0.414523,-0.428713,0.802730]]
2025-10-27T18:23:58.528Z,1761589438.528 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:23:58.748Z,1761589438.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:58.902Z,1761589438.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329947,0.733415,0.594338],[-0.851971,-0.502497,0.147111],[0.406546,-0.457821,0.790646]]
2025-10-27T18:23:58.000Z,1761589439.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:59.252Z,1761589439.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:59.462Z,1761589439.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343373,0.731642,0.588892],[-0.856011,-0.501791,0.124302],[0.386446,-0.461416,0.798595]]
2025-10-27T18:23:59.504Z,1761589439.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:59.757Z,1761589439.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:23:59.912Z,1761589439.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355529,0.751028,0.556378],[-0.862214,-0.493328,0.114959],[0.360814,-0.438846,0.822938]]
2025-10-27T18:24:00.008Z,1761589440.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:00.260Z,1761589440.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:00.446Z,1761589440.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393133,0.792179,0.466796],[-0.863073,-0.493004,0.109781],[0.317099,-0.359721,0.877524]]
2025-10-27T18:24:00.451Z,1761589440.451 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182359.00,A,3646.58757,N,12151.85741,W,7.678,271.85,271025,,,A*7A
2025-10-27T18:24:00.454Z,1761589440.454 [NAL9602](INFO): GPS fix at 20251027T182359: (36.776460, -121.864290)
2025-10-27T18:24:00.505Z,1761589440.505 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761589376.00. Resetting abort timer.
2025-10-27T18:24:00.512Z,1761589440.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:00.767Z,1761589440.767 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:00.901Z,1761589440.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420698,0.797026,0.433316],[-0.856450,-0.506445,0.100028],[0.299176,-0.329032,0.895674]]
2025-10-27T18:24:00.931Z,1761589440.931 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -102.78,     +390    +14.20,  20.00,  0.00
2025-10-27T18:24:01.016Z,1761589441.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:01.268Z,1761589441.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:01.412Z,1761589441.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447771,0.792923,0.413247],[-0.848581,-0.522502,0.083083],[0.281801,-0.313471,0.906821]]
2025-10-27T18:24:01.522Z,1761589441.522 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:01.772Z,1761589441.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:01.830Z,1761589441.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475480,0.781949,0.403081],[-0.838162,-0.541838,0.062422],[0.267215,-0.308167,0.913033]]
2025-10-27T18:24:02.024Z,1761589442.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:02.276Z,1761589442.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:02.387Z,1761589442.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533751,0.740191,0.408935],[-0.806333,-0.591198,0.017651],[0.254827,-0.320317,0.912393]]
2025-10-27T18:24:02.528Z,1761589442.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:02.784Z,1761589442.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:02.822Z,1761589442.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560312,0.711606,0.423872],[-0.788200,-0.615356,-0.008839],[0.254542,-0.339048,0.905679]]
2025-10-27T18:24:03.036Z,1761589443.036 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:24:03.037Z,1761589443.037 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:24:03.037Z,1761589443.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:03.269Z,1761589443.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582734,0.683496,0.439607],[-0.772325,-0.634097,-0.037891],[0.252855,-0.361600,0.897391]]
2025-10-27T18:24:03.288Z,1761589443.288 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:24:03.289Z,1761589443.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:03.540Z,1761589443.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:03.715Z,1761589443.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600873,0.659679,0.451415],[-0.760476,-0.645731,-0.068615],[0.246229,-0.384519,0.889672]]
2025-10-27T18:24:03.793Z,1761589443.793 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:04.044Z,1761589444.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:04.149Z,1761589444.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614810,0.645903,0.452569],[-0.753381,-0.650721,-0.094756],[0.233294,-0.399214,0.886681]]
2025-10-27T18:24:04.298Z,1761589444.298 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:04.548Z,1761589444.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:04.554Z,1761589444.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624042,0.642845,0.444208],[-0.751466,-0.649552,-0.115678],[0.214174,-0.405995,0.888424]]
2025-10-27T18:24:04.803Z,1761589444.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:04.954Z,1761589444.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630311,0.647968,0.427604],[-0.751773,-0.646907,-0.127866],[0.193767,-0.402056,0.894877]]
2025-10-27T18:24:05.052Z,1761589445.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:05.305Z,1761589445.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:05.371Z,1761589445.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644267,0.648867,0.404836],[-0.743795,-0.654799,-0.134190],[0.178014,-0.387569,0.904489]]
2025-10-27T18:24:05.556Z,1761589445.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:05.772Z,1761589445.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662712,0.645345,0.379924],[-0.730448,-0.668892,-0.137949],[0.165103,-0.368935,0.914674]]
2025-10-27T18:24:05.808Z,1761589445.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:05.875Z,1761589445.875 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:24:05.875Z,1761589445.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateRudder:A] Stopped
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:24:05.876Z,1761589445.876 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateCommandMode] Stopped
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:24:05.877Z,1761589445.877 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:24:05.878Z,1761589445.878 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:24:05.878Z,1761589445.878 [marl:UpdateSpeed] Stopped
2025-10-27T18:24:05.878Z,1761589445.878 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:24:06.060Z,1761589446.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:06.230Z,1761589446.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683358,0.637356,0.356090],[-0.713745,-0.685821,-0.142187],[0.153591,-0.351322,0.923571]]
2025-10-27T18:24:06.298Z,1761589446.298 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:24:06.298Z,1761589446.298 [marl:UpdateRudder:B] Stopped
2025-10-27T18:24:06.299Z,1761589446.299 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:24:06.313Z,1761589446.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:06.327Z,1761589446.327 [marl:UpdateRudder] Stopped
2025-10-27T18:24:06.327Z,1761589446.327 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:24:06.565Z,1761589446.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:06.684Z,1761589446.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704340,0.625181,0.336235],[-0.695526,-0.702503,-0.150772],[0.141946,-0.340055,0.929631]]
2025-10-27T18:24:06.818Z,1761589446.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:07.068Z,1761589447.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:07.101Z,1761589447.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724980,0.610094,0.319670],[-0.676489,-0.717971,-0.163953],[0.129487,-0.335116,0.933237]]
2025-10-27T18:24:07.320Z,1761589447.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:07.556Z,1761589447.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765263,0.572138,0.295010],[-0.635098,-0.745807,-0.201054],[0.104990,-0.341219,0.934102]]
2025-10-27T18:24:07.572Z,1761589447.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:07.824Z,1761589447.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:07.954Z,1761589447.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784473,0.550961,0.284682],[-0.612776,-0.759274,-0.219109],[0.095431,-0.346332,0.933246]]
2025-10-27T18:24:08.077Z,1761589448.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:08.332Z,1761589448.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:08.361Z,1761589448.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801795,0.529434,0.277173],[-0.591097,-0.770844,-0.237496],[0.087919,-0.354259,0.931005]]
2025-10-27T18:24:08.584Z,1761589448.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:08.772Z,1761589448.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815919,0.510621,0.271188],[-0.572413,-0.779433,-0.254612],[0.081362,-0.362974,0.928240]]
2025-10-27T18:24:08.841Z,1761589448.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:09.088Z,1761589449.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:09.340Z,1761589449.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:09.404Z,1761589449.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825571,0.497849,0.265669],[-0.559449,-0.783685,-0.269915],[0.073824,-0.371462,0.925508]]
2025-10-27T18:24:09.593Z,1761589449.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:09.844Z,1761589449.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:09.848Z,1761589449.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832048,0.490502,0.259045],[-0.550866,-0.785496,-0.282033],[0.065141,-0.377364,0.923771]]
2025-10-27T18:24:10.096Z,1761589450.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:10.349Z,1761589450.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:10.368Z,1761589450.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848637,0.474225,0.234362],[-0.526784,-0.797932,-0.292920],[0.048095,-0.372041,0.926969]]
2025-10-27T18:24:10.600Z,1761589450.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:10.776Z,1761589450.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860144,0.461209,0.217804],[-0.508499,-0.808701,-0.295689],[0.039764,-0.365089,0.930123]]
2025-10-27T18:24:10.852Z,1761589450.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:11.104Z,1761589451.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:11.260Z,1761589451.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871738,0.446636,0.201466],[-0.488956,-0.819449,-0.299039],[0.031530,-0.359192,0.932731]]
2025-10-27T18:24:11.356Z,1761589451.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:11.608Z,1761589451.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:11.662Z,1761589451.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881965,0.432805,0.186592],[-0.470722,-0.828729,-0.302702],[0.023623,-0.354806,0.934642]]
2025-10-27T18:24:11.860Z,1761589451.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:12.112Z,1761589452.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:12.141Z,1761589452.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889998,0.420894,0.175364],[-0.455675,-0.834743,-0.309134],[0.016272,-0.355038,0.934710]]
2025-10-27T18:24:12.364Z,1761589452.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:12.542Z,1761589452.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896533,0.410807,0.165732],[-0.442879,-0.839132,-0.315776],[0.009348,-0.356503,0.934247]]
2025-10-27T18:24:12.616Z,1761589452.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:12.868Z,1761589452.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:12.953Z,1761589452.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902364,0.401152,0.157530],[-0.430957,-0.843101,-0.321645],[0.003785,-0.358130,0.933664]]
2025-10-27T18:24:13.120Z,1761589453.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:13.349Z,1761589453.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907850,0.391514,0.150082],[-0.419294,-0.847483,-0.325522],[-0.000254,-0.358454,0.933547]]
2025-10-27T18:24:13.372Z,1761589453.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:13.624Z,1761589453.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:13.878Z,1761589453.878 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:14.128Z,1761589454.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:14.157Z,1761589454.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917768,0.372291,0.138203],[-0.397093,-0.856612,-0.329445],[-0.004263,-0.357233,0.934005]]
2025-10-27T18:24:14.380Z,1761589454.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:14.562Z,1761589454.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922359,0.363017,0.132180],[-0.386286,-0.861234,-0.330240],[-0.006045,-0.355660,0.934596]]
2025-10-27T18:24:14.632Z,1761589454.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:14.884Z,1761589454.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:14.972Z,1761589454.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927291,0.353066,0.124403],[-0.374226,-0.866083,-0.331445],[-0.009279,-0.353900,0.935237]]
2025-10-27T18:24:15.136Z,1761589455.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:15.370Z,1761589455.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933064,0.341529,0.112919],[-0.359415,-0.872419,-0.331218],[-0.014608,-0.349632,0.936773]]
2025-10-27T18:24:15.388Z,1761589455.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:15.640Z,1761589455.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:15.892Z,1761589455.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:16.144Z,1761589456.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:16.178Z,1761589456.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947096,0.310337,0.081854],[-0.319511,-0.887536,-0.331951],[-0.030368,-0.340543,0.939738]]
2025-10-27T18:24:16.396Z,1761589456.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:16.582Z,1761589456.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954510,0.290790,0.065963],[-0.295662,-0.894325,-0.335807],[-0.038657,-0.340034,0.939618]]
2025-10-27T18:24:16.656Z,1761589456.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:16.908Z,1761589456.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:16.986Z,1761589456.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961657,0.269276,0.052024],[-0.270484,-0.899862,-0.342180],[-0.045326,-0.343131,0.938193]]
2025-10-27T18:24:17.160Z,1761589457.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:17.390Z,1761589457.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968144,0.246993,0.041126],[-0.245487,-0.903925,-0.350222],[-0.049328,-0.349162,0.935763]]
2025-10-27T18:24:17.412Z,1761589457.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:17.462Z,1761589457.462 [marl:SendObservationData] Running Loop=1
2025-10-27T18:24:17.462Z,1761589457.462 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T18:24:17.462Z,1761589457.462 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T18:24:17.467Z,1761589457.467 [marl:SendObservationData:A] Running Loop=1
2025-10-27T18:24:17.468Z,1761589457.468 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T18:24:17.468Z,1761589457.468 [marl:SendObservationData:A] Stopped
2025-10-27T18:24:17.468Z,1761589457.468 [marl:SendObservationData:B] Running Loop=1
2025-10-27T18:24:17.664Z,1761589457.664 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:24:17.664Z,1761589457.664 [DAT](INFO): #Outgoing data=1
2025-10-27T18:24:17.665Z,1761589457.665 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:24:17.665Z,1761589457.665 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:17.809Z,1761589457.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973760,0.225247,0.032480],[-0.221741,-0.906965,-0.358112],[-0.051206,-0.355918,0.933113]]
2025-10-27T18:24:17.876Z,1761589457.876 [marl:SendObservationData:B] Stopped
2025-10-27T18:24:17.876Z,1761589457.876 [marl:SendObservationData:C] Running Loop=1
2025-10-27T18:24:17.917Z,1761589457.917 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:24:17.918Z,1761589457.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:18.168Z,1761589458.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:18.197Z,1761589458.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978185,0.206272,0.024616],[-0.200800,-0.908496,-0.366488],[-0.053233,-0.363436,0.930097]]
2025-10-27T18:24:18.245Z,1761589458.245 [marl:SendObservationData:C] Stopped
2025-10-27T18:24:18.245Z,1761589458.245 [marl:SendObservationData:E] Running Loop=1
2025-10-27T18:24:18.420Z,1761589458.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:18.601Z,1761589458.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981367,0.191484,0.015917],[-0.183434,-0.908997,-0.374269],[-0.057198,-0.370214,0.927184]]
2025-10-27T18:24:18.650Z,1761589458.650 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.010129 min 
2025-10-27T18:24:18.650Z,1761589458.650 [marl:SendObservationData:E] Stopped
2025-10-27T18:24:18.651Z,1761589458.651 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T18:24:18.655Z,1761589458.655 [marl:SendObservationData] Stopped
2025-10-27T18:24:18.655Z,1761589458.655 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T18:24:18.655Z,1761589458.655 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T18:24:18.673Z,1761589458.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:18.797Z,1761589458.797 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:24:18.924Z,1761589458.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:19.009Z,1761589459.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983469,0.180928,0.007291],[-0.170042,-0.908958,-0.380632],[-0.062240,-0.375580,0.924698]]
2025-10-27T18:24:19.176Z,1761589459.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:19.410Z,1761589459.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985235,0.171205,-0.000312],[-0.157898,-0.909355,-0.384893],[-0.066179,-0.379161,0.922961]]
2025-10-27T18:24:19.436Z,1761589459.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:19.688Z,1761589459.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:19.815Z,1761589459.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986935,0.160946,-0.007502],[-0.145654,-0.911133,-0.385515],[-0.068883,-0.379386,0.922671]]
2025-10-27T18:24:19.870Z,1761589459.870 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:24:19.870Z,1761589459.870 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:24:19.870Z,1761589459.870 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:24:19.871Z,1761589459.871 [marl:UpdateRudder:A] Stopped
2025-10-27T18:24:19.871Z,1761589459.871 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:24:19.871Z,1761589459.871 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:24:19.871Z,1761589459.871 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateCommandMode] Stopped
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:24:19.872Z,1761589459.872 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:24:19.873Z,1761589459.873 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:24:19.873Z,1761589459.873 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:24:19.873Z,1761589459.873 [marl:UpdateSpeed] Stopped
2025-10-27T18:24:19.873Z,1761589459.873 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:24:19.941Z,1761589459.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:20.192Z,1761589460.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:20.221Z,1761589460.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988565,0.150176,-0.013636],[-0.133391,-0.913067,-0.385378],[-0.070325,-0.379153,0.922658]]
2025-10-27T18:24:20.246Z,1761589460.246 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:24:20.246Z,1761589460.246 [marl:UpdateRudder:B] Stopped
2025-10-27T18:24:20.246Z,1761589460.246 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:24:20.246Z,1761589460.246 [marl:UpdateRudder] Stopped
2025-10-27T18:24:20.246Z,1761589460.246 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:24:20.444Z,1761589460.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:20.621Z,1761589460.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990139,0.138797,-0.018962],[-0.120915,-0.915121,-0.384621],[-0.070737,-0.378535,0.922880]]
2025-10-27T18:24:20.696Z,1761589460.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:20.948Z,1761589460.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:21.025Z,1761589461.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991773,0.125659,-0.024429],[-0.106876,-0.917848,-0.382273],[-0.070458,-0.376517,0.923726]]
2025-10-27T18:24:21.066Z,1761589461.066 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -101.90,     +3775   +24.15,  0.00
2025-10-27T18:24:21.204Z,1761589461.204 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:24:20.4485

2025-10-27T18:24:21.204Z,1761589461.204 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:24:21.204Z,1761589461.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:21.429Z,1761589461.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993396,0.110557,-0.030691],[-0.090763,-0.920825,-0.379267],[-0.070192,-0.373977,0.924778]]
2025-10-27T18:24:21.456Z,1761589461.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:21.708Z,1761589461.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:21.837Z,1761589461.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994888,0.093513,-0.038127],[-0.072515,-0.924282,-0.374759],[-0.070285,-0.370078,0.926338]]
2025-10-27T18:24:21.961Z,1761589461.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:22.212Z,1761589462.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:22.237Z,1761589462.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996001,0.076985,-0.045344],[-0.054629,-0.926316,-0.372765],[-0.070700,-0.368798,0.926817]]
2025-10-27T18:24:22.465Z,1761589462.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:22.642Z,1761589462.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996698,0.062369,-0.051994],[-0.038686,-0.927726,-0.371251],[-0.071391,-0.368014,0.927075]]
2025-10-27T18:24:22.716Z,1761589462.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:22.968Z,1761589462.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:23.048Z,1761589463.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997004,0.051896,-0.057352],[-0.027143,-0.929090,-0.368857],[-0.072427,-0.366195,0.927715]]
2025-10-27T18:24:23.221Z,1761589463.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:23.472Z,1761589463.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:23.724Z,1761589463.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:23.853Z,1761589463.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996687,0.046085,-0.067022],[-0.020392,-0.939261,-0.342596],[-0.078740,-0.340094,0.937089]]
2025-10-27T18:24:23.976Z,1761589463.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:24.228Z,1761589464.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:24.258Z,1761589464.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996066,0.050802,-0.072602],[-0.025822,-0.950188,-0.310606],[-0.084765,-0.307509,0.947762]]
2025-10-27T18:24:24.480Z,1761589464.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:24.733Z,1761589464.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:24.853Z,1761589464.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993884,0.069269,-0.086005],[-0.049316,-0.975244,-0.215563],[-0.098808,-0.210003,0.972695]]
2025-10-27T18:24:24.984Z,1761589464.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:25.210Z,1761589465.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992573,0.076709,-0.094414],[-0.060514,-0.984633,-0.163816],[-0.105529,-0.156886,0.981963]]
2025-10-27T18:24:25.236Z,1761589465.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:25.488Z,1761589465.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:25.613Z,1761589465.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991248,0.085508,-0.100576],[-0.073326,-0.990166,-0.119138],[-0.109774,-0.110720,0.987771]]
2025-10-27T18:24:25.741Z,1761589465.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:25.992Z,1761589465.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:26.017Z,1761589466.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990000,0.096314,-0.103072],[-0.087991,-0.992702,-0.082463],[-0.110262,-0.072569,0.991250]]
2025-10-27T18:24:26.245Z,1761589466.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:26.423Z,1761589466.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988626,0.109568,-0.103021],[-0.103995,-0.992885,-0.058010],[-0.108644,-0.046636,0.992986]]
2025-10-27T18:24:26.498Z,1761589466.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:26.749Z,1761589466.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:26.852Z,1761589466.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986912,0.124237,-0.102810],[-0.120369,-0.991796,-0.043037],[-0.107314,-0.030099,0.993769]]
2025-10-27T18:24:26.000Z,1761589467.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:27.229Z,1761589467.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984856,0.138610,-0.104148],[-0.135485,-0.990105,-0.036547],[-0.108183,-0.021883,0.993890]]
2025-10-27T18:24:27.252Z,1761589467.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:27.504Z,1761589467.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:27.634Z,1761589467.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982649,0.151616,-0.106837],[-0.148824,-0.988290,-0.033684],[-0.110693,-0.017200,0.993706]]
2025-10-27T18:24:27.757Z,1761589467.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:28.008Z,1761589468.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:28.044Z,1761589468.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980368,0.164161,-0.109221],[-0.161292,-0.986298,-0.034661],[-0.113414,-0.016364,0.993413]]
2025-10-27T18:24:28.261Z,1761589468.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:28.441Z,1761589468.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978045,0.177397,-0.109355],[-0.174298,-0.983984,-0.037351],[-0.114230,-0.017471,0.993301]]
2025-10-27T18:24:28.513Z,1761589468.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:28.767Z,1761589468.767 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:28.856Z,1761589468.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975735,0.191392,-0.106348],[-0.188423,-0.981376,-0.037389],[-0.111524,-0.016443,0.993626]]
2025-10-27T18:24:29.016Z,1761589469.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:29.249Z,1761589469.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973077,0.207491,-0.100343],[-0.205029,-0.978152,-0.034372],[-0.105283,-0.012874,0.994359]]
2025-10-27T18:24:29.270Z,1761589469.270 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:29.520Z,1761589469.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:29.655Z,1761589469.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969308,0.227412,-0.093408],[-0.225985,-0.973791,-0.025715],[-0.096807,-0.003817,0.995296]]
2025-10-27T18:24:29.773Z,1761589469.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:30.024Z,1761589470.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:30.061Z,1761589470.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963895,0.251279,-0.088123],[-0.251208,-0.967858,-0.012081],[-0.088326,0.010492,0.996036]]
2025-10-27T18:24:30.276Z,1761589470.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:30.528Z,1761589470.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:30.786Z,1761589470.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:31.036Z,1761589471.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:31.285Z,1761589471.285 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:24:31.285Z,1761589471.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:31.286Z,1761589471.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943420,0.319326,-0.089381],[-0.322567,-0.946239,0.024142],[-0.076867,0.051608,0.995705]]
2025-10-27T18:24:31.536Z,1761589471.536 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:24:31.536Z,1761589471.536 [DAT](INFO): #Outgoing data=1
2025-10-27T18:24:31.536Z,1761589471.536 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:24:31.537Z,1761589471.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:31.673Z,1761589471.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939282,0.330962,-0.090632],[-0.334168,-0.942248,0.022392],[-0.077987,0.051318,0.995633]]
2025-10-27T18:24:31.798Z,1761589471.798 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:24:31.799Z,1761589471.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:32.044Z,1761589472.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:32.081Z,1761589472.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936527,0.338953,-0.089603],[-0.341273,-0.939894,0.011507],[-0.080317,0.041356,0.995911]]
2025-10-27T18:24:32.296Z,1761589472.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:32.481Z,1761589472.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935002,0.344075,-0.085927],[-0.345079,-0.938568,-0.003345],[-0.081799,0.026524,0.996296]]
2025-10-27T18:24:32.549Z,1761589472.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:32.802Z,1761589472.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:32.888Z,1761589472.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934305,0.347546,-0.079288],[-0.347296,-0.937595,-0.017368],[-0.080376,0.011309,0.996700]]
2025-10-27T18:24:33.056Z,1761589473.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:33.295Z,1761589473.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933973,0.350278,-0.070717],[-0.349326,-0.936646,-0.025806],[-0.075276,0.000601,0.997163]]
2025-10-27T18:24:33.304Z,1761589473.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateRudder:A] Stopped
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:24:33.342Z,1761589473.342 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateCommandMode] Stopped
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:24:33.367Z,1761589473.367 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:24:33.368Z,1761589473.368 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:24:33.368Z,1761589473.368 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:24:33.368Z,1761589473.368 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:24:33.368Z,1761589473.368 [marl:UpdateSpeed] Stopped
2025-10-27T18:24:33.368Z,1761589473.368 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:24:33.557Z,1761589473.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:33.694Z,1761589473.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933080,0.354103,-0.063034],[-0.352975,-0.935196,-0.028577],[-0.069068,-0.004415,0.997602]]
2025-10-27T18:24:33.750Z,1761589473.750 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:24:33.750Z,1761589473.750 [marl:UpdateRudder:B] Stopped
2025-10-27T18:24:33.750Z,1761589473.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:24:33.751Z,1761589473.751 [marl:UpdateRudder] Stopped
2025-10-27T18:24:33.759Z,1761589473.759 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:24:33.809Z,1761589473.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:34.060Z,1761589474.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:34.312Z,1761589474.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:34.504Z,1761589474.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924879,0.376234,-0.055191],[-0.375023,-0.926488,-0.031264],[-0.062896,-0.008218,0.997986]]
2025-10-27T18:24:34.564Z,1761589474.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:34.820Z,1761589474.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:34.906Z,1761589474.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919357,0.389889,-0.052624],[-0.388712,-0.920823,-0.031426],[-0.060711,-0.008436,0.998120]]
2025-10-27T18:24:35.068Z,1761589475.068 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:24:34.3484

2025-10-27T18:24:35.069Z,1761589475.069 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:24:35.069Z,1761589475.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:35.310Z,1761589475.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913456,0.404067,-0.048244],[-0.403034,-0.914695,-0.029947],[-0.056229,-0.007911,0.998387]]
2025-10-27T18:24:35.320Z,1761589475.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:35.572Z,1761589475.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:35.714Z,1761589475.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906822,0.419557,-0.040566],[-0.418688,-0.907687,-0.028367],[-0.048723,-0.008739,0.998774]]
2025-10-27T18:24:35.825Z,1761589475.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:36.076Z,1761589476.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:36.121Z,1761589476.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899175,0.436451,-0.031555],[-0.435827,-0.899687,-0.024869],[-0.039244,-0.008609,0.999193]]
2025-10-27T18:24:36.328Z,1761589476.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:36.522Z,1761589476.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891396,0.452734,-0.021073],[-0.452238,-0.891560,-0.024520],[-0.029889,-0.012327,0.999477]]
2025-10-27T18:24:36.580Z,1761589476.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:36.834Z,1761589476.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:36.932Z,1761589476.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884628,0.466227,-0.008148],[-0.465805,-0.884361,-0.030522],[-0.021436,-0.023206,0.999501]]
2025-10-27T18:24:37.084Z,1761589477.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:37.332Z,1761589477.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879208,0.476400,0.006003],[-0.476193,-0.878284,-0.043089],[-0.015255,-0.040743,0.999053]]
2025-10-27T18:24:37.336Z,1761589477.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:37.588Z,1761589477.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:37.742Z,1761589477.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874571,0.484493,0.019796],[-0.484740,-0.872517,-0.061173],[-0.012365,-0.063096,0.997931]]
2025-10-27T18:24:37.840Z,1761589477.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:38.092Z,1761589478.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:38.138Z,1761589478.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870518,0.491187,0.030560],[-0.491947,-0.866780,-0.081740],[-0.013661,-0.086190,0.996185]]
2025-10-27T18:24:38.344Z,1761589478.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:38.542Z,1761589478.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869722,0.492045,0.038418],[-0.493276,-0.864054,-0.100452],[-0.016231,-0.106316,0.994200]]
2025-10-27T18:24:38.596Z,1761589478.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:38.848Z,1761589478.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:39.100Z,1761589479.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:39.349Z,1761589479.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876453,0.478025,0.057641],[-0.481349,-0.867037,-0.128642],[-0.011517,-0.140495,0.990014]]
2025-10-27T18:24:39.352Z,1761589479.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:39.604Z,1761589479.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:39.766Z,1761589479.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877668,0.473453,0.074439],[-0.479246,-0.865463,-0.145934],[-0.004669,-0.163756,0.986490]]
2025-10-27T18:24:39.856Z,1761589479.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:40.108Z,1761589480.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:40.161Z,1761589480.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876298,0.472262,0.095232],[-0.481738,-0.861196,-0.162083],[0.005468,-0.187910,0.982171]]
2025-10-27T18:24:40.363Z,1761589480.363 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:40.563Z,1761589480.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872864,0.474082,0.115562],[-0.487670,-0.855735,-0.172902],[0.016921,-0.207276,0.978136]]
2025-10-27T18:24:40.612Z,1761589480.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:40.864Z,1761589480.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:40.966Z,1761589480.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867549,0.479983,0.130288],[-0.496651,-0.849974,-0.175732],[0.026393,-0.217163,0.975778]]
2025-10-27T18:24:41.120Z,1761589481.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:41.368Z,1761589481.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:41.376Z,1761589481.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861298,0.489518,0.136152],[-0.507113,-0.844880,-0.170335],[0.031650,-0.215754,0.975935]]
2025-10-27T18:24:41.620Z,1761589481.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:41.779Z,1761589481.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855343,0.500978,0.131941],[-0.517045,-0.841463,-0.156861],[0.032440,-0.202389,0.978768]]
2025-10-27T18:24:41.872Z,1761589481.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:42.124Z,1761589482.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:42.178Z,1761589482.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851194,0.510340,0.122563],[-0.523940,-0.839978,-0.141153],[0.030914,-0.184364,0.982372]]
2025-10-27T18:24:42.376Z,1761589482.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:42.581Z,1761589482.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850553,0.513248,0.114610],[-0.524969,-0.841544,-0.127324],[0.031101,-0.168463,0.985217]]
2025-10-27T18:24:42.628Z,1761589482.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:42.880Z,1761589482.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:42.986Z,1761589482.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852327,0.510770,0.112485],[-0.521887,-0.844677,-0.118976],[0.034244,-0.160111,0.986505]]
2025-10-27T18:24:43.132Z,1761589483.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:43.388Z,1761589483.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:43.396Z,1761589483.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851093,0.511409,0.118750],[-0.523647,-0.843194,-0.121731],[0.037875,-0.165788,0.985434]]
2025-10-27T18:24:43.636Z,1761589483.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:43.794Z,1761589483.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848161,0.514096,0.127783],[-0.528050,-0.839740,-0.126492],[0.042276,-0.174761,0.983703]]
2025-10-27T18:24:43.888Z,1761589483.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:44.140Z,1761589484.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:44.198Z,1761589484.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845784,0.516020,0.135548],[-0.531500,-0.837045,-0.129861],[0.046449,-0.181878,0.982223]]
2025-10-27T18:24:44.393Z,1761589484.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:44.602Z,1761589484.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844359,0.517201,0.139860],[-0.533452,-0.835839,-0.129624],[0.049859,-0.184057,0.981650]]
2025-10-27T18:24:44.644Z,1761589484.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:44.896Z,1761589484.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:45.148Z,1761589485.148 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:24:45.149Z,1761589485.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:45.400Z,1761589485.400 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:24:45.400Z,1761589485.400 [DAT](INFO): #Outgoing data=2
2025-10-27T18:24:45.401Z,1761589485.401 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:24:45.401Z,1761589485.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:45.429Z,1761589485.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845475,0.515236,0.140370],[-0.531153,-0.838549,-0.121292],[0.055213,-0.177108,0.982642]]
2025-10-27T18:24:45.652Z,1761589485.652 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:24:45.653Z,1761589485.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:45.814Z,1761589485.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847956,0.510390,0.143084],[-0.526868,-0.841164,-0.121876],[0.058153,-0.178732,0.982178]]
2025-10-27T18:24:45.904Z,1761589485.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:46.156Z,1761589486.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:46.218Z,1761589486.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851687,0.502040,0.150280],[-0.520391,-0.844049,-0.129519],[0.061820,-0.188514,0.980123]]
2025-10-27T18:24:46.268Z,1761589486.268 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:24:46.268Z,1761589486.268 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateRudder:A] Stopped
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:24:46.269Z,1761589486.269 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateCommandMode] Stopped
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:24:46.270Z,1761589486.270 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:24:46.275Z,1761589486.275 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:24:46.275Z,1761589486.275 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:24:46.275Z,1761589486.275 [marl:UpdateSpeed] Stopped
2025-10-27T18:24:46.275Z,1761589486.275 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:24:46.408Z,1761589486.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:46.623Z,1761589486.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855384,0.491784,0.162686],[-0.513770,-0.845508,-0.145453],[0.066021,-0.208001,0.975898]]
2025-10-27T18:24:46.654Z,1761589486.654 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:24:46.654Z,1761589486.654 [marl:UpdateRudder:B] Stopped
2025-10-27T18:24:46.654Z,1761589486.654 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:24:46.654Z,1761589486.654 [marl:UpdateRudder] Stopped
2025-10-27T18:24:46.654Z,1761589486.654 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:24:46.660Z,1761589486.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:46.912Z,1761589486.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:46.940Z,1761589486.940 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.658028
2025-10-27T18:24:47.026Z,1761589487.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858811,0.480136,0.178643],[-0.507334,-0.845513,-0.166492],[0.071106,-0.233617,0.969725]]
2025-10-27T18:24:47.168Z,1761589487.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:47.416Z,1761589487.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:47.431Z,1761589487.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860763,0.470141,0.195077],[-0.503063,-0.844152,-0.185299],[0.077558,-0.257635,0.963125]]
2025-10-27T18:24:47.668Z,1761589487.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:47.834Z,1761589487.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860577,0.464035,0.209949],[-0.502256,-0.841602,-0.198606],[0.084534,-0.276364,0.957328]]
2025-10-27T18:24:47.920Z,1761589487.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:47.959Z,1761589487.959 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:24:48.172Z,1761589488.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:48.258Z,1761589488.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858099,0.462799,0.222449],[-0.505370,-0.837887,-0.206269],[0.090926,-0.289418,0.952874]]
2025-10-27T18:24:48.424Z,1761589488.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:48.642Z,1761589488.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854130,0.466587,0.229693],[-0.511177,-0.834501,-0.205684],[0.095710,-0.293094,0.951281]]
2025-10-27T18:24:48.676Z,1761589488.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:48.928Z,1761589488.928 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:24:48.1984

2025-10-27T18:24:48.929Z,1761589488.929 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:24:48.929Z,1761589488.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:49.047Z,1761589489.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849072,0.475122,0.230944],[-0.519111,-0.831473,-0.197933],[0.097982,-0.287945,0.952621]]
2025-10-27T18:24:49.180Z,1761589489.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:49.432Z,1761589489.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:49.450Z,1761589489.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841862,0.490009,0.226187],[-0.530837,-0.827428,-0.183234],[0.097367,-0.274326,0.956695]]
2025-10-27T18:24:49.684Z,1761589489.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:49.854Z,1761589489.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831188,0.513428,0.213349],[-0.547805,-0.821862,-0.156373],[0.095058,-0.246849,0.964380]]
2025-10-27T18:24:49.936Z,1761589489.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:50.188Z,1761589490.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:50.268Z,1761589490.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816906,0.543589,0.192811],[-0.569195,-0.813800,-0.117248],[0.093174,-0.205528,0.974206]]
2025-10-27T18:24:50.440Z,1761589490.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:50.663Z,1761589490.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799808,0.576468,0.167311],[-0.593018,-0.802003,-0.071554],[0.092935,-0.156448,0.983304]]
2025-10-27T18:24:50.692Z,1761589490.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:50.944Z,1761589490.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:51.066Z,1761589491.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779521,0.610472,0.140250],[-0.619398,-0.784594,-0.027529],[0.093234,-0.108330,0.989733]]
2025-10-27T18:24:51.196Z,1761589491.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:51.448Z,1761589491.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:51.470Z,1761589491.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758831,0.641421,0.112937],[-0.644738,-0.764350,0.009059],[0.092134,-0.065941,0.993561]]
2025-10-27T18:24:51.700Z,1761589491.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:51.875Z,1761589491.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743017,0.663543,0.087383],[-0.663092,-0.747557,0.038305],[0.090741,-0.029481,0.995438]]
2025-10-27T18:24:51.952Z,1761589491.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:52.015Z,1761589492.015 [Radio_Surface](INFO): Powering down
2025-10-27T18:24:52.204Z,1761589492.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:52.288Z,1761589492.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729585,0.680552,0.067495],[-0.678033,-0.732694,0.058571],[0.089314,-0.003031,0.995999]]
2025-10-27T18:24:52.456Z,1761589492.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:52.682Z,1761589492.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717304,0.694726,0.053201],[-0.691257,-0.719139,0.070727],[0.087395,0.013957,0.996076]]
2025-10-27T18:24:52.708Z,1761589492.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:52.960Z,1761589492.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:53.086Z,1761589493.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706297,0.706529,0.044280],[-0.702632,-0.707281,0.077862],[0.086330,0.023881,0.995980]]
2025-10-27T18:24:53.213Z,1761589493.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:53.464Z,1761589493.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:53.492Z,1761589493.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696999,0.716046,0.038337],[-0.711759,-0.697342,0.084344],[0.087128,0.031501,0.995699]]
2025-10-27T18:24:53.716Z,1761589493.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:53.893Z,1761589493.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689404,0.723426,0.037100],[-0.718834,-0.689555,0.088272],[0.089441,0.034187,0.995405]]
2025-10-27T18:24:53.968Z,1761589493.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:54.220Z,1761589494.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:54.298Z,1761589494.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683284,0.729072,0.039714],[-0.724310,-0.683680,0.089203],[0.092187,0.032186,0.995221]]
2025-10-27T18:24:54.472Z,1761589494.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:54.702Z,1761589494.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677820,0.733777,0.046166],[-0.729140,-0.678944,0.085962],[0.094421,0.024605,0.995228]]
2025-10-27T18:24:54.727Z,1761589494.727 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:54.976Z,1761589494.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:55.105Z,1761589495.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672639,0.737846,0.056031],[-0.733775,-0.674870,0.078260],[0.095558,0.011526,0.995357]]
2025-10-27T18:24:55.229Z,1761589495.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:55.480Z,1761589495.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:55.510Z,1761589495.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667607,0.741584,0.065978],[-0.738182,-0.670858,0.070969],[0.096892,-0.001324,0.995294]]
2025-10-27T18:24:55.733Z,1761589495.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:55.913Z,1761589495.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662715,0.745099,0.075077],[-0.742139,-0.666861,0.067273],[0.100191,-0.011135,0.994906]]
2025-10-27T18:24:55.984Z,1761589495.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:56.236Z,1761589496.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:56.489Z,1761589496.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:56.732Z,1761589496.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652583,0.751646,0.095726],[-0.748467,-0.659132,0.073092],[0.118036,-0.023949,0.992721]]
2025-10-27T18:24:56.741Z,1761589496.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:56.992Z,1761589496.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:57.125Z,1761589497.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645344,0.756901,0.103111],[-0.752758,-0.653080,0.082717],[0.129948,-0.024237,0.991225]]
2025-10-27T18:24:57.246Z,1761589497.246 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:57.496Z,1761589497.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:57.530Z,1761589497.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632077,0.767881,0.104102],[-0.762909,-0.640198,0.090092],[0.135826,-0.022475,0.990478]]
2025-10-27T18:24:57.723Z,1761589497.723 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:24:57.723Z,1761589497.723 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:24:57.750Z,1761589497.750 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:57.934Z,1761589497.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617988,0.779855,0.099588],[-0.773995,-0.625725,0.096954],[0.137925,-0.017164,0.990294]]
2025-10-27T18:24:58.001Z,1761589498.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:58.252Z,1761589498.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:58.344Z,1761589498.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607846,0.788818,0.091044],[-0.782088,-0.614568,0.103178],[0.137342,-0.008488,0.990487]]
2025-10-27T18:24:58.504Z,1761589498.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:58.757Z,1761589498.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:58.760Z,1761589498.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600945,0.795091,0.081833],[-0.787708,-0.606490,0.108097],[0.135578,0.000500,0.990767]]
2025-10-27T18:24:58.885Z,1761589498.885 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:24:59.008Z,1761589499.008 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:24:59.008Z,1761589499.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:59.261Z,1761589499.261 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:24:59.261Z,1761589499.261 [DAT](INFO): #Outgoing data=3
2025-10-27T18:24:59.262Z,1761589499.262 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:24:59.262Z,1761589499.262 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:59.512Z,1761589499.512 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:24:59.512Z,1761589499.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:59.554Z,1761589499.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591757,0.801167,0.089198],[-0.793924,-0.598400,0.107717],[0.139675,-0.007074,0.990172]]
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateRudder:A] Stopped
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:24:59.617Z,1761589499.617 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateCommandMode] Stopped
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:24:59.618Z,1761589499.618 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:24:59.619Z,1761589499.619 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:24:59.619Z,1761589499.619 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:24:59.619Z,1761589499.619 [marl:UpdateSpeed] Stopped
2025-10-27T18:24:59.619Z,1761589499.619 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:24:59.764Z,1761589499.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:24:59.954Z,1761589499.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586318,0.803330,0.104362],[-0.796620,-0.595158,0.105748],[0.147062,-0.021135,0.988901]]
2025-10-27T18:25:00.016Z,1761589500.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:00.092Z,1761589500.092 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:25:00.092Z,1761589500.092 [marl:UpdateRudder:B] Stopped
2025-10-27T18:25:00.092Z,1761589500.092 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:25:00.092Z,1761589500.092 [marl:UpdateRudder] Stopped
2025-10-27T18:25:00.092Z,1761589500.092 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:25:00.268Z,1761589500.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:00.357Z,1761589500.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577063,0.807592,0.121630],[-0.801580,-0.588588,0.105040],[0.156419,-0.036881,0.987002]]
2025-10-27T18:25:00.520Z,1761589500.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:00.769Z,1761589500.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562493,0.815542,0.135992],[-0.810029,-0.576539,0.107037],[0.165697,-0.049950,0.984911]]
2025-10-27T18:25:00.772Z,1761589500.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:01.024Z,1761589501.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:01.276Z,1761589501.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:01.528Z,1761589501.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:01.570Z,1761589501.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518789,0.843366,0.139973],[-0.836174,-0.534660,0.122280],[0.177965,-0.053605,0.982576]]
2025-10-27T18:25:01.780Z,1761589501.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:01.974Z,1761589501.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492702,0.861211,0.124737],[-0.851395,-0.506715,0.135521],[0.179918,-0.039429,0.982891]]
2025-10-27T18:25:02.032Z,1761589502.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:02.284Z,1761589502.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:02.392Z,1761589502.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438778,0.895973,0.068604],[-0.880969,-0.443963,0.163679],[0.177110,0.011381,0.984125]]
2025-10-27T18:25:02.536Z,1761589502.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:02.792Z,1761589502.792 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:25:02.0483

2025-10-27T18:25:02.793Z,1761589502.793 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:25:02.794Z,1761589502.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:03.040Z,1761589503.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:03.259Z,1761589503.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392310,0.919696,0.015881],[-0.904577,-0.388877,0.174685],[0.166832,0.054165,0.984496]]
2025-10-27T18:25:03.292Z,1761589503.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:03.544Z,1761589503.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:03.654Z,1761589503.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378051,0.925762,0.006493],[-0.911837,-0.373559,0.170315],[0.160097,0.058467,0.985368]]
2025-10-27T18:25:03.800Z,1761589503.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:04.048Z,1761589504.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:04.060Z,1761589504.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370922,0.928618,0.009234],[-0.915684,-0.367376,0.162967],[0.154727,0.051992,0.986588]]
2025-10-27T18:25:04.300Z,1761589504.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:04.466Z,1761589504.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368247,0.929529,0.019237],[-0.917290,-0.366616,0.155472],[0.151568,0.039606,0.987653]]
2025-10-27T18:25:04.552Z,1761589504.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:04.806Z,1761589504.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:04.870Z,1761589504.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368345,0.929151,0.031608],[-0.917141,-0.368731,0.151292],[0.152228,0.026739,0.987984]]
2025-10-27T18:25:05.056Z,1761589505.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:05.270Z,1761589505.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367578,0.928935,0.044344],[-0.916833,-0.369958,0.150162],[0.155897,0.014540,0.987666]]
2025-10-27T18:25:05.308Z,1761589505.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:05.560Z,1761589505.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:05.673Z,1761589505.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361661,0.930580,0.056765],[-0.918429,-0.366083,0.149907],[0.160281,0.002081,0.987069]]
2025-10-27T18:25:05.812Z,1761589505.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:06.064Z,1761589506.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:06.079Z,1761589506.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351095,0.934111,0.064572],[-0.921846,-0.356924,0.151014],[0.164111,-0.006505,0.986420]]
2025-10-27T18:25:06.316Z,1761589506.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:06.487Z,1761589506.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337400,0.938791,0.069519],[-0.926304,-0.344252,0.153140],[0.167698,-0.012726,0.985756]]
2025-10-27T18:25:06.568Z,1761589506.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:06.822Z,1761589506.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:07.072Z,1761589507.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:07.290Z,1761589507.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301034,0.951089,0.069338],[-0.937948,-0.308431,0.158506],[0.172140,-0.017320,0.984920]]
2025-10-27T18:25:07.324Z,1761589507.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:07.576Z,1761589507.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:07.693Z,1761589507.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278804,0.958108,0.065560],[-0.944773,-0.285888,0.160224],[0.172254,-0.017268,0.984901]]
2025-10-27T18:25:07.829Z,1761589507.829 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:08.080Z,1761589508.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:08.100Z,1761589508.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255188,0.965120,0.058506],[-0.951679,-0.261404,0.161170],[0.170842,-0.014550,0.985191]]
2025-10-27T18:25:08.332Z,1761589508.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:08.502Z,1761589508.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232328,0.971355,0.049932],[-0.957948,-0.237406,0.161165],[0.168402,-0.010389,0.985664]]
2025-10-27T18:25:08.584Z,1761589508.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:08.838Z,1761589508.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:08.909Z,1761589508.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213220,0.976250,0.038394],[-0.962905,-0.216633,0.160887],[0.165384,-0.002665,0.986226]]
2025-10-27T18:25:09.088Z,1761589509.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:09.309Z,1761589509.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199496,0.979475,0.028799],[-0.966300,-0.201522,0.160165],[0.162681,0.004124,0.986670]]
2025-10-27T18:25:09.340Z,1761589509.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:09.594Z,1761589509.594 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:09.726Z,1761589509.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190121,0.981569,0.019389],[-0.968568,-0.190757,0.159651],[0.160407,0.011573,0.986983]]
2025-10-27T18:25:09.845Z,1761589509.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:10.096Z,1761589510.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:10.120Z,1761589510.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183656,0.982884,0.014451],[-0.970051,-0.183596,0.159038],[0.158969,0.015190,0.987167]]
2025-10-27T18:25:10.348Z,1761589510.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:10.522Z,1761589510.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178960,0.983751,0.014395],[-0.971002,-0.178960,0.158518],[0.158518,0.014391,0.987251]]
2025-10-27T18:25:10.600Z,1761589510.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:10.853Z,1761589510.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:10.930Z,1761589510.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174286,0.984524,0.018340],[-0.971678,-0.174971,0.158830],[0.159581,0.009862,0.987136]]
2025-10-27T18:25:11.104Z,1761589511.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:11.330Z,1761589511.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167514,0.985574,0.024159],[-0.972416,-0.169213,0.160544],[0.162316,0.003401,0.986733]]
2025-10-27T18:25:11.356Z,1761589511.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:11.608Z,1761589511.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:11.745Z,1761589511.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156213,0.987328,0.027944],[-0.973694,-0.158684,0.163520],[0.165882,-0.001665,0.986144]]
2025-10-27T18:25:11.860Z,1761589511.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:12.112Z,1761589512.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:12.137Z,1761589512.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141132,0.989557,0.029297],[-0.975368,-0.144054,0.167048],[0.169523,-0.004999,0.985513]]
2025-10-27T18:25:12.364Z,1761589512.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:12.541Z,1761589512.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123443,0.991946,0.028361],[-0.977317,-0.126479,0.169865],[0.172084,-0.006749,0.985059]]
2025-10-27T18:25:12.617Z,1761589512.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:12.868Z,1761589512.868 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:25:12.868Z,1761589512.868 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:25:12.868Z,1761589512.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:12.949Z,1761589512.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104412,0.994248,0.023872],[-0.979519,-0.106961,0.170590],[0.172162,-0.005572,0.985053]]
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateRudder:A] Stopped
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:25:13.026Z,1761589513.026 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:25:13.027Z,1761589513.027 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:25:13.031Z,1761589513.031 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:25:13.031Z,1761589513.031 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:25:13.031Z,1761589513.031 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:25:13.031Z,1761589513.031 [marl:UpdateCommandMode] Stopped
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed] Stopped
2025-10-27T18:25:13.032Z,1761589513.032 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:25:13.120Z,1761589513.120 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:25:13.120Z,1761589513.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:13.351Z,1761589513.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084125,0.996293,0.017969],[-0.981965,-0.085953,0.168394],[0.169315,-0.003478,0.985556]]
2025-10-27T18:25:13.372Z,1761589513.372 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:25:13.372Z,1761589513.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:13.378Z,1761589513.378 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:25:13.378Z,1761589513.378 [marl:UpdateRudder:B] Stopped
2025-10-27T18:25:13.378Z,1761589513.378 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:25:13.378Z,1761589513.378 [marl:UpdateRudder] Stopped
2025-10-27T18:25:13.378Z,1761589513.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:25:13.624Z,1761589513.624 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:25:13.624Z,1761589513.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:13.760Z,1761589513.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062573,0.997974,0.011481],[-0.984426,-0.063609,0.163887],[0.164285,-0.001048,0.986412]]
2025-10-27T18:25:13.876Z,1761589513.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:14.128Z,1761589514.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:14.158Z,1761589514.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039244,0.999214,0.005589],[-0.986662,-0.039635,0.157883],[0.157980,0.000681,0.987442]]
2025-10-27T18:25:14.380Z,1761589514.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:14.570Z,1761589514.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014185,0.999899,-0.000574],[-0.988417,-0.013935,0.151122],[0.151099,0.002710,0.988515]]
2025-10-27T18:25:14.632Z,1761589514.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:14.884Z,1761589514.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:14.977Z,1761589514.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011419,0.999905,-0.007755],[-0.989535,0.012416,0.143759],[0.143842,0.006032,0.989582]]
2025-10-27T18:25:15.136Z,1761589515.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:15.369Z,1761589515.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036849,0.999209,-0.014919],[-0.990106,0.038528,0.134931],[0.135399,0.009800,0.990743]]
2025-10-27T18:25:15.388Z,1761589515.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:15.640Z,1761589515.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:15.774Z,1761589515.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058745,0.998070,-0.020146],[-0.990305,0.060809,0.124893],[0.125877,0.012614,0.991966]]
2025-10-27T18:25:15.892Z,1761589515.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:16.144Z,1761589516.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:16.180Z,1761589516.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072917,0.997153,-0.019190],[-0.990629,0.074641,0.114378],[0.115485,0.010670,0.993252]]
2025-10-27T18:25:16.401Z,1761589516.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:16.583Z,1761589516.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079066,0.996845,-0.007034],[-0.991438,0.079369,0.103686],[0.103917,-0.001224,0.994585]]
2025-10-27T18:25:16.648Z,1761589516.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:16.900Z,1761589516.900 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:25:16.1482

2025-10-27T18:25:16.901Z,1761589516.901 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:25:16.901Z,1761589516.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:16.986Z,1761589516.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078491,0.996780,0.016380],[-0.992696,0.076639,0.093170],[0.091615,-0.023574,0.995515]]
2025-10-27T18:25:17.152Z,1761589517.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:17.404Z,1761589517.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:17.541Z,1761589517.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072888,0.996318,0.045136],[-0.994074,0.068915,0.084065],[0.080645,-0.050996,0.995438]]
2025-10-27T18:25:17.656Z,1761589517.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:17.909Z,1761589517.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:17.919Z,1761589517.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063584,0.995121,0.075437],[-0.995255,0.057650,0.078390],[0.073659,-0.080064,0.994064]]
2025-10-27T18:25:18.079Z,1761589518.079 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:25:18.161Z,1761589518.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:18.322Z,1761589518.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051876,0.993096,0.105208],[-0.996055,0.043858,0.077142],[0.071995,-0.108794,0.991454]]
2025-10-27T18:25:18.412Z,1761589518.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:18.664Z,1761589518.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:18.739Z,1761589518.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040479,0.990429,0.131957],[-0.996397,0.030162,0.079267],[0.074529,-0.134690,0.988081]]
2025-10-27T18:25:18.917Z,1761589518.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:19.083Z,1761589519.083 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T18:25:19.083Z,1761589519.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:25:19.168Z,1761589519.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:19.420Z,1761589519.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:19.546Z,1761589519.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037250,0.984299,0.172534],[-0.996335,0.023278,0.082305],[0.076997,-0.174967,0.981559]]
2025-10-27T18:25:19.672Z,1761589519.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:19.924Z,1761589519.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:19.942Z,1761589519.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043203,0.981522,0.186410],[-0.996351,0.028581,0.080428],[0.073614,-0.189204,0.979175]]
2025-10-27T18:25:20.176Z,1761589520.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:20.341Z,1761589520.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048430,0.979557,0.195253],[-0.996472,0.033968,0.076747],[0.068546,-0.198281,0.977746]]
2025-10-27T18:25:20.429Z,1761589520.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:20.680Z,1761589520.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:20.752Z,1761589520.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051367,0.978508,0.199707],[-0.996703,0.037655,0.071864],[0.062800,-0.202741,0.977217]]
2025-10-27T18:25:20.932Z,1761589520.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:21.184Z,1761589521.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:21.436Z,1761589521.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:21.563Z,1761589521.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051069,0.978665,0.199017],[-0.997322,0.039532,0.061523],[0.052342,-0.201626,0.978063]]
2025-10-27T18:25:21.689Z,1761589521.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:21.940Z,1761589521.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:21.958Z,1761589521.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049466,0.979028,0.197628],[-0.997622,0.038924,0.056875],[0.047989,-0.199972,0.978626]]
2025-10-27T18:25:22.194Z,1761589522.194 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:22.362Z,1761589522.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047601,0.979740,0.194534],[-0.997894,0.038050,0.052541],[0.044075,-0.196625,0.979488]]
2025-10-27T18:25:22.445Z,1761589522.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:22.698Z,1761589522.698 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:22.774Z,1761589522.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046202,0.980004,0.193542],[-0.998113,0.037443,0.048674],[0.040454,-0.195425,0.979884]]
2025-10-27T18:25:22.948Z,1761589522.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:23.201Z,1761589523.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:23.452Z,1761589523.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:23.704Z,1761589523.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:23.956Z,1761589523.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:24.209Z,1761589524.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:24.390Z,1761589524.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043747,0.980215,0.193039],[-0.998579,0.037016,0.038340],[0.030436,-0.194442,0.980442]]
2025-10-27T18:25:24.460Z,1761589524.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:24.713Z,1761589524.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:24.964Z,1761589524.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:25.216Z,1761589525.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:25.220Z,1761589525.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040099,0.981606,0.186659],[-0.998867,0.034591,0.032671],[0.025614,-0.187758,0.981881]]
2025-10-27T18:25:25.468Z,1761589525.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:25.720Z,1761589525.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:25.972Z,1761589525.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:26.008Z,1761589526.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041043,0.982513,0.181615],[-0.998821,0.035630,0.032969],[0.025921,-0.182754,0.982817]]
2025-10-27T18:25:26.224Z,1761589526.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:26.417Z,1761589526.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046719,0.983352,0.175605],[-0.998374,0.040220,0.040392],[0.032657,-0.177206,0.983632]]
2025-10-27T18:25:26.474Z,1761589526.474 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:25:26.475Z,1761589526.475 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:25:26.476Z,1761589526.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:26.480Z,1761589526.480 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:25:26.481Z,1761589526.481 [marl:UpdateRudder:A] Stopped
2025-10-27T18:25:26.481Z,1761589526.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:25:26.481Z,1761589526.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:25:26.481Z,1761589526.481 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:25:26.482Z,1761589526.482 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:25:26.482Z,1761589526.482 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:25:26.482Z,1761589526.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:25:26.489Z,1761589526.489 [marl:UpdateCommandMode] Stopped
2025-10-27T18:25:26.489Z,1761589526.489 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:25:26.489Z,1761589526.489 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:25:26.490Z,1761589526.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:25:26.490Z,1761589526.490 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:25:26.491Z,1761589526.491 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:25:26.495Z,1761589526.495 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:25:26.495Z,1761589526.495 [marl:UpdateSpeed] Stopped
2025-10-27T18:25:26.495Z,1761589526.495 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:25:26.728Z,1761589526.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:26.848Z,1761589526.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049953,0.982953,0.176943],[-0.997997,0.042242,0.047084],[0.038806,-0.178941,0.983094]]
2025-10-27T18:25:26.960Z,1761589526.960 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:25:26.960Z,1761589526.960 [marl:UpdateRudder:B] Stopped
2025-10-27T18:25:26.960Z,1761589526.960 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:25:26.961Z,1761589526.961 [marl:UpdateRudder] Stopped
2025-10-27T18:25:26.961Z,1761589526.961 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:25:26.980Z,1761589526.980 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:25:26.980Z,1761589526.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:27.224Z,1761589527.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053460,0.981570,0.183473],[-0.997543,0.044164,0.054390],[0.045285,-0.185929,0.981519]]
2025-10-27T18:25:27.232Z,1761589527.232 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:25:27.233Z,1761589527.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:27.484Z,1761589527.484 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:25:27.484Z,1761589527.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:27.631Z,1761589527.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057804,0.979824,0.191321],[-0.997009,0.046808,0.061506],[0.051310,-0.194304,0.979598]]
2025-10-27T18:25:27.736Z,1761589527.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:27.988Z,1761589527.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:28.033Z,1761589528.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063522,0.977424,0.201513],[-0.996407,0.050781,0.067785],[0.056022,-0.205095,0.977137]]
2025-10-27T18:25:28.240Z,1761589528.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:28.430Z,1761589528.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071011,0.974896,0.211035],[-0.995712,0.056704,0.073096],[0.059294,-0.215320,0.974742]]
2025-10-27T18:25:28.508Z,1761589528.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:28.760Z,1761589528.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:28.852Z,1761589528.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080272,0.973147,0.215735],[-0.994954,0.065156,0.076299],[0.060194,-0.220771,0.973466]]
2025-10-27T18:25:29.015Z,1761589529.015 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:29.264Z,1761589529.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:29.516Z,1761589529.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:29.643Z,1761589529.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102994,0.972435,0.209195],[-0.993202,0.089070,0.074947],[0.054248,-0.215492,0.974998]]
2025-10-27T18:25:29.768Z,1761589529.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:30.020Z,1761589530.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:30.045Z,1761589530.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113127,0.973311,0.199671],[-0.992379,0.100805,0.070868],[0.048849,-0.206166,0.977297]]
2025-10-27T18:25:30.272Z,1761589530.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:30.449Z,1761589530.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116347,0.975100,0.188794],[-0.992154,0.105346,0.067324],[0.045759,-0.195146,0.979706]]
2025-10-27T18:25:30.524Z,1761589530.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:30.776Z,1761589530.776 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:25:29.9982

2025-10-27T18:25:30.777Z,1761589530.777 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:25:30.778Z,1761589530.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:31.030Z,1761589531.030 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:31.260Z,1761589531.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110263,0.979373,0.169322],[-0.992923,0.100984,0.062494],[0.044106,-0.175015,0.983577]]
2025-10-27T18:25:31.280Z,1761589531.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:31.533Z,1761589531.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:31.662Z,1761589531.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105628,0.980310,0.166837],[-0.993480,0.096796,0.060235],[0.042899,-0.172111,0.984143]]
2025-10-27T18:25:31.789Z,1761589531.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:32.036Z,1761589532.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:32.066Z,1761589532.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100792,0.980637,0.167902],[-0.994047,0.092240,0.057993],[0.041382,-0.172748,0.984096]]
2025-10-27T18:25:32.288Z,1761589532.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:32.470Z,1761589532.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095795,0.980716,0.170350],[-0.994608,0.087475,0.055708],[0.039733,-0.174768,0.983808]]
2025-10-27T18:25:32.540Z,1761589532.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:32.794Z,1761589532.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:32.875Z,1761589532.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091179,0.980802,0.172374],[-0.995084,0.083017,0.053994],[0.038648,-0.176450,0.983551]]
2025-10-27T18:25:33.044Z,1761589533.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:33.278Z,1761589533.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087327,0.980913,0.173733],[-0.995388,0.078966,0.054480],[0.039721,-0.177689,0.983285]]
2025-10-27T18:25:33.296Z,1761589533.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:33.548Z,1761589533.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:33.700Z,1761589533.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084073,0.981013,0.174774],[-0.995488,0.074943,0.058207],[0.044004,-0.178879,0.982886]]
2025-10-27T18:25:33.800Z,1761589533.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:34.052Z,1761589534.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:34.088Z,1761589534.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082184,0.981239,0.174402],[-0.995260,0.071675,0.065731],[0.051998,-0.178977,0.982478]]
2025-10-27T18:25:34.304Z,1761589534.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:34.490Z,1761589534.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082504,0.981085,0.175114],[-0.994581,0.069902,0.076959],[0.063262,-0.180515,0.981536]]
2025-10-27T18:25:34.556Z,1761589534.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:34.810Z,1761589534.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:34.893Z,1761589534.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085455,0.980834,0.175104],[-0.993388,0.070352,0.090727],[0.076669,-0.181699,0.980361]]
2025-10-27T18:25:35.060Z,1761589535.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:35.298Z,1761589535.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090424,0.979901,0.177816],[-0.991766,0.072344,0.105671],[0.090683,-0.185907,0.978374]]
2025-10-27T18:25:35.312Z,1761589535.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:35.564Z,1761589535.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:35.709Z,1761589535.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096439,0.978435,0.182662],[-0.989951,0.075219,0.119748],[0.103426,-0.192375,0.975856]]
2025-10-27T18:25:35.816Z,1761589535.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:36.068Z,1761589536.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:36.105Z,1761589536.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102927,0.976234,0.190718],[-0.988248,0.078579,0.131117],[0.113015,-0.201972,0.972849]]
2025-10-27T18:25:36.320Z,1761589536.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:36.509Z,1761589536.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109641,0.973818,0.199141],[-0.986867,0.082739,0.138738],[0.118628,-0.211737,0.970100]]
2025-10-27T18:25:36.572Z,1761589536.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:36.826Z,1761589536.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:36.914Z,1761589536.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117529,0.971544,0.205645],[-0.985744,0.089027,0.142768],[0.120397,-0.219492,0.968157]]
2025-10-27T18:25:37.077Z,1761589537.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:37.319Z,1761589537.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126455,0.969271,0.211006],[-0.984816,0.097164,0.143865],[0.118942,-0.225994,0.966840]]
2025-10-27T18:25:37.328Z,1761589537.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:37.580Z,1761589537.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:37.724Z,1761589537.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136399,0.967644,0.212273],[-0.983870,0.107285,0.143141],[0.115736,-0.228373,0.966670]]
2025-10-27T18:25:37.832Z,1761589537.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:38.084Z,1761589538.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:38.128Z,1761589538.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146101,0.966575,0.210682],[-0.982845,0.117589,0.142088],[0.112565,-0.227827,0.967173]]
2025-10-27T18:25:38.336Z,1761589538.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:38.530Z,1761589538.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149713,0.966060,0.210509],[-0.982149,0.120784,0.144202],[0.113881,-0.228340,0.966898]]
2025-10-27T18:25:38.604Z,1761589538.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:38.856Z,1761589538.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:38.933Z,1761589538.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150184,0.966410,0.208560],[-0.981620,0.120633,0.147885],[0.117758,-0.226936,0.966764]]
2025-10-27T18:25:39.110Z,1761589539.110 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:39.337Z,1761589539.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150236,0.966975,0.205884],[-0.981118,0.120166,0.151552],[0.121807,-0.224765,0.966770]]
2025-10-27T18:25:39.360Z,1761589539.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:39.395Z,1761589539.395 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:25:39.395Z,1761589539.395 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:25:39.395Z,1761589539.395 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:25:39.396Z,1761589539.396 [marl:UpdateRudder:A] Stopped
2025-10-27T18:25:39.396Z,1761589539.396 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:25:39.396Z,1761589539.396 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:25:39.396Z,1761589539.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:25:39.396Z,1761589539.396 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateCommandMode] Stopped
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:25:39.397Z,1761589539.397 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:25:39.398Z,1761589539.398 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:25:39.398Z,1761589539.398 [marl:UpdateSpeed] Stopped
2025-10-27T18:25:39.398Z,1761589539.398 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:25:39.612Z,1761589539.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:39.750Z,1761589539.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150247,0.967480,0.203489],[-0.980668,0.119745,0.154759],[0.125359,-0.222807,0.966769]]
2025-10-27T18:25:39.777Z,1761589539.777 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:25:39.777Z,1761589539.777 [marl:UpdateRudder:B] Stopped
2025-10-27T18:25:39.777Z,1761589539.777 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:25:39.777Z,1761589539.777 [marl:UpdateRudder] Stopped
2025-10-27T18:25:39.778Z,1761589539.778 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:25:39.864Z,1761589539.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:40.116Z,1761589540.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:40.146Z,1761589540.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150327,0.968144,0.200246],[-0.980342,0.119793,0.156778],[0.127795,-0.219878,0.967121]]
2025-10-27T18:25:40.368Z,1761589540.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:40.549Z,1761589540.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150624,0.969440,0.193647],[-0.980077,0.120781,0.157672],[0.129465,-0.213538,0.968318]]
2025-10-27T18:25:40.620Z,1761589540.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:40.872Z,1761589540.872 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:25:40.872Z,1761589540.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:40.954Z,1761589540.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150740,0.971288,0.184058],[-0.979870,0.122148,0.157908],[0.130892,-0.204156,0.970148]]
2025-10-27T18:25:41.124Z,1761589541.124 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:25:41.124Z,1761589541.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:41.361Z,1761589541.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150314,0.973203,0.174015],[-0.979634,0.122919,0.158769],[0.133124,-0.194337,0.971860]]
2025-10-27T18:25:41.376Z,1761589541.376 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:25:41.376Z,1761589541.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:41.629Z,1761589541.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:41.765Z,1761589541.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149242,0.975323,0.162699],[-0.979144,0.122831,0.161830],[0.137852,-0.183457,0.973314]]
2025-10-27T18:25:41.880Z,1761589541.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:42.132Z,1761589542.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:42.174Z,1761589542.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148647,0.977075,0.152409],[-0.978114,0.122579,0.168128],[0.145591,-0.174065,0.973912]]
2025-10-27T18:25:42.385Z,1761589542.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:42.638Z,1761589542.638 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:42.888Z,1761589542.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:42.976Z,1761589542.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162683,0.979404,0.119588],[-0.972890,0.139035,0.184809],[0.164376,-0.146411,0.975471]]
2025-10-27T18:25:43.144Z,1761589543.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:43.378Z,1761589543.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179624,0.979457,0.091647],[-0.968803,0.159958,0.189300],[0.170752,-0.122791,0.977633]]
2025-10-27T18:25:43.392Z,1761589543.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:43.644Z,1761589543.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:43.781Z,1761589543.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199906,0.977756,0.063486],[-0.964382,0.184889,0.189163],[0.173217,-0.099040,0.979891]]
2025-10-27T18:25:43.896Z,1761589543.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:44.148Z,1761589544.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:44.400Z,1761589544.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:44.591Z,1761589544.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238067,0.971133,0.015026],[-0.956476,0.231730,0.177353],[0.168752,-0.056594,0.984033]]
2025-10-27T18:25:44.653Z,1761589544.653 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:25:43.8981

2025-10-27T18:25:44.654Z,1761589544.654 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:25:44.655Z,1761589544.655 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:44.904Z,1761589544.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:45.157Z,1761589545.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:45.398Z,1761589545.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260908,0.965295,-0.011523],[-0.950887,0.259036,0.169450],[0.166554,-0.033254,0.985471]]
2025-10-27T18:25:45.408Z,1761589545.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:45.662Z,1761589545.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:45.801Z,1761589545.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270847,0.962365,-0.022278],[-0.947814,0.270652,0.168512],[0.168200,-0.024526,0.985448]]
2025-10-27T18:25:45.912Z,1761589545.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:46.166Z,1761589546.166 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:46.217Z,1761589546.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282019,0.958888,-0.031624],[-0.943820,0.283203,0.170291],[0.172246,-0.018177,0.984886]]
2025-10-27T18:25:46.416Z,1761589546.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:46.610Z,1761589546.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294869,0.954659,-0.040982],[-0.938775,0.297428,0.173891],[0.178196,-0.012803,0.983912]]
2025-10-27T18:25:46.673Z,1761589546.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:46.924Z,1761589546.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:47.177Z,1761589547.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:47.417Z,1761589547.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328796,0.942520,-0.059572],[-0.925101,0.334123,0.180417],[0.189951,-0.004211,0.981785]]
2025-10-27T18:25:47.428Z,1761589547.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:47.681Z,1761589547.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:47.824Z,1761589547.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348865,0.934692,-0.068142],[-0.916986,0.355457,0.181071],[0.193467,-0.000684,0.981107]]
2025-10-27T18:25:47.932Z,1761589547.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:48.184Z,1761589548.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:48.228Z,1761589548.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368981,0.926311,-0.076160],[-0.908629,0.376749,0.180148],[0.195566,0.002730,0.980687]]
2025-10-27T18:25:48.437Z,1761589548.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:48.629Z,1761589548.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388117,0.917976,-0.081761],[-0.900397,0.396614,0.178839],[0.196598,0.004207,0.980475]]
2025-10-27T18:25:48.688Z,1761589548.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:48.940Z,1761589548.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:49.034Z,1761589549.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404736,0.910416,-0.085618],[-0.892858,0.413670,0.177996],[0.197468,0.004403,0.980299]]
2025-10-27T18:25:49.192Z,1761589549.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:49.208Z,1761589549.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:25:49.440Z,1761589549.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419531,0.903326,-0.089424],[-0.885692,0.428930,0.177677],[0.198857,0.004661,0.980017]]
2025-10-27T18:25:49.444Z,1761589549.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:49.696Z,1761589549.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:49.841Z,1761589549.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432242,0.897146,-0.091080],[-0.879095,0.441726,0.179082],[0.200895,0.002661,0.979609]]
2025-10-27T18:25:49.949Z,1761589549.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:50.200Z,1761589550.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:50.211Z,1761589550.211 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:25:50.249Z,1761589550.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444182,0.891213,-0.091879],[-0.872582,0.453585,0.181275],[0.203230,-0.000347,0.979131]]
2025-10-27T18:25:50.452Z,1761589550.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:50.657Z,1761589550.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456161,0.885126,-0.092027],[-0.865743,0.465331,0.184272],[0.205927,-0.004386,0.978558]]
2025-10-27T18:25:50.704Z,1761589550.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:50.956Z,1761589550.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:51.208Z,1761589551.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:51.458Z,1761589551.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482090,0.871046,-0.094169],[-0.850491,0.491084,0.188421],[0.210368,-0.010746,0.977563]]
2025-10-27T18:25:51.460Z,1761589551.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:51.712Z,1761589551.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:51.867Z,1761589551.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495037,0.863420,-0.097182],[-0.842519,0.504349,0.189192],[0.212366,-0.011779,0.977119]]
2025-10-27T18:25:51.964Z,1761589551.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:52.216Z,1761589552.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:52.269Z,1761589552.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507584,0.855816,-0.099684],[-0.834688,0.517118,0.189433],[0.213668,-0.012948,0.976821]]
2025-10-27T18:25:52.468Z,1761589552.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:52.684Z,1761589552.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519151,0.848614,-0.101672],[-0.827515,0.528834,0.188555],[0.213778,-0.013754,0.976785]]
2025-10-27T18:25:52.720Z,1761589552.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:52.736Z,1761589552.736 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:25:52.737Z,1761589552.737 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:25:52.737Z,1761589552.737 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:25:52.737Z,1761589552.737 [marl:UpdateRudder:A] Stopped
2025-10-27T18:25:52.737Z,1761589552.737 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:25:52.738Z,1761589552.738 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:25:52.738Z,1761589552.738 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:25:52.738Z,1761589552.738 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:25:52.738Z,1761589552.738 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:25:52.739Z,1761589552.739 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:25:52.739Z,1761589552.739 [marl:UpdateCommandMode] Stopped
2025-10-27T18:25:52.743Z,1761589552.743 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:25:52.743Z,1761589552.743 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:25:52.744Z,1761589552.744 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:25:52.744Z,1761589552.744 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:25:52.744Z,1761589552.744 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:25:52.744Z,1761589552.744 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:25:52.745Z,1761589552.745 [marl:UpdateSpeed] Stopped
2025-10-27T18:25:52.745Z,1761589552.745 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:25:52.972Z,1761589552.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:53.133Z,1761589553.133 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:25:53.133Z,1761589553.133 [marl:UpdateRudder:B] Stopped
2025-10-27T18:25:53.133Z,1761589553.133 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:25:53.133Z,1761589553.133 [marl:UpdateRudder] Stopped
2025-10-27T18:25:53.133Z,1761589553.133 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:25:53.224Z,1761589553.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:53.476Z,1761589553.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:53.479Z,1761589553.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538209,0.836751,-0.100889],[-0.816126,0.547304,0.185464],[0.210404,-0.017480,0.977458]]
2025-10-27T18:25:53.728Z,1761589553.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:53.883Z,1761589553.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546984,0.831202,-0.099555],[-0.810962,0.555626,0.183358],[0.207723,-0.019558,0.977992]]
2025-10-27T18:25:53.980Z,1761589553.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:54.232Z,1761589554.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:54.318Z,1761589554.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555761,0.825333,-0.099777],[-0.805555,0.564290,0.180717],[0.205455,-0.020060,0.978461]]
2025-10-27T18:25:54.484Z,1761589554.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:54.738Z,1761589554.738 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:25:54.738Z,1761589554.738 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:54.869Z,1761589554.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573086,0.812051,-0.110208],[-0.792985,0.583439,0.175424],[0.206753,-0.013140,0.978305]]
2025-10-27T18:25:54.988Z,1761589554.988 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:25:54.988Z,1761589554.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:55.242Z,1761589555.242 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:25:55.243Z,1761589555.243 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:55.272Z,1761589555.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581436,0.804742,-0.119679],[-0.785607,0.593577,0.174608],[0.211553,-0.007503,0.977338]]
2025-10-27T18:25:55.492Z,1761589555.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:55.673Z,1761589555.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589616,0.797082,-0.130433],[-0.777636,0.603868,0.175001],[0.218255,-0.001754,0.975890]]
2025-10-27T18:25:55.744Z,1761589555.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:55.996Z,1761589555.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:56.071Z,1761589556.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596999,0.790568,-0.136363],[-0.769933,0.612371,0.179455],[0.225376,-0.002144,0.974269]]
2025-10-27T18:25:56.248Z,1761589556.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:56.500Z,1761589556.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:56.752Z,1761589556.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:56.875Z,1761589556.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604787,0.787208,-0.120569],[-0.760280,0.615781,0.206851],[0.237079,-0.033434,0.970915]]
2025-10-27T18:25:57.004Z,1761589557.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:57.256Z,1761589557.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:57.280Z,1761589557.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605754,0.789486,-0.098862],[-0.758543,0.610531,0.227740],[0.240156,-0.062964,0.968690]]
2025-10-27T18:25:57.508Z,1761589557.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:57.682Z,1761589557.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606485,0.791888,-0.071347],[-0.758083,0.602979,0.248448],[0.239763,-0.096593,0.966014]]
2025-10-27T18:25:57.760Z,1761589557.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:57.935Z,1761589557.935 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:25:57.935Z,1761589557.935 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:25:58.012Z,1761589558.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:58.085Z,1761589558.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608525,0.792568,-0.039168],[-0.757836,0.595079,0.267516],[0.235333,-0.133107,0.962757]]
2025-10-27T18:25:58.264Z,1761589558.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:58.516Z,1761589558.516 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:25:57.7980

2025-10-27T18:25:58.517Z,1761589558.517 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:25:58.517Z,1761589558.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:58.768Z,1761589558.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:58.896Z,1761589558.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612704,0.790073,0.019426],[-0.759853,0.582154,0.289345],[0.217295,-0.192043,0.957028]]
2025-10-27T18:25:58.959Z,1761589558.959 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:25:59.020Z,1761589559.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:59.272Z,1761589559.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:59.297Z,1761589559.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611301,0.790294,0.041793],[-0.763638,0.575170,0.293319],[0.207770,-0.211221,0.955101]]
2025-10-27T18:25:59.524Z,1761589559.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:25:59.702Z,1761589559.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609151,0.791006,0.056951],[-0.767780,0.570231,0.292147],[0.198615,-0.221687,0.954676]]
2025-10-27T18:25:59.776Z,1761589559.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:00.028Z,1761589560.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:00.105Z,1761589560.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607143,0.792008,0.064038],[-0.771350,0.568117,0.286814],[0.190778,-0.223533,0.955844]]
2025-10-27T18:26:00.280Z,1761589560.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:00.511Z,1761589560.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604698,0.793838,0.064507],[-0.774560,0.567283,0.279725],[0.185462,-0.219114,0.957911]]
2025-10-27T18:26:00.532Z,1761589560.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:00.786Z,1761589560.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:00.949Z,1761589560.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601504,0.796622,0.059883],[-0.777570,0.566625,0.272619],[0.183243,-0.210545,0.960257]]
2025-10-27T18:26:01.036Z,1761589561.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:01.288Z,1761589561.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:01.318Z,1761589561.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597446,0.800129,0.053399],[-0.780501,0.564922,0.267735],[0.184056,-0.201636,0.962012]]
2025-10-27T18:26:01.540Z,1761589561.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:01.729Z,1761589561.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593583,0.803415,0.046727],[-0.782840,0.562969,0.265003],[0.186602,-0.193882,0.963115]]
2025-10-27T18:26:01.792Z,1761589561.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:02.045Z,1761589562.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:02.136Z,1761589562.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591602,0.805162,0.041488],[-0.783778,0.562305,0.263639],[0.188942,-0.188487,0.963729]]
2025-10-27T18:26:02.296Z,1761589562.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:02.548Z,1761589562.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:02.804Z,1761589562.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:02.934Z,1761589562.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594737,0.802939,0.039713],[-0.781506,0.565866,0.262763],[0.188510,-0.187311,0.964043]]
2025-10-27T18:26:03.052Z,1761589563.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:03.304Z,1761589563.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:03.556Z,1761589563.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:03.749Z,1761589563.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600595,0.798008,0.049688],[-0.778349,0.569320,0.264664],[0.182915,-0.197631,0.963060]]
2025-10-27T18:26:03.816Z,1761589563.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:04.068Z,1761589564.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:04.154Z,1761589564.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603766,0.795170,0.056315],[-0.776871,0.571090,0.265193],[0.178712,-0.203864,0.962549]]
2025-10-27T18:26:04.320Z,1761589564.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:04.551Z,1761589564.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607245,0.792083,0.062115],[-0.775241,0.573584,0.264580],[0.173941,-0.208818,0.962361]]
2025-10-27T18:26:04.572Z,1761589564.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:04.826Z,1761589564.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:04.954Z,1761589564.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610456,0.789133,0.067907],[-0.773828,0.575932,0.263612],[0.168916,-0.213472,0.962236]]
2025-10-27T18:26:05.076Z,1761589565.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:05.328Z,1761589565.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:05.358Z,1761589565.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613140,0.786435,0.074703],[-0.772800,0.577510,0.263179],[0.163831,-0.219096,0.961850]]
2025-10-27T18:26:05.580Z,1761589565.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:05.765Z,1761589565.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614960,0.784360,0.081269],[-0.772406,0.578403,0.262374],[0.158790,-0.224122,0.961538]]
2025-10-27T18:26:05.832Z,1761589565.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:06.084Z,1761589566.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:06.168Z,1761589566.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615532,0.783225,0.087636],[-0.772996,0.578307,0.260842],[0.153617,-0.228298,0.961396]]
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateRudder:A] Stopped
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:26:06.232Z,1761589566.232 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode] Stopped
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:26:06.233Z,1761589566.233 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:26:06.234Z,1761589566.234 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:26:06.234Z,1761589566.234 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:26:06.234Z,1761589566.234 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:26:06.234Z,1761589566.234 [marl:UpdateSpeed] Stopped
2025-10-27T18:26:06.234Z,1761589566.234 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:26:06.336Z,1761589566.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:06.571Z,1761589566.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614841,0.783132,0.093137],[-0.774558,0.577401,0.258202],[0.148430,-0.230893,0.961591]]
2025-10-27T18:26:06.588Z,1761589566.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:06.597Z,1761589566.597 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:26:06.597Z,1761589566.597 [marl:UpdateRudder:B] Stopped
2025-10-27T18:26:06.597Z,1761589566.597 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:26:06.597Z,1761589566.597 [marl:UpdateRudder] Stopped
2025-10-27T18:26:06.598Z,1761589566.598 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:26:06.842Z,1761589566.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:06.974Z,1761589566.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613550,0.783599,0.097616],[-0.776657,0.576484,0.253909],[0.142689,-0.231600,0.962290]]
2025-10-27T18:26:07.092Z,1761589567.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:07.344Z,1761589567.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:07.378Z,1761589567.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611713,0.784763,0.099766],[-0.779252,0.576030,0.246891],[0.136283,-0.228769,0.963894]]
2025-10-27T18:26:07.596Z,1761589567.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:07.787Z,1761589567.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609818,0.786220,0.099898],[-0.781924,0.576287,0.237672],[0.129293,-0.223050,0.966195]]
2025-10-27T18:26:07.848Z,1761589567.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:08.100Z,1761589568.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:08.185Z,1761589568.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608149,0.787700,0.098404],[-0.784381,0.577219,0.227079],[0.122070,-0.215285,0.968892]]
2025-10-27T18:26:08.352Z,1761589568.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:08.589Z,1761589568.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606732,0.789084,0.096033],[-0.786511,0.578414,0.216420],[0.115226,-0.206840,0.971566]]
2025-10-27T18:26:08.604Z,1761589568.604 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:26:08.604Z,1761589568.604 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:26:08.604Z,1761589568.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:08.857Z,1761589568.857 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:26:08.857Z,1761589568.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:08.994Z,1761589568.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605196,0.790657,0.092729],[-0.788473,0.579275,0.206765],[0.109765,-0.198248,0.973986]]
2025-10-27T18:26:09.110Z,1761589569.110 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:26:09.110Z,1761589569.110 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:09.360Z,1761589569.360 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:26:09.360Z,1761589569.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:09.404Z,1761589569.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603306,0.792704,0.087419],[-0.790347,0.579626,0.198458],[0.106648,-0.188822,0.976203]]
2025-10-27T18:26:09.614Z,1761589569.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:09.808Z,1761589569.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601002,0.794890,0.083350],[-0.792159,0.578565,0.194284],[0.106211,-0.182792,0.977398]]
2025-10-27T18:26:09.864Z,1761589569.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:10.116Z,1761589570.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:10.205Z,1761589570.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598757,0.797015,0.079107],[-0.793621,0.577079,0.192731],[0.107959,-0.178180,0.978058]]
2025-10-27T18:26:10.368Z,1761589570.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:10.616Z,1761589570.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597395,0.798315,0.076235],[-0.794227,0.575807,0.194033],[0.111003,-0.176462,0.978028]]
2025-10-27T18:26:10.621Z,1761589570.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:10.872Z,1761589570.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:11.013Z,1761589571.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598118,0.797796,0.075999],[-0.793194,0.575778,0.198301],[0.114445,-0.178889,0.977190]]
2025-10-27T18:26:11.126Z,1761589571.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:11.376Z,1761589571.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:11.420Z,1761589571.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601292,0.795255,0.077574],[-0.790381,0.577729,0.203780],[0.117241,-0.183844,0.975938]]
2025-10-27T18:26:11.628Z,1761589571.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:11.821Z,1761589571.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605989,0.791284,0.081525],[-0.786531,0.580699,0.210136],[0.118936,-0.191462,0.974267]]
2025-10-27T18:26:11.880Z,1761589571.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:12.133Z,1761589572.133 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:12.226Z,1761589572.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611692,0.786120,0.088589],[-0.782129,0.584141,0.216919],[0.118776,-0.201976,0.972162]]
2025-10-27T18:26:12.387Z,1761589572.387 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:12.636Z,1761589572.636 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:26:11.8980

2025-10-27T18:26:12.637Z,1761589572.637 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:26:12.637Z,1761589572.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:12.890Z,1761589572.890 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:13.034Z,1761589573.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623612,0.775227,0.100649],[-0.773741,0.593735,0.220914],[0.111500,-0.215641,0.970086]]
2025-10-27T18:26:13.140Z,1761589573.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:13.393Z,1761589573.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:13.441Z,1761589573.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626939,0.771700,0.106892],[-0.771775,0.596467,0.220431],[0.106350,-0.220693,0.969528]]
2025-10-27T18:26:13.644Z,1761589573.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:13.842Z,1761589573.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627415,0.770580,0.112057],[-0.772020,0.596780,0.218722],[0.101670,-0.223739,0.969332]]
2025-10-27T18:26:13.896Z,1761589573.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:14.148Z,1761589574.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:14.247Z,1761589574.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626745,0.770952,0.113241],[-0.773110,0.597056,0.214068],[0.097425,-0.221713,0.970233]]
2025-10-27T18:26:14.400Z,1761589574.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:14.650Z,1761589574.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625717,0.772058,0.111374],[-0.774343,0.597535,0.208195],[0.094189,-0.216513,0.971726]]
2025-10-27T18:26:14.652Z,1761589574.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:14.904Z,1761589574.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:15.053Z,1761589575.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624073,0.773941,0.107457],[-0.775874,0.597523,0.202447],[0.092474,-0.209715,0.973380]]
2025-10-27T18:26:15.156Z,1761589575.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:15.408Z,1761589575.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:15.460Z,1761589575.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622227,0.776411,0.100095],[-0.777330,0.597640,0.196429],[0.092689,-0.200031,0.975396]]
2025-10-27T18:26:15.663Z,1761589575.663 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:15.913Z,1761589575.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:16.164Z,1761589576.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:16.265Z,1761589576.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623722,0.776982,0.085263],[-0.775713,0.601879,0.189767],[0.096127,-0.184501,0.978120]]
2025-10-27T18:26:16.416Z,1761589576.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:16.668Z,1761589576.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:16.671Z,1761589576.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627229,0.774606,0.081046],[-0.772615,0.605719,0.190185],[0.098227,-0.181907,0.978397]]
2025-10-27T18:26:16.920Z,1761589576.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:17.075Z,1761589577.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631399,0.771282,0.080371],[-0.768933,0.609297,0.193647],[0.100386,-0.184068,0.977774]]
2025-10-27T18:26:17.173Z,1761589577.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:17.424Z,1761589577.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:17.481Z,1761589577.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636010,0.767137,0.083619],[-0.764896,0.612368,0.199848],[0.102105,-0.191065,0.976252]]
2025-10-27T18:26:17.676Z,1761589577.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:17.882Z,1761589577.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641085,0.762214,0.089670],[-0.760598,0.615392,0.206842],[0.102476,-0.200806,0.974257]]
2025-10-27T18:26:17.928Z,1761589577.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:18.180Z,1761589578.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:18.286Z,1761589578.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646120,0.756967,0.097616],[-0.756547,0.618302,0.212931],[0.100826,-0.211430,0.972179]]
2025-10-27T18:26:18.432Z,1761589578.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:18.684Z,1761589578.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:18.694Z,1761589578.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650149,0.752397,0.105855],[-0.753538,0.620637,0.216770],[0.097399,-0.220699,0.970467]]
2025-10-27T18:26:18.936Z,1761589578.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:19.103Z,1761589579.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652712,0.749007,0.113824],[-0.751859,0.621935,0.218873],[0.093147,-0.228440,0.969092]]
2025-10-27T18:26:19.188Z,1761589579.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:19.440Z,1761589579.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:19.500Z,1761589579.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653009,0.747929,0.119081],[-0.752047,0.621799,0.218612],[0.089462,-0.232310,0.968519]]
2025-10-27T18:26:19.525Z,1761589579.525 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:26:19.525Z,1761589579.525 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:26:19.525Z,1761589579.525 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateRudder:A] Stopped
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:26:19.526Z,1761589579.526 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:26:19.527Z,1761589579.527 [marl:UpdateCommandMode] Stopped
2025-10-27T18:26:19.527Z,1761589579.527 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:26:19.527Z,1761589579.527 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:26:19.527Z,1761589579.527 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:26:19.527Z,1761589579.527 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:26:19.528Z,1761589579.528 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:26:19.528Z,1761589579.528 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:26:19.528Z,1761589579.528 [marl:UpdateSpeed] Stopped
2025-10-27T18:26:19.528Z,1761589579.528 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:26:19.692Z,1761589579.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:19.902Z,1761589579.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652072,0.748298,0.121865],[-0.753213,0.621069,0.216664],[0.086443,-0.233071,0.968610]]
2025-10-27T18:26:19.944Z,1761589579.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:19.960Z,1761589579.960 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:26:19.960Z,1761589579.960 [marl:UpdateRudder:B] Stopped
2025-10-27T18:26:19.960Z,1761589579.960 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:26:19.960Z,1761589579.960 [marl:UpdateRudder] Stopped
2025-10-27T18:26:19.960Z,1761589579.960 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:26:20.196Z,1761589580.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:20.307Z,1761589580.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650638,0.749568,0.121734],[-0.754678,0.620414,0.213417],[0.084445,-0.230727,0.969347]]
2025-10-27T18:26:20.331Z,1761589580.331 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:26:20.448Z,1761589580.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:20.700Z,1761589580.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:20.711Z,1761589580.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649279,0.751318,0.118147],[-0.755957,0.620474,0.208666],[0.083467,-0.224797,0.970824]]
2025-10-27T18:26:20.953Z,1761589580.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:21.120Z,1761589581.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647796,0.753438,0.112659],[-0.757166,0.620453,0.204299],[0.084026,-0.217646,0.972404]]
2025-10-27T18:26:21.204Z,1761589581.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:21.336Z,1761589581.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:26:21.456Z,1761589581.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:21.521Z,1761589581.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646927,0.755168,0.105863],[-0.757789,0.621168,0.199765],[0.085098,-0.209455,0.974108]]
2025-10-27T18:26:21.709Z,1761589581.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:21.924Z,1761589581.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647398,0.755717,0.098830],[-0.757288,0.623210,0.195253],[0.085964,-0.201250,0.975761]]
2025-10-27T18:26:21.961Z,1761589581.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:22.212Z,1761589582.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:22.325Z,1761589582.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649555,0.754354,0.095017],[-0.755493,0.626323,0.192224],[0.085493,-0.196644,0.976740]]
2025-10-27T18:26:22.464Z,1761589582.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:22.716Z,1761589582.716 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:26:22.716Z,1761589582.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:22.737Z,1761589582.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652267,0.752518,0.090914],[-0.753286,0.630198,0.188177],[0.084313,-0.191225,0.977918]]
2025-10-27T18:26:22.968Z,1761589582.968 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:26:22.968Z,1761589582.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:23.220Z,1761589583.220 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:26:23.221Z,1761589583.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:23.472Z,1761589583.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:23.544Z,1761589583.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656209,0.749507,0.087342],[-0.750153,0.635457,0.182935],[0.081609,-0.185563,0.979238]]
2025-10-27T18:26:23.724Z,1761589583.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:23.942Z,1761589583.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657117,0.748735,0.087138],[-0.749524,0.636741,0.181040],[0.080066,-0.184277,0.979608]]
2025-10-27T18:26:23.976Z,1761589583.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:24.228Z,1761589584.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:24.346Z,1761589584.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657830,0.748242,0.085986],[-0.748991,0.637902,0.179148],[0.079195,-0.182252,0.980057]]
2025-10-27T18:26:24.480Z,1761589584.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:24.732Z,1761589584.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:24.758Z,1761589584.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658088,0.748100,0.085242],[-0.748779,0.638355,0.178420],[0.079062,-0.181244,0.980255]]
2025-10-27T18:26:24.984Z,1761589584.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:25.154Z,1761589585.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658317,0.748066,0.083760],[-0.748511,0.638772,0.178046],[0.079687,-0.179906,0.980451]]
2025-10-27T18:26:25.236Z,1761589585.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:25.488Z,1761589585.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:25.558Z,1761589585.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660154,0.746388,0.084273],[-0.746794,0.640159,0.180267],[0.080601,-0.181938,0.980001]]
2025-10-27T18:26:25.740Z,1761589585.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:25.965Z,1761589585.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662867,0.743959,0.084455],[-0.744228,0.642311,0.183196],[0.082044,-0.184288,0.979442]]
2025-10-27T18:26:25.000Z,1761589586.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:26.252Z,1761589586.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:26.504Z,1761589586.504 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:26:25.7479

2025-10-27T18:26:26.505Z,1761589586.505 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:26:26.505Z,1761589586.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:26.756Z,1761589586.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:26.788Z,1761589586.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669010,0.738202,0.086503],[-0.738198,0.646392,0.192980],[0.086543,-0.192962,0.977382]]
2025-10-27T18:26:27.009Z,1761589587.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:27.173Z,1761589587.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672140,0.735023,0.089265],[-0.735165,0.648155,0.198567],[0.088093,-0.199089,0.976014]]
2025-10-27T18:26:27.260Z,1761589587.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:27.512Z,1761589587.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:27.587Z,1761589587.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675384,0.731481,0.093760],[-0.732181,0.649910,0.203783],[0.088128,-0.206282,0.974516]]
2025-10-27T18:26:27.764Z,1761589587.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:27.982Z,1761589587.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678339,0.728130,0.098403],[-0.729644,0.651798,0.206833],[0.086462,-0.212102,0.973415]]
2025-10-27T18:26:28.017Z,1761589588.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:28.268Z,1761589588.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:28.521Z,1761589588.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:28.772Z,1761589588.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:28.845Z,1761589588.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681085,0.724091,0.108698],[-0.727740,0.653064,0.209528],[0.080731,-0.221810,0.971742]]
2025-10-27T18:26:29.024Z,1761589589.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:29.212Z,1761589589.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679732,0.724678,0.113163],[-0.729312,0.651408,0.209219],[0.077901,-0.224744,0.971299]]
2025-10-27T18:26:29.281Z,1761589589.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:29.532Z,1761589589.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:29.614Z,1761589589.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677348,0.726708,0.114431],[-0.731726,0.649454,0.206846],[0.075999,-0.223839,0.971659]]
2025-10-27T18:26:29.784Z,1761589589.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:30.018Z,1761589590.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674866,0.729161,0.113489],[-0.734145,0.647832,0.203334],[0.074742,-0.220540,0.972510]]
2025-10-27T18:26:30.036Z,1761589590.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:30.288Z,1761589590.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:30.422Z,1761589590.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672972,0.731376,0.110444],[-0.735959,0.647155,0.198885],[0.073985,-0.215127,0.973780]]
2025-10-27T18:26:30.540Z,1761589590.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:30.796Z,1761589590.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:30.856Z,1761589590.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671770,0.732948,0.107292],[-0.737091,0.646996,0.195174],[0.073635,-0.210196,0.974882]]
2025-10-27T18:26:31.044Z,1761589591.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:31.235Z,1761589591.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671634,0.733633,0.103393],[-0.737266,0.648043,0.190993],[0.073116,-0.204506,0.976131]]
2025-10-27T18:26:31.296Z,1761589591.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:31.548Z,1761589591.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:31.637Z,1761589591.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672975,0.732810,0.100466],[-0.736148,0.650339,0.187469],[0.072042,-0.200120,0.977119]]
2025-10-27T18:26:31.801Z,1761589591.801 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:32.041Z,1761589592.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675033,0.731197,0.098396],[-0.734407,0.653184,0.184381],[0.070548,-0.196726,0.977917]]
2025-10-27T18:26:32.052Z,1761589592.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:32.304Z,1761589592.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:32.446Z,1761589592.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677127,0.729343,0.097768],[-0.732630,0.655726,0.182416],[0.068934,-0.195147,0.978349]]
2025-10-27T18:26:32.557Z,1761589592.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:32.810Z,1761589592.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:32.866Z,1761589592.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678360,0.728154,0.098074],[-0.731612,0.657155,0.181360],[0.067608,-0.194779,0.978514]]
2025-10-27T18:26:32.928Z,1761589592.928 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:26:32.928Z,1761589592.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:26:32.928Z,1761589592.928 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateRudder:A] Stopped
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:26:32.929Z,1761589592.929 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateCommandMode] Stopped
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:26:32.930Z,1761589592.930 [marl:UpdateSpeed] Stopped
2025-10-27T18:26:32.931Z,1761589592.931 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:26:33.062Z,1761589593.062 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:33.253Z,1761589593.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680109,0.726625,0.097298],[-0.730131,0.659398,0.179173],[0.066033,-0.192898,0.978994]]
2025-10-27T18:26:33.312Z,1761589593.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:33.314Z,1761589593.314 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:26:33.314Z,1761589593.314 [marl:UpdateRudder:B] Stopped
2025-10-27T18:26:33.314Z,1761589593.314 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:26:33.314Z,1761589593.314 [marl:UpdateRudder] Stopped
2025-10-27T18:26:33.314Z,1761589593.314 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:26:33.565Z,1761589593.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:33.660Z,1761589593.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681003,0.725737,0.097677],[-0.729383,0.660394,0.178551],[0.065076,-0.192838,0.979070]]
2025-10-27T18:26:33.816Z,1761589593.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:34.068Z,1761589594.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:34.079Z,1761589594.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682076,0.724739,0.097595],[-0.728489,0.661743,0.177201],[0.063841,-0.191962,0.979324]]
2025-10-27T18:26:34.320Z,1761589594.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:34.466Z,1761589594.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683713,0.723319,0.096674],[-0.727089,0.663912,0.174821],[0.062268,-0.189818,0.979843]]
2025-10-27T18:26:34.573Z,1761589594.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:34.826Z,1761589594.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:34.875Z,1761589594.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685603,0.721687,0.095477],[-0.725399,0.666250,0.172939],[0.061196,-0.187827,0.980294]]
2025-10-27T18:26:35.076Z,1761589595.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:35.275Z,1761589595.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687647,0.719832,0.094779],[-0.723539,0.668572,0.171765],[0.060276,-0.186690,0.980568]]
2025-10-27T18:26:35.328Z,1761589595.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:35.581Z,1761589595.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:35.832Z,1761589595.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:36.086Z,1761589596.086 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:36.094Z,1761589596.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690580,0.716338,0.099796],[-0.721009,0.670980,0.173008],[0.056971,-0.191429,0.979852]]
2025-10-27T18:26:36.336Z,1761589596.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:36.501Z,1761589596.501 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.501Z,1761589596.501 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T18:26:36.502Z,1761589596.502 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.503Z,1761589596.503 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-27T18:26:36.504Z,1761589596.504 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T18:26:36.504Z,1761589596.504 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.505Z,1761589596.505 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.506Z,1761589596.506 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.507Z,1761589596.507 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-27T18:26:36.508Z,1761589596.508 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.509Z,1761589596.509 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-27T18:26:36.509Z,1761589596.509 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-27T18:26:36.510Z,1761589596.510 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1.
2025-10-27T18:26:36.515Z,1761589596.515 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 37, 38, 39, 44, 47, 54, 58, 62.
2025-10-27T18:26:36.588Z,1761589596.588 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:26:36.588Z,1761589596.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:36.843Z,1761589596.843 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:26:36.844Z,1761589596.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:36.902Z,1761589596.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688037,0.717842,0.106336],[-0.723668,0.667838,0.174058],[0.053931,-0.196711,0.978977]]
2025-10-27T18:26:37.092Z,1761589597.092 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:26:37.092Z,1761589597.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:37.299Z,1761589597.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685824,0.719585,0.108825],[-0.725871,0.665557,0.173625],[0.052508,-0.198069,0.978781]]
2025-10-27T18:26:37.344Z,1761589597.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:37.596Z,1761589597.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:37.701Z,1761589597.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683352,0.721578,0.111152],[-0.728266,0.662947,0.173578],[0.051563,-0.199563,0.978527]]
2025-10-27T18:26:37.848Z,1761589597.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:38.100Z,1761589598.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:38.104Z,1761589598.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681637,0.722948,0.112765],[-0.729930,0.661192,0.173284],[0.050716,-0.200427,0.978395]]
2025-10-27T18:26:38.352Z,1761589598.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:38.508Z,1761589598.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681435,0.723374,0.111250],[-0.730153,0.661499,0.171160],[0.050221,-0.197864,0.978942]]
2025-10-27T18:26:38.604Z,1761589598.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:38.856Z,1761589598.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:38.910Z,1761589598.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682655,0.722396,0.110120],[-0.729033,0.662984,0.170184],[0.049932,-0.196458,0.979240]]
2025-10-27T18:26:39.108Z,1761589599.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:39.313Z,1761589599.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684797,0.720459,0.109507],[-0.727009,0.665086,0.170645],[0.050111,-0.196470,0.979228]]
2025-10-27T18:26:39.360Z,1761589599.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:39.612Z,1761589599.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:39.718Z,1761589599.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687666,0.717842,0.108709],[-0.724273,0.667871,0.171394],[0.050430,-0.196597,0.979187]]
2025-10-27T18:26:39.864Z,1761589599.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:40.116Z,1761589600.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:40.125Z,1761589600.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691134,0.714601,0.108071],[-0.720943,0.671175,0.172529],[0.050754,-0.197154,0.979058]]
2025-10-27T18:26:40.368Z,1761589600.368 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:26:39.6478

2025-10-27T18:26:40.369Z,1761589600.369 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:26:40.369Z,1761589600.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:40.526Z,1761589600.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694853,0.710832,0.109073],[-0.717376,0.674467,0.174542],[0.050504,-0.199527,0.978590]]
2025-10-27T18:26:40.621Z,1761589600.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:40.872Z,1761589600.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:40.930Z,1761589600.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698967,0.706575,0.110439],[-0.713461,0.678331,0.175614],[0.049170,-0.201542,0.978245]]
2025-10-27T18:26:41.125Z,1761589601.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:41.333Z,1761589601.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703085,0.702238,0.111951],[-0.709560,0.682431,0.175537],[0.046870,-0.202854,0.978087]]
2025-10-27T18:26:41.376Z,1761589601.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:41.628Z,1761589601.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:41.746Z,1761589601.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706245,0.698825,0.113408],[-0.706593,0.685795,0.174386],[0.044091,-0.203292,0.978125]]
2025-10-27T18:26:41.880Z,1761589601.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:42.132Z,1761589602.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:42.143Z,1761589602.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707953,0.696927,0.114433],[-0.704992,0.687645,0.173582],[0.042285,-0.203562,0.978148]]
2025-10-27T18:26:42.384Z,1761589602.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:42.554Z,1761589602.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708143,0.696463,0.116072],[-0.704918,0.687985,0.172534],[0.040308,-0.204000,0.978141]]
2025-10-27T18:26:42.636Z,1761589602.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:42.890Z,1761589602.890 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:42.950Z,1761589602.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706878,0.697616,0.116857],[-0.706278,0.687089,0.170528],[0.038672,-0.203075,0.978399]]
2025-10-27T18:26:43.140Z,1761589603.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:43.355Z,1761589603.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704623,0.699834,0.117210],[-0.708597,0.685278,0.168183],[0.037379,-0.201560,0.978763]]
2025-10-27T18:26:43.393Z,1761589603.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:43.644Z,1761589603.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:43.762Z,1761589603.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701901,0.702577,0.117138],[-0.711351,0.683076,0.165490],[0.036256,-0.199484,0.979230]]
2025-10-27T18:26:43.900Z,1761589603.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:44.148Z,1761589604.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:44.164Z,1761589604.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699268,0.705208,0.117076],[-0.713972,0.680806,0.163548],[0.035629,-0.197953,0.979564]]
2025-10-27T18:26:44.400Z,1761589604.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:44.572Z,1761589604.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697412,0.707235,0.115910],[-0.715796,0.679402,0.161399],[0.035397,-0.195529,0.980059]]
2025-10-27T18:26:44.652Z,1761589604.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:44.904Z,1761589604.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:44.971Z,1761589604.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697064,0.707876,0.114081],[-0.716133,0.679480,0.159561],[0.035434,-0.192922,0.980574]]
2025-10-27T18:26:45.157Z,1761589605.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:45.374Z,1761589605.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698336,0.706923,0.112192],[-0.714877,0.681013,0.158658],[0.035754,-0.191000,0.980939]]
2025-10-27T18:26:45.408Z,1761589605.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:45.660Z,1761589605.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:45.778Z,1761589605.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700814,0.704746,0.110422],[-0.712399,0.683484,0.159180],[0.036710,-0.190221,0.981055]]
2025-10-27T18:26:45.912Z,1761589605.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:46.164Z,1761589606.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:46.182Z,1761589606.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703831,0.702100,0.108059],[-0.709338,0.686446,0.160100],[0.038230,-0.189334,0.981168]]
2025-10-27T18:26:46.210Z,1761589606.210 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:26:46.210Z,1761589606.210 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:26:46.227Z,1761589606.227 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:26:46.227Z,1761589606.227 [marl:UpdateRudder:A] Stopped
2025-10-27T18:26:46.227Z,1761589606.227 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:26:46.227Z,1761589606.227 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode] Stopped
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:26:46.228Z,1761589606.228 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:26:46.229Z,1761589606.229 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:26:46.229Z,1761589606.229 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:26:46.229Z,1761589606.229 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:26:46.229Z,1761589606.229 [marl:UpdateSpeed] Stopped
2025-10-27T18:26:46.229Z,1761589606.229 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:26:46.416Z,1761589606.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:46.587Z,1761589606.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707007,0.699099,0.106774],[-0.706086,0.689303,0.162184],[0.039783,-0.190057,0.980967]]
2025-10-27T18:26:46.617Z,1761589606.617 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:26:46.617Z,1761589606.617 [marl:UpdateRudder:B] Stopped
2025-10-27T18:26:46.617Z,1761589606.617 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:26:46.617Z,1761589606.617 [marl:UpdateRudder] Stopped
2025-10-27T18:26:46.617Z,1761589606.617 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:26:46.670Z,1761589606.670 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:46.920Z,1761589606.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:46.990Z,1761589606.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710240,0.695603,0.108145],[-0.702793,0.691809,0.165779],[0.040501,-0.193746,0.980215]]
2025-10-27T18:26:47.172Z,1761589607.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:47.394Z,1761589607.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713366,0.691966,0.110867],[-0.699659,0.694253,0.168792],[0.039828,-0.197979,0.979397]]
2025-10-27T18:26:47.424Z,1761589607.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:47.676Z,1761589607.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:47.798Z,1761589607.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716371,0.688154,0.115139],[-0.696704,0.696622,0.171237],[0.037629,-0.202887,0.978479]]
2025-10-27T18:26:47.928Z,1761589607.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:48.180Z,1761589608.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:48.205Z,1761589608.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718749,0.684631,0.121158],[-0.694430,0.698336,0.173477],[0.034158,-0.208822,0.977357]]
2025-10-27T18:26:48.432Z,1761589608.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:48.606Z,1761589608.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719619,0.682669,0.126930],[-0.693701,0.698796,0.174536],[0.030452,-0.213651,0.976435]]
2025-10-27T18:26:48.684Z,1761589608.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:48.936Z,1761589608.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:49.010Z,1761589609.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718211,0.683301,0.131425],[-0.695280,0.697258,0.174405],[0.027534,-0.216636,0.975864]]
2025-10-27T18:26:49.188Z,1761589609.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:49.414Z,1761589609.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715805,0.685244,0.134403],[-0.697844,0.695011,0.173126],[0.025222,-0.217716,0.975686]]
2025-10-27T18:26:49.440Z,1761589609.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:49.692Z,1761589609.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:49.819Z,1761589609.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713007,0.688043,0.134972],[-0.700757,0.692773,0.170309],[0.023675,-0.216014,0.976103]]
2025-10-27T18:26:49.944Z,1761589609.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:50.196Z,1761589610.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:50.222Z,1761589610.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709973,0.691513,0.133222],[-0.703856,0.690621,0.166224],[0.022940,-0.211783,0.977047]]
2025-10-27T18:26:50.448Z,1761589610.448 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:26:50.448Z,1761589610.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:50.626Z,1761589610.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707290,0.694847,0.130109],[-0.706551,0.688871,0.161994],[0.022933,-0.206505,0.978177]]
2025-10-27T18:26:50.716Z,1761589610.716 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:26:50.717Z,1761589610.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:50.970Z,1761589610.970 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:26:50.970Z,1761589610.970 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:51.044Z,1761589611.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705746,0.697526,0.124014],[-0.708079,0.688700,0.155935],[0.023360,-0.197862,0.979951]]
2025-10-27T18:26:51.220Z,1761589611.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:51.436Z,1761589611.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706273,0.697910,0.118743],[-0.707548,0.690308,0.151163],[0.023529,-0.190779,0.981351]]
2025-10-27T18:26:51.472Z,1761589611.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:51.473Z,1761589611.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:26:51.724Z,1761589611.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:51.838Z,1761589611.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708252,0.696728,0.113797],[-0.705565,0.693207,0.147109],[0.023611,-0.184482,0.982552]]
2025-10-27T18:26:51.976Z,1761589611.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:52.228Z,1761589612.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:52.243Z,1761589612.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711162,0.694286,0.110523],[-0.702643,0.696736,0.144398],[0.023248,-0.180348,0.983328]]
2025-10-27T18:26:52.475Z,1761589612.475 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:26:52.480Z,1761589612.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:52.646Z,1761589612.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714692,0.691079,0.107818],[-0.699067,0.700744,0.142349],[0.022822,-0.177108,0.983927]]
2025-10-27T18:26:52.732Z,1761589612.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:52.984Z,1761589612.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:53.055Z,1761589613.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718449,0.687113,0.108196],[-0.695232,0.704435,0.142912],[0.021980,-0.177896,0.983804]]
2025-10-27T18:26:53.236Z,1761589613.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:53.453Z,1761589613.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722222,0.682866,0.109952],[-0.691339,0.707852,0.144897],[0.021116,-0.180662,0.983319]]
2025-10-27T18:26:53.488Z,1761589613.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:53.740Z,1761589613.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:53.858Z,1761589613.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726002,0.678583,0.111561],[-0.687395,0.711299,0.146771],[0.020243,-0.183242,0.982859]]
2025-10-27T18:26:53.993Z,1761589613.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:54.244Z,1761589614.244 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:26:53.4977

2025-10-27T18:26:54.245Z,1761589614.245 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:26:54.245Z,1761589614.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:54.277Z,1761589614.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729856,0.674157,0.113235],[-0.683332,0.714840,0.148533],[0.019190,-0.185785,0.982403]]
2025-10-27T18:26:54.496Z,1761589614.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:54.666Z,1761589614.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733818,0.669451,0.115523],[-0.679111,0.718405,0.150673],[0.017876,-0.189020,0.981811]]
2025-10-27T18:26:54.748Z,1761589614.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:55.000Z,1761589615.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:55.069Z,1761589615.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737757,0.665038,0.115925],[-0.674857,0.722304,0.151146],[0.016785,-0.189742,0.981691]]
2025-10-27T18:26:55.252Z,1761589615.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:55.473Z,1761589615.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741576,0.660564,0.117130],[-0.670680,0.725842,0.152782],[0.015905,-0.191856,0.981294]]
2025-10-27T18:26:55.504Z,1761589615.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:55.756Z,1761589615.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:55.878Z,1761589615.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744849,0.656890,0.117028],[-0.667053,0.729027,0.153489],[0.015509,-0.192390,0.981196]]
2025-10-27T18:26:56.009Z,1761589616.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:56.260Z,1761589616.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:56.281Z,1761589616.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747664,0.653490,0.118105],[-0.663908,0.731541,0.155158],[0.014996,-0.194417,0.980804]]
2025-10-27T18:26:56.513Z,1761589616.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:56.686Z,1761589616.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749586,0.651005,0.119640],[-0.661743,0.733038,0.157323],[0.014717,-0.197099,0.980273]]
2025-10-27T18:26:56.766Z,1761589616.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:57.016Z,1761589617.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:57.089Z,1761589617.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750610,0.649112,0.123442],[-0.660593,0.733214,0.161289],[0.014185,-0.202610,0.979157]]
2025-10-27T18:26:57.269Z,1761589617.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:57.521Z,1761589617.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:57.772Z,1761589617.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:57.898Z,1761589617.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749856,0.648472,0.131144],[-0.661445,0.730503,0.169872],[0.014356,-0.214124,0.976701]]
2025-10-27T18:26:58.025Z,1761589618.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:58.103Z,1761589618.103 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:26:58.103Z,1761589618.103 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:26:58.276Z,1761589618.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:58.304Z,1761589618.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748583,0.649154,0.134989],[-0.662877,0.728200,0.174123],[0.014734,-0.219827,0.975428]]
2025-10-27T18:26:58.529Z,1761589618.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:58.705Z,1761589618.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747168,0.650112,0.138180],[-0.664468,0.726003,0.177204],[0.014883,-0.224217,0.974425]]
2025-10-27T18:26:58.781Z,1761589618.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:59.033Z,1761589619.033 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:59.110Z,1761589619.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745620,0.651883,0.138199],[-0.666197,0.724479,0.176949],[0.015228,-0.224004,0.974469]]
2025-10-27T18:26:59.168Z,1761589619.168 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:26:59.284Z,1761589619.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:59.527Z,1761589619.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744731,0.652972,0.137851],[-0.667185,0.723689,0.176457],[0.015460,-0.223385,0.974608]]
2025-10-27T18:26:59.536Z,1761589619.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:59.581Z,1761589619.581 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:26:59.581Z,1761589619.581 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateRudder:A] Stopped
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:26:59.582Z,1761589619.582 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateCommandMode] Stopped
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:26:59.583Z,1761589619.583 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:26:59.584Z,1761589619.584 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:26:59.584Z,1761589619.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:26:59.584Z,1761589619.584 [marl:UpdateSpeed] Stopped
2025-10-27T18:26:59.584Z,1761589619.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:26:59.788Z,1761589619.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:26:59.919Z,1761589619.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744051,0.654233,0.135525],[-0.667947,0.723742,0.173331],[0.015313,-0.219491,0.975494]]
2025-10-27T18:26:59.966Z,1761589619.966 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:26:59.966Z,1761589619.966 [marl:UpdateRudder:B] Stopped
2025-10-27T18:26:59.966Z,1761589619.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:26:59.967Z,1761589619.967 [marl:UpdateRudder] Stopped
2025-10-27T18:26:59.987Z,1761589619.987 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:27:00.040Z,1761589620.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:00.292Z,1761589620.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:00.322Z,1761589620.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743760,0.655179,0.132521],[-0.668279,0.724376,0.169360],[0.014966,-0.214524,0.976604]]
2025-10-27T18:27:00.544Z,1761589620.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:00.728Z,1761589620.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743690,0.655784,0.129890],[-0.668369,0.725170,0.165561],[0.014380,-0.209941,0.977608]]
2025-10-27T18:27:00.798Z,1761589620.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:01.048Z,1761589621.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:01.130Z,1761589621.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743844,0.656265,0.126538],[-0.668215,0.726401,0.160715],[0.013554,-0.204101,0.978856]]
2025-10-27T18:27:01.300Z,1761589621.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:01.538Z,1761589621.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743716,0.657085,0.122988],[-0.668378,0.727433,0.155283],[0.012569,-0.197689,0.980184]]
2025-10-27T18:27:01.552Z,1761589621.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:01.804Z,1761589621.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:01.938Z,1761589621.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743472,0.657801,0.120614],[-0.668672,0.728133,0.150666],[0.011286,-0.192667,0.981199]]
2025-10-27T18:27:02.057Z,1761589622.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:02.308Z,1761589622.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:02.344Z,1761589622.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742875,0.659094,0.117184],[-0.669349,0.728598,0.145313],[0.010395,-0.186387,0.982421]]
2025-10-27T18:27:02.561Z,1761589622.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:02.753Z,1761589622.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742452,0.659977,0.114870],[-0.669838,0.729078,0.140578],[0.009029,-0.181317,0.983383]]
2025-10-27T18:27:02.814Z,1761589622.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:03.064Z,1761589623.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:03.148Z,1761589623.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742124,0.660340,0.114903],[-0.670223,0.729254,0.137801],[0.007202,-0.179276,0.983772]]
2025-10-27T18:27:03.319Z,1761589623.319 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:03.551Z,1761589623.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742265,0.660072,0.115537],[-0.670087,0.729795,0.135583],[0.005176,-0.178058,0.984006]]
2025-10-27T18:27:03.568Z,1761589623.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:03.820Z,1761589623.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:03.954Z,1761589623.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743021,0.658859,0.117579],[-0.669259,0.730572,0.135485],[0.003366,-0.179359,0.983778]]
2025-10-27T18:27:04.072Z,1761589624.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:04.324Z,1761589624.324 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:27:04.324Z,1761589624.324 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:27:04.324Z,1761589624.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:04.357Z,1761589624.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744350,0.656843,0.120416],[-0.667788,0.731753,0.136371],[0.001460,-0.181920,0.983312]]
2025-10-27T18:27:04.576Z,1761589624.576 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:27:04.576Z,1761589624.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:04.829Z,1761589624.829 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:27:04.830Z,1761589624.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:05.080Z,1761589625.080 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:27:05.080Z,1761589625.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:05.167Z,1761589625.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749117,0.650762,0.123825],[-0.662436,0.736228,0.138368],[-0.001119,-0.185680,0.982610]]
2025-10-27T18:27:05.335Z,1761589625.335 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:05.569Z,1761589625.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752398,0.646668,0.125370],[-0.658705,0.739213,0.140254],[-0.001977,-0.188109,0.982146]]
2025-10-27T18:27:05.584Z,1761589625.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:05.836Z,1761589625.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:06.019Z,1761589626.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755984,0.641903,0.128251],[-0.654583,0.742190,0.143788],[-0.002889,-0.192653,0.981263]]
2025-10-27T18:27:06.088Z,1761589626.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:06.340Z,1761589626.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:06.378Z,1761589626.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759667,0.637087,0.130480],[-0.650299,0.745480,0.146188],[-0.004136,-0.195905,0.980614]]
2025-10-27T18:27:06.592Z,1761589626.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:06.802Z,1761589626.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763559,0.632013,0.132428],[-0.645710,0.749229,0.147359],[-0.006086,-0.198027,0.980178]]
2025-10-27T18:27:06.844Z,1761589626.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:07.098Z,1761589627.098 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:07.198Z,1761589627.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767666,0.626736,0.133757],[-0.640791,0.753517,0.146966],[-0.008680,-0.198531,0.980056]]
2025-10-27T18:27:07.348Z,1761589627.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:07.598Z,1761589627.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771735,0.621048,0.136835],[-0.635833,0.757545,0.147788],[-0.011876,-0.201058,0.979507]]
2025-10-27T18:27:07.600Z,1761589627.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:07.852Z,1761589627.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:08.104Z,1761589628.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:08.356Z,1761589628.356 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:27:07.5976

2025-10-27T18:27:08.356Z,1761589628.356 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:27:08.357Z,1761589628.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:08.412Z,1761589628.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777326,0.612410,0.143940],[-0.628821,0.763163,0.148881],[-0.018673,-0.206242,0.978323]]
2025-10-27T18:27:08.608Z,1761589628.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:08.845Z,1761589628.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778084,0.610766,0.146804],[-0.627801,0.764011,0.148837],[-0.021255,-0.207971,0.977904]]
2025-10-27T18:27:08.860Z,1761589628.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:09.112Z,1761589629.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:09.214Z,1761589629.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777711,0.610569,0.149570],[-0.628192,0.763655,0.149017],[-0.023235,-0.209851,0.977457]]
2025-10-27T18:27:09.366Z,1761589629.366 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:09.616Z,1761589629.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:09.620Z,1761589629.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776619,0.611192,0.152669],[-0.629481,0.762442,0.149786],[-0.024853,-0.212428,0.976861]]
2025-10-27T18:27:09.868Z,1761589629.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:10.026Z,1761589630.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774848,0.612868,0.154930],[-0.631589,0.760857,0.148972],[-0.026579,-0.213282,0.976629]]
2025-10-27T18:27:10.123Z,1761589630.123 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:10.372Z,1761589630.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:10.432Z,1761589630.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772797,0.615083,0.156392],[-0.634020,0.759230,0.146930],[-0.028363,-0.212702,0.976705]]
2025-10-27T18:27:10.626Z,1761589630.626 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:10.852Z,1761589630.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770799,0.617355,0.157293],[-0.636377,0.757697,0.144634],[-0.029890,-0.211582,0.976903]]
2025-10-27T18:27:10.876Z,1761589630.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:11.128Z,1761589631.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:11.234Z,1761589631.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769226,0.619421,0.156872],[-0.638217,0.756771,0.141342],[-0.031166,-0.208843,0.977453]]
2025-10-27T18:27:11.380Z,1761589631.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:11.632Z,1761589631.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:11.639Z,1761589631.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768580,0.620438,0.156018],[-0.638940,0.756725,0.138288],[-0.032264,-0.205972,0.978026]]
2025-10-27T18:27:11.884Z,1761589631.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:12.045Z,1761589632.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768737,0.620669,0.154313],[-0.638702,0.757545,0.134849],[-0.033203,-0.202224,0.978776]]
2025-10-27T18:27:12.136Z,1761589632.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:12.388Z,1761589632.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:12.457Z,1761589632.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769812,0.619933,0.151898],[-0.637370,0.759281,0.131346],[-0.033907,-0.197927,0.979630]]
2025-10-27T18:27:12.640Z,1761589632.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:12.856Z,1761589632.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771811,0.617809,0.150399],[-0.634891,0.761776,0.128886],[-0.034944,-0.194963,0.980188]]
2025-10-27T18:27:12.892Z,1761589632.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:12.906Z,1761589632.906 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:27:12.906Z,1761589632.906 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:27:12.906Z,1761589632.906 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:27:12.907Z,1761589632.907 [marl:UpdateRudder:A] Stopped
2025-10-27T18:27:12.907Z,1761589632.907 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:27:12.907Z,1761589632.907 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:27:12.907Z,1761589632.907 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:27:12.907Z,1761589632.907 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateCommandMode] Stopped
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:27:12.908Z,1761589632.908 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:27:12.909Z,1761589632.909 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:27:12.909Z,1761589632.909 [marl:UpdateSpeed] Stopped
2025-10-27T18:27:12.909Z,1761589632.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:27:13.144Z,1761589633.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:13.253Z,1761589633.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774187,0.615222,0.148782],[-0.631942,0.764597,0.126655],[-0.035837,-0.192076,0.980726]]
2025-10-27T18:27:13.281Z,1761589633.281 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:27:13.281Z,1761589633.281 [marl:UpdateRudder:B] Stopped
2025-10-27T18:27:13.281Z,1761589633.281 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:27:13.281Z,1761589633.281 [marl:UpdateRudder] Stopped
2025-10-27T18:27:13.281Z,1761589633.281 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:27:13.400Z,1761589633.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:13.652Z,1761589633.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:13.662Z,1761589633.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776419,0.612388,0.148841],[-0.629110,0.767122,0.125477],[-0.037339,-0.191060,0.980868]]
2025-10-27T18:27:13.904Z,1761589633.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:14.062Z,1761589634.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778154,0.609789,0.150444],[-0.626880,0.768824,0.126221],[-0.038697,-0.192530,0.980528]]
2025-10-27T18:27:14.162Z,1761589634.162 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:14.412Z,1761589634.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:14.474Z,1761589634.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779256,0.607753,0.152959],[-0.625404,0.769844,0.127317],[-0.040377,-0.194874,0.979997]]
2025-10-27T18:27:14.666Z,1761589634.666 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:14.869Z,1761589634.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779611,0.606410,0.156441],[-0.624822,0.770098,0.128631],[-0.042472,-0.198030,0.979275]]
2025-10-27T18:27:14.916Z,1761589634.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:15.168Z,1761589635.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:15.275Z,1761589635.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778623,0.606525,0.160855],[-0.625911,0.768894,0.130526],[-0.044513,-0.202312,0.978309]]
2025-10-27T18:27:15.420Z,1761589635.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:15.672Z,1761589635.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:15.924Z,1761589635.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:16.081Z,1761589636.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774537,0.609844,0.167878],[-0.630625,0.765085,0.130217],[-0.049029,-0.206726,0.977170]]
2025-10-27T18:27:16.176Z,1761589636.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:16.428Z,1761589636.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:16.498Z,1761589636.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772126,0.612305,0.170009],[-0.633407,0.763102,0.128336],[-0.051153,-0.206777,0.977050]]
2025-10-27T18:27:16.680Z,1761589636.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:16.891Z,1761589636.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770089,0.615108,0.169129],[-0.635746,0.761931,0.123644],[-0.052810,-0.202740,0.977807]]
2025-10-27T18:27:16.936Z,1761589636.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:17.188Z,1761589637.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:17.294Z,1761589637.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769082,0.616783,0.167605],[-0.636845,0.761744,0.119058],[-0.054239,-0.198304,0.978639]]
2025-10-27T18:27:17.440Z,1761589637.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:17.692Z,1761589637.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:17.700Z,1761589637.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769589,0.616809,0.165165],[-0.636093,0.763170,0.113826],[-0.055840,-0.192659,0.979676]]
2025-10-27T18:27:17.944Z,1761589637.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:18.101Z,1761589638.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771220,0.615739,0.161507],[-0.634024,0.765665,0.108492],[-0.056857,-0.186070,0.980890]]
2025-10-27T18:27:18.196Z,1761589638.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:18.448Z,1761589638.448 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:27:18.448Z,1761589638.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:18.510Z,1761589638.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774104,0.612956,0.158263],[-0.630453,0.769095,0.104985],[-0.057368,-0.181047,0.981800]]
2025-10-27T18:27:18.700Z,1761589638.700 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:27:18.701Z,1761589638.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:18.909Z,1761589638.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777531,0.609478,0.154865],[-0.626257,0.772801,0.102859],[-0.056990,-0.176961,0.982566]]
2025-10-27T18:27:18.952Z,1761589638.952 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:27:18.952Z,1761589638.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:19.204Z,1761589639.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:19.313Z,1761589639.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781203,0.605395,0.152376],[-0.621789,0.776325,0.103433],[-0.055676,-0.175548,0.982895]]
2025-10-27T18:27:19.456Z,1761589639.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:19.708Z,1761589639.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:19.719Z,1761589639.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784853,0.600916,0.151346],[-0.617353,0.779381,0.106965],[-0.053679,-0.177386,0.982676]]
2025-10-27T18:27:19.961Z,1761589639.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:20.124Z,1761589640.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788506,0.596067,0.151534],[-0.612860,0.782171,0.112298],[-0.051588,-0.181416,0.982052]]
2025-10-27T18:27:20.214Z,1761589640.214 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:20.464Z,1761589640.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:20.540Z,1761589640.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795314,0.585539,0.156905],[-0.604203,0.786661,0.126896],[-0.049129,-0.195725,0.979427]]
2025-10-27T18:27:20.717Z,1761589640.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:20.969Z,1761589640.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:21.220Z,1761589641.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:21.340Z,1761589641.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801106,0.575152,0.165621],[-0.596353,0.790573,0.139127],[-0.050916,-0.210224,0.976326]]
2025-10-27T18:27:21.472Z,1761589641.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:21.724Z,1761589641.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:21.754Z,1761589641.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803074,0.571181,0.169777],[-0.593515,0.792090,0.142593],[-0.053033,-0.215278,0.975112]]
2025-10-27T18:27:21.977Z,1761589641.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:22.151Z,1761589642.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803374,0.569598,0.173633],[-0.592958,0.791996,0.145408],[-0.054692,-0.219773,0.974017]]
2025-10-27T18:27:22.228Z,1761589642.228 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:27:21.4976

2025-10-27T18:27:22.229Z,1761589642.229 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:27:22.229Z,1761589642.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:22.480Z,1761589642.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:22.550Z,1761589642.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802222,0.570113,0.177232],[-0.594404,0.790485,0.147709],[-0.055889,-0.223842,0.973022]]
2025-10-27T18:27:22.595Z,1761589642.595 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:27:22.732Z,1761589642.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:22.953Z,1761589642.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800213,0.572354,0.179080],[-0.597038,0.788479,0.147807],[-0.056603,-0.225195,0.972668]]
2025-10-27T18:27:22.984Z,1761589642.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:23.236Z,1761589643.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:23.354Z,1761589643.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797987,0.575490,0.178964],[-0.599974,0.786657,0.145610],[-0.056987,-0.223569,0.973021]]
2025-10-27T18:27:23.488Z,1761589643.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:23.600Z,1761589643.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:27:23.741Z,1761589643.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:23.765Z,1761589643.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795884,0.579016,0.176946],[-0.602751,0.785305,0.141377],[-0.057097,-0.219174,0.974014]]
2025-10-27T18:27:23.992Z,1761589643.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:24.162Z,1761589644.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794020,0.582559,0.173660],[-0.605231,0.784300,0.136271],[-0.056816,-0.213306,0.975332]]
2025-10-27T18:27:24.244Z,1761589644.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:24.496Z,1761589644.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:24.566Z,1761589644.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792213,0.586316,0.169208],[-0.607643,0.783481,0.130106],[-0.056287,-0.205890,0.976955]]
2025-10-27T18:27:24.748Z,1761589644.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:24.980Z,1761589644.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790879,0.589668,0.163711],[-0.609448,0.783184,0.123273],[-0.055526,-0.197267,0.978776]]
2025-10-27T18:27:24.000Z,1761589645.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:25.252Z,1761589645.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:25.504Z,1761589645.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:25.756Z,1761589645.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:25.777Z,1761589645.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791171,0.592475,0.151731],[-0.609213,0.785328,0.110092],[-0.053931,-0.179538,0.982272]]
2025-10-27T18:27:26.008Z,1761589646.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:26.181Z,1761589646.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793549,0.590328,0.147625],[-0.606121,0.788285,0.105944],[-0.053829,-0.173550,0.983353]]
2025-10-27T18:27:26.233Z,1761589646.233 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:27:26.233Z,1761589646.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:27:26.233Z,1761589646.233 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateRudder:A] Stopped
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:27:26.234Z,1761589646.234 [marl:UpdateCommandMode] Stopped
2025-10-27T18:27:26.235Z,1761589646.235 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:27:26.235Z,1761589646.235 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:27:26.235Z,1761589646.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:27:26.235Z,1761589646.235 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:27:26.235Z,1761589646.235 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:27:26.236Z,1761589646.236 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:27:26.236Z,1761589646.236 [marl:UpdateSpeed] Stopped
2025-10-27T18:27:26.236Z,1761589646.236 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:27:26.260Z,1761589646.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:26.512Z,1761589646.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:26.590Z,1761589646.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796744,0.586736,0.144706],[-0.601937,0.791749,0.103947],[-0.053581,-0.169923,0.984000]]
2025-10-27T18:27:26.648Z,1761589646.648 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:27:26.648Z,1761589646.648 [marl:UpdateRudder:B] Stopped
2025-10-27T18:27:26.648Z,1761589646.648 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:27:26.648Z,1761589646.648 [marl:UpdateRudder] Stopped
2025-10-27T18:27:26.649Z,1761589646.649 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:27:26.767Z,1761589646.767 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:26.991Z,1761589646.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800332,0.582301,0.142808],[-0.597179,0.795407,0.103463],[-0.053344,-0.168086,0.984328]]
2025-10-27T18:27:27.016Z,1761589647.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:27.268Z,1761589647.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:27.394Z,1761589647.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803939,0.577177,0.143351],[-0.592322,0.798686,0.106086],[-0.053262,-0.170197,0.983970]]
2025-10-27T18:27:27.520Z,1761589647.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:27.772Z,1761589647.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:27.798Z,1761589647.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807602,0.571528,0.145380],[-0.587306,0.801784,0.110520],[-0.053398,-0.174639,0.983184]]
2025-10-27T18:27:28.024Z,1761589648.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:28.202Z,1761589648.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810854,0.566148,0.148300],[-0.582801,0.804260,0.116225],[-0.053471,-0.180671,0.982089]]
2025-10-27T18:27:28.276Z,1761589648.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:28.528Z,1761589648.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:28.605Z,1761589648.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813335,0.561562,0.152102],[-0.579333,0.805754,0.123015],[-0.053476,-0.188171,0.980679]]
2025-10-27T18:27:28.782Z,1761589648.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:29.009Z,1761589649.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814867,0.558543,0.154988],[-0.577174,0.806524,0.128024],[-0.053495,-0.193778,0.979586]]
2025-10-27T18:27:29.032Z,1761589649.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:29.284Z,1761589649.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:29.413Z,1761589649.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815669,0.556688,0.157426],[-0.576047,0.806663,0.132154],[-0.053421,-0.198478,0.978648]]
2025-10-27T18:27:29.536Z,1761589649.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:29.788Z,1761589649.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:29.822Z,1761589649.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816062,0.555554,0.159382],[-0.575523,0.806428,0.135823],[-0.053073,-0.202568,0.977829]]
2025-10-27T18:27:30.040Z,1761589650.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:30.221Z,1761589650.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816455,0.554731,0.160234],[-0.574959,0.806597,0.137198],[-0.053136,-0.204144,0.977498]]
2025-10-27T18:27:30.292Z,1761589650.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:30.545Z,1761589650.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:30.625Z,1761589650.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816959,0.553546,0.161753],[-0.574268,0.806573,0.140201],[-0.052858,-0.207428,0.976821]]
2025-10-27T18:27:30.798Z,1761589650.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:31.033Z,1761589651.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817027,0.553262,0.162383],[-0.574194,0.806383,0.141588],[-0.052608,-0.208921,0.976517]]
2025-10-27T18:27:31.048Z,1761589651.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:31.300Z,1761589651.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:31.443Z,1761589651.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817504,0.552595,0.162249],[-0.573516,0.806840,0.141731],[-0.052590,-0.208918,0.976518]]
2025-10-27T18:27:31.552Z,1761589651.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:31.804Z,1761589651.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:31.837Z,1761589651.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817763,0.552048,0.162812],[-0.573143,0.806947,0.142631],[-0.052642,-0.209953,0.976293]]
2025-10-27T18:27:32.056Z,1761589652.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:32.241Z,1761589652.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818061,0.551780,0.162216],[-0.572708,0.807406,0.141781],[-0.052742,-0.208888,0.976516]]
2025-10-27T18:27:32.308Z,1761589652.308 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:27:32.308Z,1761589652.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:32.559Z,1761589652.559 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:27:32.560Z,1761589652.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:32.646Z,1761589652.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818341,0.551637,0.161292],[-0.572337,0.807777,0.141160],[-0.052419,-0.207830,0.976759]]
2025-10-27T18:27:32.817Z,1761589652.817 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:27:32.818Z,1761589652.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:33.051Z,1761589653.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818844,0.551555,0.159000],[-0.571700,0.808485,0.139680],[-0.051508,-0.205276,0.977348]]
2025-10-27T18:27:33.064Z,1761589653.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:33.316Z,1761589653.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:33.464Z,1761589653.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819641,0.550991,0.156833],[-0.570682,0.809252,0.139407],[-0.050106,-0.203765,0.977737]]
2025-10-27T18:27:33.568Z,1761589653.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:33.820Z,1761589653.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:33.858Z,1761589653.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820713,0.549844,0.155244],[-0.569276,0.810057,0.140472],[-0.048519,-0.203664,0.977838]]
2025-10-27T18:27:34.072Z,1761589654.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:34.262Z,1761589654.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821912,0.548466,0.153774],[-0.567688,0.810904,0.142003],[-0.046812,-0.204009,0.977849]]
2025-10-27T18:27:34.328Z,1761589654.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:34.576Z,1761589654.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:34.672Z,1761589654.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823504,0.546464,0.152375],[-0.565517,0.812073,0.143972],[-0.045064,-0.204732,0.977780]]
2025-10-27T18:27:34.832Z,1761589654.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:35.080Z,1761589655.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:35.332Z,1761589655.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:35.474Z,1761589655.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826165,0.542701,0.151419],[-0.561903,0.813383,0.150579],[-0.041442,-0.209485,0.976933]]
2025-10-27T18:27:35.585Z,1761589655.585 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:35.836Z,1761589655.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:35.877Z,1761589655.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827091,0.541065,0.152212],[-0.560646,0.813419,0.155000],[-0.039947,-0.213536,0.976118]]
2025-10-27T18:27:36.089Z,1761589656.089 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:27:35.3475

2025-10-27T18:27:36.089Z,1761589656.089 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:27:36.090Z,1761589656.090 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:36.282Z,1761589656.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827508,0.540176,0.153101],[-0.560126,0.813008,0.158987],[-0.038592,-0.217319,0.975338]]
2025-10-27T18:27:36.340Z,1761589656.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:36.592Z,1761589656.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:36.686Z,1761589656.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827821,0.539596,0.153454],[-0.559739,0.812743,0.161684],[-0.037474,-0.219740,0.974838]]
2025-10-27T18:27:36.844Z,1761589656.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:37.089Z,1761589657.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828450,0.538727,0.153114],[-0.558894,0.812884,0.163881],[-0.036177,-0.221342,0.974525]]
2025-10-27T18:27:37.096Z,1761589657.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:37.351Z,1761589657.351 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:37.494Z,1761589657.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829022,0.538155,0.152023],[-0.558127,0.813203,0.164910],[-0.034879,-0.221562,0.974522]]
2025-10-27T18:27:37.600Z,1761589657.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:37.852Z,1761589657.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:37.901Z,1761589657.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830506,0.536203,0.150816],[-0.555976,0.814484,0.165853],[-0.033907,-0.221592,0.974550]]
2025-10-27T18:27:38.108Z,1761589658.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:38.302Z,1761589658.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832509,0.534050,0.147376],[-0.553053,0.816765,0.164400],[-0.032574,-0.218371,0.975322]]
2025-10-27T18:27:38.360Z,1761589658.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:38.612Z,1761589658.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:38.706Z,1761589658.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834724,0.531241,0.144978],[-0.549763,0.819043,0.164100],[-0.031567,-0.216682,0.975732]]
2025-10-27T18:27:38.864Z,1761589658.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:39.114Z,1761589659.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837458,0.527756,0.141909],[-0.545627,0.822122,0.162500],[-0.030906,-0.213516,0.976451]]
2025-10-27T18:27:39.116Z,1761589659.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:39.368Z,1761589659.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:39.515Z,1761589659.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840291,0.523876,0.139518],[-0.541290,0.825087,0.161975],[-0.030260,-0.211626,0.976882]]
2025-10-27T18:27:39.621Z,1761589659.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:39.872Z,1761589659.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:39.964Z,1761589659.964 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:27:39.964Z,1761589659.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:27:39.964Z,1761589659.964 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateRudder:A] Stopped
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode] Stopped
2025-10-27T18:27:39.965Z,1761589659.965 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed] Stopped
2025-10-27T18:27:39.966Z,1761589659.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:27:40.124Z,1761589660.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:40.322Z,1761589660.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845967,0.516252,0.133506],[-0.532495,0.831074,0.160518],[-0.028086,-0.206884,0.977962]]
2025-10-27T18:27:40.346Z,1761589660.346 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:27:40.346Z,1761589660.346 [marl:UpdateRudder:B] Stopped
2025-10-27T18:27:40.346Z,1761589660.346 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:27:40.346Z,1761589660.346 [marl:UpdateRudder] Stopped
2025-10-27T18:27:40.346Z,1761589660.346 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:27:40.376Z,1761589660.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:40.628Z,1761589660.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:40.733Z,1761589660.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848581,0.512431,0.131626],[-0.528387,0.833448,0.161777],[-0.026804,-0.206831,0.978009]]
2025-10-27T18:27:40.880Z,1761589660.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:41.130Z,1761589661.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851153,0.508734,0.129333],[-0.524307,0.835825,0.162783],[-0.025286,-0.206364,0.978148]]
2025-10-27T18:27:41.132Z,1761589661.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:41.384Z,1761589661.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:41.533Z,1761589661.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853022,0.505909,0.128103],[-0.521354,0.837073,0.165827],[-0.023338,-0.208241,0.977799]]
2025-10-27T18:27:41.636Z,1761589661.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:41.888Z,1761589661.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:41.948Z,1761589661.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854565,0.503748,0.126316],[-0.518911,0.838140,0.168085],[-0.021198,-0.209186,0.977646]]
2025-10-27T18:27:42.140Z,1761589662.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:42.343Z,1761589662.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855824,0.501681,0.126021],[-0.516909,0.838522,0.172294],[-0.019234,-0.212595,0.976951]]
2025-10-27T18:27:42.409Z,1761589662.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:42.660Z,1761589662.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:42.753Z,1761589662.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856256,0.500898,0.126200],[-0.516263,0.838013,0.176657],[-0.017270,-0.216416,0.976149]]
2025-10-27T18:27:42.913Z,1761589662.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:43.154Z,1761589663.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856306,0.500777,0.126342],[-0.516236,0.837256,0.180285],[-0.015498,-0.219602,0.975466]]
2025-10-27T18:27:43.164Z,1761589663.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:43.417Z,1761589663.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:43.554Z,1761589663.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856143,0.500940,0.126801],[-0.516552,0.836270,0.183919],[-0.013907,-0.222960,0.974728]]
2025-10-27T18:27:43.668Z,1761589663.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:43.920Z,1761589663.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:43.958Z,1761589663.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855527,0.501908,0.127129],[-0.517598,0.835176,0.185937],[-0.012852,-0.224876,0.974303]]
2025-10-27T18:27:44.172Z,1761589664.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:44.361Z,1761589664.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854613,0.503432,0.127249],[-0.519135,0.833839,0.187648],[-0.011637,-0.226426,0.973959]]
2025-10-27T18:27:44.425Z,1761589664.425 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:44.676Z,1761589664.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:44.789Z,1761589664.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853587,0.505274,0.126839],[-0.520848,0.832578,0.188499],[-0.010360,-0.226964,0.973848]]
2025-10-27T18:27:44.929Z,1761589664.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:45.169Z,1761589665.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852825,0.506874,0.125573],[-0.522110,0.832051,0.187328],[-0.009532,-0.225321,0.974238]]
2025-10-27T18:27:45.180Z,1761589665.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:45.433Z,1761589665.433 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:45.573Z,1761589665.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852268,0.508341,0.123404],[-0.523034,0.831980,0.185053],[-0.008600,-0.222260,0.974950]]
2025-10-27T18:27:45.686Z,1761589665.686 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:45.936Z,1761589665.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:45.977Z,1761589665.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851866,0.509496,0.121396],[-0.523699,0.832084,0.182690],[-0.007932,-0.219203,0.975647]]
2025-10-27T18:27:46.188Z,1761589666.188 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:27:46.188Z,1761589666.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:46.383Z,1761589666.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851721,0.510242,0.119270],[-0.523943,0.832510,0.180031],[-0.007434,-0.215827,0.976403]]
2025-10-27T18:27:46.440Z,1761589666.440 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:27:46.440Z,1761589666.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:46.692Z,1761589666.692 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:27:46.692Z,1761589666.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:46.816Z,1761589666.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852005,0.510561,0.115821],[-0.523492,0.833600,0.176256],[-0.006559,-0.210803,0.977507]]
2025-10-27T18:27:46.944Z,1761589666.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:47.189Z,1761589667.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852948,0.509885,0.111791],[-0.521964,0.835492,0.171776],[-0.005815,-0.204867,0.978773]]
2025-10-27T18:27:47.196Z,1761589667.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:47.448Z,1761589667.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:47.593Z,1761589667.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854264,0.508661,0.107226],[-0.519818,0.837783,0.167064],[-0.004853,-0.198454,0.980098]]
2025-10-27T18:27:47.700Z,1761589667.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:47.952Z,1761589667.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:48.001Z,1761589668.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856548,0.505655,0.103141],[-0.516052,0.840741,0.163845],[-0.003865,-0.193568,0.981079]]
2025-10-27T18:27:48.204Z,1761589668.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:48.415Z,1761589668.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859464,0.501479,0.099203],[-0.511188,0.844241,0.161068],[-0.002979,-0.189144,0.981945]]
2025-10-27T18:27:48.456Z,1761589668.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:48.709Z,1761589668.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:48.844Z,1761589668.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862945,0.496119,0.095875],[-0.505294,0.847987,0.159985],[-0.001929,-0.186503,0.982453]]
2025-10-27T18:27:48.964Z,1761589668.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:49.210Z,1761589669.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866647,0.490246,0.092637],[-0.498922,0.851608,0.160749],[-0.000084,-0.185532,0.982638]]
2025-10-27T18:27:49.212Z,1761589669.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:49.464Z,1761589669.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:49.615Z,1761589669.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870203,0.484287,0.090626],[-0.492690,0.854561,0.164265],[0.002106,-0.187595,0.982244]]
2025-10-27T18:27:49.716Z,1761589669.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:49.968Z,1761589669.968 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:27:49.1988

2025-10-27T18:27:49.969Z,1761589669.969 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:27:49.969Z,1761589669.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:50.017Z,1761589670.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873529,0.478510,0.089308],[-0.486752,0.856960,0.169385],[0.004519,-0.191434,0.981495]]
2025-10-27T18:27:50.220Z,1761589670.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:50.428Z,1761589670.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876529,0.473092,0.088772],[-0.481296,0.858677,0.176149],[0.007108,-0.197125,0.980353]]
2025-10-27T18:27:50.472Z,1761589670.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:50.724Z,1761589670.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:50.853Z,1761589670.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879154,0.468105,0.089253],[-0.476443,0.859691,0.184210],[0.009500,-0.204473,0.978826]]
2025-10-27T18:27:50.978Z,1761589670.978 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:51.228Z,1761589671.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:51.234Z,1761589671.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881656,0.463181,0.090259],[-0.471758,0.860550,0.192089],[0.011299,-0.211937,0.977218]]
2025-10-27T18:27:51.480Z,1761589671.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:51.634Z,1761589671.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884144,0.457767,0.093484],[-0.467068,0.860975,0.201420],[0.011716,-0.221748,0.975034]]
2025-10-27T18:27:51.735Z,1761589671.735 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:51.984Z,1761589671.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:52.038Z,1761589672.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886488,0.452443,0.097127],[-0.462618,0.861458,0.209465],[0.011100,-0.230621,0.972980]]
2025-10-27T18:27:52.236Z,1761589672.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:52.442Z,1761589672.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887975,0.448466,0.101875],[-0.459781,0.860861,0.217992],[0.010062,-0.240411,0.970619]]
2025-10-27T18:27:52.488Z,1761589672.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:52.740Z,1761589672.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:52.855Z,1761589672.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888388,0.446823,0.105428],[-0.458998,0.859816,0.223687],[0.009300,-0.247113,0.968942]]
2025-10-27T18:27:52.993Z,1761589672.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:53.244Z,1761589673.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:53.291Z,1761589673.291 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateRudder:A] Stopped
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:27:53.292Z,1761589673.292 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateCommandMode] Stopped
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:27:53.293Z,1761589673.293 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:27:53.294Z,1761589673.294 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:27:53.294Z,1761589673.294 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:27:53.294Z,1761589673.294 [marl:UpdateSpeed] Stopped
2025-10-27T18:27:53.294Z,1761589673.294 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:27:53.496Z,1761589673.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:53.709Z,1761589673.709 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:27:53.709Z,1761589673.709 [marl:UpdateRudder:B] Stopped
2025-10-27T18:27:53.710Z,1761589673.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:27:53.710Z,1761589673.710 [marl:UpdateRudder] Stopped
2025-10-27T18:27:53.710Z,1761589673.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:27:53.721Z,1761589673.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:27:53.748Z,1761589673.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:53.000Z,1761589674.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:54.060Z,1761589674.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887312,0.448572,0.107056],[-0.461116,0.859419,0.220844],[0.007059,-0.245323,0.969416]]
2025-10-27T18:27:54.252Z,1761589674.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:54.463Z,1761589674.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887090,0.449429,0.105283],[-0.461558,0.860697,0.214862],[0.005949,-0.239196,0.970953]]
2025-10-27T18:27:54.504Z,1761589674.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:54.724Z,1761589674.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:27:54.756Z,1761589674.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:54.866Z,1761589674.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887089,0.450197,0.101958],[-0.461576,0.862968,0.205509],[0.004533,-0.229367,0.973330]]
2025-10-27T18:27:55.008Z,1761589675.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:55.260Z,1761589675.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:55.512Z,1761589675.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:55.674Z,1761589675.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887353,0.451591,0.093118],[-0.461084,0.867950,0.184566],[0.002527,-0.206711,0.978399]]
2025-10-27T18:27:55.764Z,1761589675.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:56.016Z,1761589676.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:56.081Z,1761589676.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887580,0.452111,0.088305],[-0.460648,0.870158,0.175008],[0.002284,-0.196011,0.980599]]
2025-10-27T18:27:56.268Z,1761589676.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:56.482Z,1761589676.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888424,0.451573,0.082373],[-0.459020,0.873188,0.163839],[0.002058,-0.183369,0.983042]]
2025-10-27T18:27:56.520Z,1761589676.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:56.772Z,1761589676.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:56.894Z,1761589676.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890847,0.448430,0.072811],[-0.454297,0.878531,0.147637],[0.002238,-0.164600,0.986358]]
2025-10-27T18:27:57.024Z,1761589677.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:57.276Z,1761589677.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:57.292Z,1761589677.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895567,0.440955,0.059321],[-0.444920,0.886809,0.124965],[0.002498,-0.138308,0.990386]]
2025-10-27T18:27:57.528Z,1761589677.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:57.696Z,1761589677.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901984,0.429655,0.042674],[-0.431755,0.896733,0.097248],[0.003516,-0.106141,0.994345]]
2025-10-27T18:27:57.781Z,1761589677.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:58.032Z,1761589678.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:58.098Z,1761589678.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909355,0.415176,0.026488],[-0.415992,0.906709,0.069496],[0.004836,-0.074215,0.997231]]
2025-10-27T18:27:58.271Z,1761589678.271 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:27:58.271Z,1761589678.271 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:27:58.284Z,1761589678.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:58.502Z,1761589678.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917504,0.397516,0.012966],[-0.397677,0.916387,0.045696],[0.006283,-0.047082,0.998871]]
2025-10-27T18:27:58.536Z,1761589678.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:58.790Z,1761589678.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:58.911Z,1761589678.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925867,0.377839,0.002772],[-0.377777,0.925523,0.026293],[0.007369,-0.025392,0.999650]]
2025-10-27T18:27:59.040Z,1761589679.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:59.292Z,1761589679.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:59.313Z,1761589679.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934315,0.356430,-0.003660],[-0.356358,0.934259,0.012967],[0.008041,-0.010811,0.999909]]
2025-10-27T18:27:59.359Z,1761589679.359 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:27:59.544Z,1761589679.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:27:59.714Z,1761589679.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942417,0.334372,-0.006683],[-0.334333,0.942433,0.006383],[0.008433,-0.003781,0.999957]]
2025-10-27T18:27:59.797Z,1761589679.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:00.048Z,1761589680.048 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:28:00.048Z,1761589680.048 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:28:00.049Z,1761589680.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:00.118Z,1761589680.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950062,0.311959,-0.007930],[-0.311947,0.950095,0.002825],[0.008415,-0.000211,0.999965]]
2025-10-27T18:28:00.300Z,1761589680.300 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:28:00.300Z,1761589680.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:00.521Z,1761589680.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956702,0.290953,-0.008186],[-0.290942,0.956737,0.002574],[0.008581,-0.000081,0.999963]]
2025-10-27T18:28:00.552Z,1761589680.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:00.806Z,1761589680.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:00.926Z,1761589680.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962122,0.272488,-0.008450],[-0.272453,0.962156,0.005012],[0.009496,-0.002520,0.999952]]
2025-10-27T18:28:01.056Z,1761589681.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:01.308Z,1761589681.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:01.329Z,1761589681.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966459,0.256684,-0.008366],[-0.256590,0.966460,0.010796],[0.010856,-0.008287,0.999907]]
2025-10-27T18:28:01.561Z,1761589681.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:01.740Z,1761589681.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970244,0.241985,-0.008339],[-0.241827,0.970179,0.016502],[0.012083,-0.013995,0.999829]]
2025-10-27T18:28:01.812Z,1761589681.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:02.064Z,1761589682.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:02.139Z,1761589682.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973735,0.227487,-0.009447],[-0.227265,0.973625,0.020141],[0.013779,-0.017465,0.999753]]
2025-10-27T18:28:02.316Z,1761589682.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:02.542Z,1761589682.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977191,0.212089,-0.010803],[-0.211814,0.977057,0.022225],[0.015269,-0.019429,0.999695]]
2025-10-27T18:28:02.568Z,1761589682.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:02.822Z,1761589682.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:02.945Z,1761589682.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980550,0.195878,-0.012386],[-0.195543,0.980398,0.024125],[0.016869,-0.021233,0.999632]]
2025-10-27T18:28:03.073Z,1761589683.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:03.324Z,1761589683.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:03.350Z,1761589683.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983633,0.179621,-0.014220],[-0.179255,0.983514,0.023844],[0.018268,-0.020905,0.999615]]
2025-10-27T18:28:03.576Z,1761589683.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:03.828Z,1761589683.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:04.080Z,1761589684.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:04.158Z,1761589684.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988949,0.147210,-0.017585],[-0.146751,0.988857,0.025011],[0.021071,-0.022154,0.999533]]
2025-10-27T18:28:04.332Z,1761589684.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:04.584Z,1761589684.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:04.841Z,1761589684.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:04.966Z,1761589684.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992780,0.118075,-0.021118],[-0.117488,0.992703,0.027170],[0.024172,-0.024492,0.999408]]
2025-10-27T18:28:05.090Z,1761589685.090 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:05.340Z,1761589685.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:05.392Z,1761589685.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995542,0.091195,-0.024090],[-0.090462,0.995450,0.029931],[0.026710,-0.027618,0.999262]]
2025-10-27T18:28:05.592Z,1761589685.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:05.844Z,1761589685.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:06.096Z,1761589686.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:06.183Z,1761589686.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996585,0.078527,-0.025526],[-0.077793,0.996560,0.028586],[0.027683,-0.026502,0.999265]]
2025-10-27T18:28:06.348Z,1761589686.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:06.588Z,1761589686.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998182,0.053956,-0.026843],[-0.053287,0.998265,0.025036],[0.028148,-0.023560,0.999326]]
2025-10-27T18:28:06.600Z,1761589686.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateRudder:A] Stopped
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:28:06.637Z,1761589686.637 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode] Stopped
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:28:06.638Z,1761589686.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:28:06.639Z,1761589686.639 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:28:06.639Z,1761589686.639 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:28:06.639Z,1761589686.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:28:06.639Z,1761589686.639 [marl:UpdateSpeed] Stopped
2025-10-27T18:28:06.639Z,1761589686.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:28:06.852Z,1761589686.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:06.991Z,1761589686.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998819,0.040748,-0.026450],[-0.040141,0.998928,0.023060],[0.027362,-0.021971,0.999384]]
2025-10-27T18:28:07.052Z,1761589687.052 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:28:07.052Z,1761589687.052 [marl:UpdateRudder:B] Stopped
2025-10-27T18:28:07.052Z,1761589687.052 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:28:07.052Z,1761589687.052 [marl:UpdateRudder] Stopped
2025-10-27T18:28:07.052Z,1761589687.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:28:07.104Z,1761589687.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:07.357Z,1761589687.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:07.404Z,1761589687.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999321,0.026257,-0.025858],[-0.025715,0.999448,0.021045],[0.026397,-0.020365,0.999444]]
2025-10-27T18:28:07.608Z,1761589687.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:07.798Z,1761589687.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999633,0.009772,-0.025251],[-0.009316,0.999793,0.018104],[0.025423,-0.017862,0.999517]]
2025-10-27T18:28:07.865Z,1761589687.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:08.116Z,1761589688.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:08.198Z,1761589688.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999660,-0.008132,-0.024771],[0.008526,0.999839,0.015803],[0.024638,-0.016009,0.999568]]
2025-10-27T18:28:08.368Z,1761589688.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:08.601Z,1761589688.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999336,-0.026583,-0.024930],[0.026947,0.999534,0.014373],[0.024537,-0.015036,0.999586]]
2025-10-27T18:28:08.620Z,1761589688.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:08.873Z,1761589688.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:09.005Z,1761589689.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998653,-0.045580,-0.024797],[0.045897,0.998870,0.012366],[0.024206,-0.013488,0.999616]]
2025-10-27T18:28:09.124Z,1761589689.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:09.376Z,1761589689.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:09.410Z,1761589689.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997584,-0.064823,-0.024986],[0.065111,0.997819,0.010895],[0.024225,-0.012496,0.999628]]
2025-10-27T18:28:09.628Z,1761589689.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:09.815Z,1761589689.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996129,-0.084095,-0.025605],[0.084387,0.996378,0.010509],[0.024629,-0.012629,0.999617]]
2025-10-27T18:28:09.881Z,1761589689.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:10.132Z,1761589690.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:10.218Z,1761589690.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994303,-0.103231,-0.026537],[0.103491,0.994593,0.008589],[0.025507,-0.011287,0.999611]]
2025-10-27T18:28:10.384Z,1761589690.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:10.621Z,1761589690.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992109,-0.122378,-0.027274],[0.122566,0.992446,0.005310],[0.026418,-0.008611,0.999614]]
2025-10-27T18:28:10.636Z,1761589690.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:10.888Z,1761589690.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:11.049Z,1761589691.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989556,-0.141405,-0.027985],[0.141590,0.989914,0.004725],[0.027035,-0.008638,0.999597]]
2025-10-27T18:28:11.140Z,1761589691.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:11.392Z,1761589691.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:11.436Z,1761589691.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986769,-0.159542,-0.028850],[0.159753,0.987144,0.005133],[0.027660,-0.009674,0.999571]]
2025-10-27T18:28:11.644Z,1761589691.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:11.833Z,1761589691.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983641,-0.177742,-0.029310],[0.177937,0.984033,0.004143],[0.028105,-0.009291,0.999562]]
2025-10-27T18:28:11.896Z,1761589691.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:12.148Z,1761589692.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:12.241Z,1761589692.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980179,-0.195751,-0.030515],[0.195976,0.980598,0.004559],[0.029031,-0.010449,0.999524]]
2025-10-27T18:28:12.401Z,1761589692.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:12.641Z,1761589692.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976491,-0.213200,-0.031794],[0.213484,0.976930,0.005772],[0.029830,-0.012424,0.999478]]
2025-10-27T18:28:12.652Z,1761589692.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:12.904Z,1761589692.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:13.046Z,1761589693.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972619,-0.230005,-0.033314],[0.230375,0.973072,0.007680],[0.030650,-0.015145,0.999415]]
2025-10-27T18:28:13.157Z,1761589693.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:13.408Z,1761589693.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:13.660Z,1761589693.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:13.873Z,1761589693.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964490,-0.261395,-0.037844],[0.262035,0.964971,0.013008],[0.033118,-0.022462,0.999199]]
2025-10-27T18:28:13.914Z,1761589693.914 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:14.164Z,1761589694.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:14.261Z,1761589694.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960503,-0.275304,-0.040524],[0.276113,0.960995,0.015827],[0.034587,-0.026391,0.999053]]
2025-10-27T18:28:14.416Z,1761589694.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:14.662Z,1761589694.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956502,-0.288589,-0.042676],[0.289451,0.957068,0.015488],[0.036375,-0.027167,0.998969]]
2025-10-27T18:28:14.668Z,1761589694.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:14.920Z,1761589694.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:15.067Z,1761589695.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952540,-0.301198,-0.044136],[0.302062,0.953181,0.014273],[0.037771,-0.026928,0.998923]]
2025-10-27T18:28:15.172Z,1761589695.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:15.424Z,1761589695.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:15.474Z,1761589695.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948415,-0.313832,-0.044919],[0.314675,0.949111,0.012931],[0.038575,-0.026399,0.998907]]
2025-10-27T18:28:15.676Z,1761589695.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:15.878Z,1761589695.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943940,-0.327046,-0.044925],[0.327811,0.944683,0.010678],[0.038948,-0.024806,0.998933]]
2025-10-27T18:28:15.928Z,1761589695.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:16.180Z,1761589696.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:16.278Z,1761589696.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938705,-0.341948,-0.043640],[0.342554,0.939472,0.007044],[0.038590,-0.021561,0.999022]]
2025-10-27T18:28:16.432Z,1761589696.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:16.684Z,1761589696.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:16.685Z,1761589696.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932970,-0.357445,-0.042435],[0.357971,0.933718,0.005264],[0.037741,-0.020101,0.999085]]
2025-10-27T18:28:16.936Z,1761589696.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:17.086Z,1761589697.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926677,-0.373710,-0.040127],[0.374093,0.927389,0.002219],[0.036384,-0.017068,0.999192]]
2025-10-27T18:28:17.188Z,1761589697.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:17.440Z,1761589697.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:17.493Z,1761589697.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919632,-0.390945,-0.037932],[0.391211,0.920301,-0.000447],[0.035083,-0.014428,0.999280]]
2025-10-27T18:28:17.692Z,1761589697.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:17.893Z,1761589697.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912265,-0.407976,-0.036451],[0.408210,0.912887,-0.001101],[0.033725,-0.013875,0.999335]]
2025-10-27T18:28:17.944Z,1761589697.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:18.196Z,1761589698.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:18.302Z,1761589698.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904605,-0.424743,-0.035810],[0.424953,0.905213,-0.001906],[0.033225,-0.013494,0.999357]]
2025-10-27T18:28:18.449Z,1761589698.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:18.700Z,1761589698.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:18.704Z,1761589698.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897018,-0.440602,-0.035063],[0.440797,0.897604,-0.002390],[0.032526,-0.013312,0.999382]]
2025-10-27T18:28:18.952Z,1761589698.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:19.106Z,1761589699.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889321,-0.455945,-0.034944],[0.456152,0.889899,-0.002278],[0.032136,-0.013914,0.999387]]
2025-10-27T18:28:19.204Z,1761589699.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:19.456Z,1761589699.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:19.522Z,1761589699.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881781,-0.470296,-0.035837],[0.470546,0.882374,-0.001621],[0.032384,-0.015433,0.999356]]
2025-10-27T18:28:19.708Z,1761589699.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:19.913Z,1761589699.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874378,-0.483910,-0.035966],[0.484173,0.874971,-0.001591],[0.032239,-0.016023,0.999352]]
2025-10-27T18:28:19.945Z,1761589699.945 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateRudder:A] Stopped
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:28:19.946Z,1761589699.946 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateCommandMode] Stopped
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:28:19.947Z,1761589699.947 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:28:19.948Z,1761589699.948 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:28:19.948Z,1761589699.948 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:28:19.948Z,1761589699.948 [marl:UpdateSpeed] Stopped
2025-10-27T18:28:19.948Z,1761589699.948 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:28:19.961Z,1761589699.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:20.212Z,1761589700.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:20.317Z,1761589700.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866660,-0.497634,-0.035498],[0.497843,0.867261,-0.003312],[0.032435,-0.014802,0.999364]]
2025-10-27T18:28:20.376Z,1761589700.376 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:28:20.376Z,1761589700.376 [marl:UpdateRudder:B] Stopped
2025-10-27T18:28:20.376Z,1761589700.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:28:20.376Z,1761589700.376 [marl:UpdateRudder] Stopped
2025-10-27T18:28:20.376Z,1761589700.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:28:20.464Z,1761589700.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:20.716Z,1761589700.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:20.725Z,1761589700.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858958,-0.510841,-0.035110],[0.511026,0.859555,-0.004186],[0.032318,-0.014347,0.999375]]
2025-10-27T18:28:20.968Z,1761589700.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:21.125Z,1761589701.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850361,-0.525087,-0.034222],[0.525226,0.850945,-0.005497],[0.032007,-0.013300,0.999399]]
2025-10-27T18:28:21.220Z,1761589701.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:21.472Z,1761589701.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:21.724Z,1761589701.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:21.934Z,1761589701.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831767,-0.554135,-0.033143],[0.554252,0.832324,-0.006377],[0.031119,-0.013065,0.999430]]
2025-10-27T18:28:21.976Z,1761589701.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:22.228Z,1761589702.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:22.357Z,1761589702.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821603,-0.569141,-0.032366],[0.569257,0.822135,-0.006420],[0.030264,-0.013150,0.999455]]
2025-10-27T18:28:22.480Z,1761589702.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:22.733Z,1761589702.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:22.757Z,1761589702.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810802,-0.584484,-0.031287],[0.584570,0.811311,-0.007288],[0.029643,-0.012380,0.999484]]
2025-10-27T18:28:22.984Z,1761589702.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:23.145Z,1761589703.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800155,-0.599013,-0.030584],[0.599080,0.800650,-0.007957],[0.029253,-0.011956,0.999501]]
2025-10-27T18:28:23.236Z,1761589703.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:23.488Z,1761589703.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:23.740Z,1761589703.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:23.953Z,1761589703.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779040,-0.626236,-0.030400],[0.626304,0.779534,-0.008425],[0.028974,-0.012476,0.999502]]
2025-10-27T18:28:23.992Z,1761589703.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:24.244Z,1761589704.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:24.361Z,1761589704.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768889,-0.638680,-0.029942],[0.638721,0.769381,-0.009452],[0.029073,-0.011857,0.999507]]
2025-10-27T18:28:24.496Z,1761589704.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:24.748Z,1761589704.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:24.770Z,1761589704.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758811,-0.650630,-0.029767],[0.650665,0.759301,-0.009844],[0.029007,-0.011898,0.999508]]
2025-10-27T18:28:24.844Z,1761589704.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:28:25.002Z,1761589705.002 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:25.167Z,1761589705.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748921,-0.662024,-0.029003],[0.662033,0.749399,-0.010695],[0.028815,-0.011191,0.999522]]
2025-10-27T18:28:25.252Z,1761589705.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:25.504Z,1761589705.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:25.570Z,1761589705.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739015,-0.673078,-0.028695],[0.673082,0.739487,-0.010965],[0.028600,-0.011211,0.999528]]
2025-10-27T18:28:25.761Z,1761589705.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:25.847Z,1761589705.847 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:28:25.974Z,1761589705.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729077,-0.683832,-0.028640],[0.683841,0.729548,-0.011025],[0.028433,-0.011547,0.999529]]
2025-10-27T18:28:26.012Z,1761589706.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:26.264Z,1761589706.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:26.378Z,1761589706.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718627,-0.694854,-0.027449],[0.694825,0.719076,-0.012132],[0.028168,-0.010354,0.999550]]
2025-10-27T18:28:26.516Z,1761589706.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:26.768Z,1761589706.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:26.829Z,1761589706.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707573,-0.706119,-0.027132],[0.706081,0.708019,-0.012594],[0.028103,-0.010246,0.999553]]
2025-10-27T18:28:27.020Z,1761589707.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:27.206Z,1761589707.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696107,-0.717431,-0.026969],[0.717385,0.696554,-0.013074],[0.028165,-0.010246,0.999551]]
2025-10-27T18:28:27.272Z,1761589707.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:27.524Z,1761589707.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:27.606Z,1761589707.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683879,-0.729141,-0.025747],[0.729051,0.684306,-0.014486],[0.028181,-0.008864,0.999564]]
2025-10-27T18:28:27.776Z,1761589707.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:28.028Z,1761589708.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:28.280Z,1761589708.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:28.414Z,1761589708.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658899,-0.751860,-0.023623],[0.751718,0.659285,-0.016251],[0.027792,-0.007050,0.999589]]
2025-10-27T18:28:28.532Z,1761589708.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:28.788Z,1761589708.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:28.850Z,1761589708.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646705,-0.762424,-0.021961],[0.762264,0.647050,-0.016732],[0.026966,-0.005920,0.999619]]
2025-10-27T18:28:29.036Z,1761589709.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:29.221Z,1761589709.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634697,-0.772500,-0.020090],[0.772330,0.634997,-0.016885],[0.025801,-0.004799,0.999656]]
2025-10-27T18:28:29.288Z,1761589709.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:29.540Z,1761589709.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:29.626Z,1761589709.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623456,-0.781609,-0.019739],[0.781487,0.623739,-0.015059],[0.024083,-0.006037,0.999692]]
2025-10-27T18:28:29.793Z,1761589709.793 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:30.029Z,1761589710.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612348,-0.790395,-0.017499],[0.790283,0.612577,-0.014251],[0.021983,-0.005102,0.999745]]
2025-10-27T18:28:30.044Z,1761589710.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:30.296Z,1761589710.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:30.435Z,1761589710.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600887,-0.799189,-0.015237],[0.799081,0.601067,-0.013717],[0.020121,-0.003933,0.999790]]
2025-10-27T18:28:30.549Z,1761589710.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:30.802Z,1761589710.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:30.854Z,1761589710.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588359,-0.808513,-0.011861],[0.808403,0.588476,-0.013407],[0.017819,-0.001700,0.999840]]
2025-10-27T18:28:31.052Z,1761589711.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:31.242Z,1761589711.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574733,-0.818290,-0.009088],[0.818191,0.574805,-0.012718],[0.015631,-0.000126,0.999878]]
2025-10-27T18:28:31.307Z,1761589711.307 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:31.564Z,1761589711.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:31.653Z,1761589711.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560059,-0.828436,-0.005209],[0.828340,0.560076,-0.012999],[0.013687,0.002965,0.999902]]
2025-10-27T18:28:31.817Z,1761589711.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:32.049Z,1761589712.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543980,-0.839091,-0.003450],[0.839006,0.543977,-0.012547],[0.012405,0.003931,0.999915]]
2025-10-27T18:28:32.068Z,1761589712.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:32.320Z,1761589712.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:32.454Z,1761589712.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526990,-0.849871,-0.000855],[0.849790,0.526953,-0.013316],[0.011768,0.006291,0.999911]]
2025-10-27T18:28:32.572Z,1761589712.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:32.826Z,1761589712.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:32.858Z,1761589712.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509446,-0.860498,0.002782],[0.860424,0.509353,-0.015184],[0.011648,0.010129,0.999881]]
2025-10-27T18:28:33.076Z,1761589713.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:33.263Z,1761589713.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492086,-0.870539,0.003521],[0.870459,0.491976,-0.016150],[0.012327,0.011012,0.999863]]
2025-10-27T18:28:33.328Z,1761589713.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:33.348Z,1761589713.348 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:28:33.348Z,1761589713.348 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:28:33.348Z,1761589713.348 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:28:33.349Z,1761589713.349 [marl:UpdateRudder:A] Stopped
2025-10-27T18:28:33.349Z,1761589713.349 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:28:33.349Z,1761589713.349 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:28:33.350Z,1761589713.350 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:28:33.350Z,1761589713.350 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:28:33.355Z,1761589713.355 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:28:33.355Z,1761589713.355 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:28:33.357Z,1761589713.357 [marl:UpdateCommandMode] Stopped
2025-10-27T18:28:33.357Z,1761589713.357 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:28:33.357Z,1761589713.357 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:28:33.357Z,1761589713.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:28:33.357Z,1761589713.357 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:28:33.358Z,1761589713.358 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:28:33.360Z,1761589713.360 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:28:33.360Z,1761589713.360 [marl:UpdateSpeed] Stopped
2025-10-27T18:28:33.360Z,1761589713.360 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:28:33.580Z,1761589713.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:33.665Z,1761589713.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475545,-0.879688,0.002482],[0.879592,0.475447,-0.016392],[0.013240,0.009978,0.999863]]
2025-10-27T18:28:33.711Z,1761589713.711 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:28:33.711Z,1761589713.711 [marl:UpdateRudder:B] Stopped
2025-10-27T18:28:33.711Z,1761589713.711 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:28:33.711Z,1761589713.711 [marl:UpdateRudder] Stopped
2025-10-27T18:28:33.711Z,1761589713.711 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:28:33.833Z,1761589713.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:34.070Z,1761589714.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460214,-0.887806,0.001768],[0.887689,0.460119,-0.017284],[0.014531,0.009523,0.999849]]
2025-10-27T18:28:34.084Z,1761589714.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:34.336Z,1761589714.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:34.474Z,1761589714.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446597,-0.894735,-0.000427],[0.894606,0.446541,-0.016802],[0.015224,0.007121,0.999859]]
2025-10-27T18:28:34.588Z,1761589714.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:34.842Z,1761589714.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:34.880Z,1761589714.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434566,-0.900640,-0.000629],[0.900514,0.434517,-0.016402],[0.015046,0.006561,0.999865]]
2025-10-27T18:28:35.092Z,1761589715.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:35.282Z,1761589715.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423422,-0.905932,-0.001068],[0.905818,0.423386,-0.015446],[0.014445,0.005572,0.999880]]
2025-10-27T18:28:35.344Z,1761589715.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:35.596Z,1761589715.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:35.686Z,1761589715.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413127,-0.910672,-0.001600],[0.910578,0.413109,-0.013769],[0.013200,0.004231,0.999904]]
2025-10-27T18:28:35.850Z,1761589715.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:36.090Z,1761589716.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402938,-0.915219,-0.003765],[0.915155,0.402955,-0.010862],[0.011458,0.000932,0.999934]]
2025-10-27T18:28:36.100Z,1761589716.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:36.352Z,1761589716.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:36.495Z,1761589716.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393370,-0.919338,-0.008773],[0.919334,0.393428,-0.006245],[0.009193,-0.005609,0.999942]]
2025-10-27T18:28:36.604Z,1761589716.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:36.856Z,1761589716.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:36.898Z,1761589716.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387193,-0.921809,-0.018715],[0.921977,0.387243,0.000997],[0.006329,-0.017641,0.999824]]
2025-10-27T18:28:37.108Z,1761589717.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:37.313Z,1761589717.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383967,-0.922641,-0.036103],[0.923340,0.383821,0.011186],[0.003536,-0.037631,0.999285]]
2025-10-27T18:28:37.360Z,1761589717.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:37.612Z,1761589717.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:37.864Z,1761589717.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:38.111Z,1761589718.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383008,-0.919751,-0.085812],[0.923744,0.381218,0.037011],[-0.001328,-0.093444,0.995624]]
2025-10-27T18:28:38.116Z,1761589718.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:38.368Z,1761589718.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:38.514Z,1761589718.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382364,-0.917137,-0.112501],[0.924007,0.379114,0.049847],[-0.003066,-0.123011,0.992401]]
2025-10-27T18:28:38.621Z,1761589718.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:38.872Z,1761589718.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:38.918Z,1761589718.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381126,-0.914581,-0.135217],[0.924511,0.376291,0.060697],[-0.004632,-0.148143,0.988955]]
2025-10-27T18:28:39.124Z,1761589719.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:39.326Z,1761589719.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379078,-0.912420,-0.154242],[0.925346,0.372703,0.069482],[-0.005911,-0.169066,0.985587]]
2025-10-27T18:28:39.376Z,1761589719.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:39.628Z,1761589719.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:39.730Z,1761589719.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376576,-0.910923,-0.168550],[0.926360,0.368923,0.075848],[-0.006910,-0.184701,0.982771]]
2025-10-27T18:28:39.880Z,1761589719.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:40.130Z,1761589720.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373555,-0.910234,-0.178693],[0.927577,0.364976,0.079953],[-0.007558,-0.195619,0.980651]]
2025-10-27T18:28:40.132Z,1761589720.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:40.384Z,1761589720.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:40.533Z,1761589720.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370551,-0.910504,-0.183508],[0.928778,0.361545,0.081583],[-0.007935,-0.200669,0.979627]]
2025-10-27T18:28:40.642Z,1761589720.642 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:40.892Z,1761589720.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:40.937Z,1761589720.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368199,-0.910744,-0.187016],[0.929710,0.358872,0.082764],[-0.008262,-0.204344,0.978864]]
2025-10-27T18:28:41.144Z,1761589721.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:41.343Z,1761589721.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366448,-0.911244,-0.188017],[0.930404,0.357126,0.082522],[-0.008052,-0.205172,0.978693]]
2025-10-27T18:28:41.396Z,1761589721.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:41.648Z,1761589721.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:41.757Z,1761589721.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366036,-0.911173,-0.189161],[0.930564,0.356574,0.083102],[-0.008270,-0.206445,0.978423]]
2025-10-27T18:28:41.901Z,1761589721.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:42.150Z,1761589722.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366817,-0.910682,-0.190009],[0.930251,0.357127,0.084221],[-0.008841,-0.207649,0.978163]]
2025-10-27T18:28:42.152Z,1761589722.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:42.404Z,1761589722.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:42.554Z,1761589722.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368199,-0.910241,-0.189449],[0.929707,0.358564,0.084126],[-0.008645,-0.207107,0.978280]]
2025-10-27T18:28:42.656Z,1761589722.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:42.908Z,1761589722.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:43.160Z,1761589723.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:43.370Z,1761589723.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373140,-0.908543,-0.187926],[0.927730,0.363393,0.085219],[-0.009135,-0.206143,0.978479]]
2025-10-27T18:28:43.412Z,1761589723.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:43.664Z,1761589723.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:43.768Z,1761589723.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376077,-0.907501,-0.187107],[0.926535,0.366146,0.086424],[-0.009921,-0.205863,0.978530]]
2025-10-27T18:28:43.916Z,1761589723.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:44.168Z,1761589724.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:44.171Z,1761589724.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379201,-0.906456,-0.185859],[0.925239,0.368877,0.088672],[-0.011818,-0.205589,0.978567]]
2025-10-27T18:28:44.420Z,1761589724.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:44.575Z,1761589724.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381572,-0.905712,-0.184629],[0.924232,0.370798,0.091128],[-0.014075,-0.205412,0.978574]]
2025-10-27T18:28:44.673Z,1761589724.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:44.924Z,1761589724.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:44.986Z,1761589724.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382645,-0.905532,-0.183291],[0.923752,0.371484,0.093173],[-0.016282,-0.204968,0.978633]]
2025-10-27T18:28:45.176Z,1761589725.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:45.387Z,1761589725.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381998,-0.906161,-0.181519],[0.923959,0.370346,0.095622],[-0.019424,-0.204244,0.978727]]
2025-10-27T18:28:45.428Z,1761589725.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:45.680Z,1761589725.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:45.802Z,1761589725.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379230,-0.907773,-0.179256],[0.925025,0.367196,0.097442],[-0.022633,-0.202770,0.978965]]
2025-10-27T18:28:45.932Z,1761589725.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:46.184Z,1761589726.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:46.198Z,1761589726.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374744,-0.910067,-0.177048],[0.926776,0.362440,0.098610],[-0.025573,-0.201037,0.979250]]
2025-10-27T18:28:46.436Z,1761589726.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:46.598Z,1761589726.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368875,-0.913132,-0.173555],[0.929057,0.356596,0.098450],[-0.028009,-0.197558,0.979891]]
2025-10-27T18:28:46.638Z,1761589726.638 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:28:46.639Z,1761589726.639 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:28:46.639Z,1761589726.639 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:28:46.639Z,1761589726.639 [marl:UpdateRudder:A] Stopped
2025-10-27T18:28:46.639Z,1761589726.639 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode] Stopped
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:28:46.640Z,1761589726.640 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed] Stopped
2025-10-27T18:28:46.641Z,1761589726.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:28:46.689Z,1761589726.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:46.940Z,1761589726.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:47.002Z,1761589727.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361795,-0.916067,-0.172989],[0.931794,0.349486,0.098076],[-0.029387,-0.196673,0.980029]]
2025-10-27T18:28:47.056Z,1761589727.056 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:28:47.056Z,1761589727.056 [marl:UpdateRudder:B] Stopped
2025-10-27T18:28:47.056Z,1761589727.056 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:28:47.056Z,1761589727.056 [marl:UpdateRudder] Stopped
2025-10-27T18:28:47.056Z,1761589727.056 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:28:47.192Z,1761589727.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:47.406Z,1761589727.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354254,-0.919396,-0.170924],[0.934676,0.342297,0.095986],[-0.029742,-0.193762,0.980598]]
2025-10-27T18:28:47.444Z,1761589727.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:47.696Z,1761589727.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:47.812Z,1761589727.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347851,-0.922012,-0.169981],[0.937096,0.336280,0.093629],[-0.029165,-0.191858,0.980989]]
2025-10-27T18:28:47.948Z,1761589727.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:48.200Z,1761589728.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:48.218Z,1761589728.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343177,-0.923754,-0.170023],[0.938858,0.331994,0.091247],[-0.027843,-0.190941,0.981206]]
2025-10-27T18:28:48.452Z,1761589728.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:48.618Z,1761589728.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340891,-0.924485,-0.170646],[0.939734,0.330011,0.089406],[-0.026340,-0.190840,0.981268]]
2025-10-27T18:28:48.704Z,1761589728.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:48.956Z,1761589728.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:49.021Z,1761589729.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340657,-0.924319,-0.172007],[0.939851,0.329894,0.088598],[-0.025149,-0.191842,0.981104]]
2025-10-27T18:28:49.208Z,1761589729.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:49.460Z,1761589729.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:49.712Z,1761589729.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:49.836Z,1761589729.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347235,-0.921142,-0.175858],[0.937492,0.336335,0.089375],[-0.023180,-0.195900,0.980350]]
2025-10-27T18:28:49.964Z,1761589729.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:50.216Z,1761589730.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:50.238Z,1761589730.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351254,-0.919275,-0.177635],[0.935958,0.339779,0.092376],[-0.024562,-0.198706,0.979751]]
2025-10-27T18:28:50.468Z,1761589730.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:50.642Z,1761589730.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356003,-0.917243,-0.178682],[0.934104,0.343836,0.096052],[-0.026666,-0.201102,0.979207]]
2025-10-27T18:28:50.720Z,1761589730.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:50.972Z,1761589730.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:51.046Z,1761589731.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360541,-0.915389,-0.179092],[0.932274,0.347563,0.100327],[-0.029593,-0.203135,0.978703]]
2025-10-27T18:28:51.224Z,1761589731.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:51.451Z,1761589731.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363369,-0.914217,-0.179359],[0.931069,0.349584,0.104405],[-0.032748,-0.204933,0.978228]]
2025-10-27T18:28:51.475Z,1761589731.475 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:51.728Z,1761589731.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:51.850Z,1761589731.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363697,-0.914097,-0.179307],[0.930828,0.349226,0.107704],[-0.035834,-0.206076,0.977880]]
2025-10-27T18:28:51.980Z,1761589731.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:52.232Z,1761589732.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:52.254Z,1761589732.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361839,-0.915084,-0.178026],[0.931423,0.346872,0.110140],[-0.039035,-0.205670,0.977843]]
2025-10-27T18:28:52.484Z,1761589732.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:52.659Z,1761589732.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357933,-0.916866,-0.176747],[0.932812,0.342641,0.111619],[-0.041778,-0.204824,0.977907]]
2025-10-27T18:28:52.737Z,1761589732.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:52.988Z,1761589732.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:53.061Z,1761589733.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352209,-0.919197,-0.176142],[0.934895,0.336724,0.112197],[-0.043820,-0.204191,0.977950]]
2025-10-27T18:28:53.241Z,1761589733.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:53.466Z,1761589733.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345525,-0.922042,-0.174504],[0.937338,0.330228,0.111115],[-0.044827,-0.201963,0.978367]]
2025-10-27T18:28:53.492Z,1761589733.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:53.744Z,1761589733.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:53.869Z,1761589733.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337740,-0.924958,-0.174313],[0.940171,0.322701,0.109281],[-0.044829,-0.200793,0.978607]]
2025-10-27T18:28:53.998Z,1761589733.998 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:54.248Z,1761589734.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:54.289Z,1761589734.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329927,-0.927842,-0.173949],[0.942979,0.315329,0.106579],[-0.044037,-0.199194,0.978970]]
2025-10-27T18:28:54.500Z,1761589734.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:54.678Z,1761589734.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323190,-0.930301,-0.173457],[0.945376,0.309148,0.103399],[-0.042568,-0.197399,0.979399]]
2025-10-27T18:28:54.753Z,1761589734.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:55.004Z,1761589735.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:55.082Z,1761589735.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318758,-0.931958,-0.172767],[0.946947,0.305231,0.100624],[-0.041044,-0.195676,0.979809]]
2025-10-27T18:28:55.257Z,1761589735.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:55.486Z,1761589735.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316417,-0.932632,-0.173430],[0.947792,0.303175,0.098870],[-0.039630,-0.195660,0.979871]]
2025-10-27T18:28:55.508Z,1761589735.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:55.760Z,1761589735.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:55.891Z,1761589735.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316321,-0.932393,-0.174884],[0.947863,0.303122,0.098352],[-0.038691,-0.196877,0.979664]]
2025-10-27T18:28:55.968Z,1761589735.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:28:56.012Z,1761589736.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:56.264Z,1761589736.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:56.298Z,1761589736.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318167,-0.931509,-0.176242],[0.947260,0.304853,0.098806],[-0.038310,-0.198384,0.979375]]
2025-10-27T18:28:56.516Z,1761589736.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:56.698Z,1761589736.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321097,-0.930408,-0.176739],[0.946247,0.307524,0.100229],[-0.038902,-0.199422,0.979141]]
2025-10-27T18:28:56.769Z,1761589736.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:56.971Z,1761589736.971 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:28:57.020Z,1761589737.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:57.102Z,1761589737.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324748,-0.928997,-0.177493],[0.944931,0.310638,0.103005],[-0.040556,-0.201170,0.978717]]
2025-10-27T18:28:57.272Z,1761589737.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:57.507Z,1761589737.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328147,-0.927684,-0.178108],[0.943678,0.313488,0.105818],[-0.042331,-0.202801,0.978305]]
2025-10-27T18:28:57.524Z,1761589737.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:57.777Z,1761589737.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:57.909Z,1761589737.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330793,-0.926579,-0.178960],[0.942648,0.315462,0.109079],[-0.044615,-0.204779,0.977791]]
2025-10-27T18:28:58.048Z,1761589738.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:58.280Z,1761589738.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:58.317Z,1761589738.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332047,-0.925919,-0.180051],[0.942066,0.315918,0.112724],[-0.047492,-0.207049,0.977177]]
2025-10-27T18:28:58.451Z,1761589738.451 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:28:58.451Z,1761589738.451 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:28:58.532Z,1761589738.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:58.718Z,1761589738.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330821,-0.926652,-0.178532],[0.942353,0.314307,0.114812],[-0.050277,-0.206223,0.977213]]
2025-10-27T18:28:58.786Z,1761589738.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:59.039Z,1761589739.039 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:59.123Z,1761589739.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327371,-0.928002,-0.177875],[0.943437,0.310568,0.116075],[-0.052475,-0.205813,0.977183]]
2025-10-27T18:28:59.288Z,1761589739.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:59.526Z,1761589739.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322190,-0.930000,-0.176898],[0.945144,0.305379,0.115960],[-0.053822,-0.204555,0.977374]]
2025-10-27T18:28:59.540Z,1761589739.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:59.586Z,1761589739.586 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:28:59.792Z,1761589739.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:28:59.929Z,1761589739.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316006,-0.932607,-0.174309],[0.947205,0.299615,0.114165],[-0.054246,-0.201184,0.978050]]
2025-10-27T18:28:59.991Z,1761589739.991 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:28:59.991Z,1761589739.991 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:28:59.991Z,1761589739.991 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateRudder:A] Stopped
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:28:59.992Z,1761589739.992 [marl:UpdateCommandMode] Stopped
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed] Stopped
2025-10-27T18:28:59.993Z,1761589739.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:29:00.045Z,1761589740.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:00.296Z,1761589740.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:00.344Z,1761589740.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309581,-0.934926,-0.173414],[0.949367,0.293646,0.111692],[-0.053501,-0.199211,0.978495]]
2025-10-27T18:29:00.401Z,1761589740.401 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:29:00.401Z,1761589740.401 [marl:UpdateRudder:B] Stopped
2025-10-27T18:29:00.402Z,1761589740.402 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:29:00.402Z,1761589740.402 [marl:UpdateRudder] Stopped
2025-10-27T18:29:00.402Z,1761589740.402 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:29:00.548Z,1761589740.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:00.801Z,1761589740.801 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:01.052Z,1761589741.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:01.305Z,1761589741.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:01.546Z,1761589741.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297005,-0.939227,-0.172165],[0.953626,0.282532,0.103800],[-0.048849,-0.195010,0.979584]]
2025-10-27T18:29:01.556Z,1761589741.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:01.808Z,1761589741.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:01.950Z,1761589741.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296294,-0.939406,-0.172414],[0.953898,0.282022,0.102672],[-0.047826,-0.194886,0.979659]]
2025-10-27T18:29:02.060Z,1761589742.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:02.312Z,1761589742.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:02.361Z,1761589742.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297358,-0.939008,-0.172748],[0.953565,0.283011,0.103047],[-0.047873,-0.195368,0.979561]]
2025-10-27T18:29:02.564Z,1761589742.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:02.771Z,1761589742.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299159,-0.938457,-0.172633],[0.952945,0.284545,0.104548],[-0.048992,-0.195787,0.979422]]
2025-10-27T18:29:02.818Z,1761589742.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:03.068Z,1761589743.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:03.161Z,1761589743.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301234,-0.937507,-0.174181],[0.952220,0.286108,0.106862],[-0.050350,-0.198049,0.978898]]
2025-10-27T18:29:03.321Z,1761589743.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:03.566Z,1761589743.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302890,-0.936806,-0.175079],[0.951618,0.287315,0.108963],[-0.051774,-0.199612,0.978506]]
2025-10-27T18:29:03.572Z,1761589743.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:03.824Z,1761589743.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:03.972Z,1761589743.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304087,-0.936221,-0.176128],[0.951153,0.288035,0.111104],[-0.053287,-0.201310,0.978077]]
2025-10-27T18:29:04.076Z,1761589744.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:04.328Z,1761589744.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:04.374Z,1761589744.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304000,-0.935872,-0.178125],[0.951066,0.287283,0.113761],[-0.055293,-0.203992,0.977410]]
2025-10-27T18:29:04.580Z,1761589744.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:04.792Z,1761589744.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302979,-0.936121,-0.178552],[0.951297,0.285895,0.115319],[-0.056905,-0.204795,0.977149]]
2025-10-27T18:29:04.837Z,1761589744.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:05.084Z,1761589745.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:05.184Z,1761589745.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301975,-0.936287,-0.179379],[0.951565,0.284639,0.116207],[-0.057744,-0.205783,0.976893]]
2025-10-27T18:29:05.336Z,1761589745.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:05.586Z,1761589745.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300761,-0.936704,-0.179243],[0.951931,0.283411,0.116215],[-0.058059,-0.205580,0.976917]]
2025-10-27T18:29:05.588Z,1761589745.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:05.844Z,1761589745.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:05.989Z,1761589745.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299597,-0.936999,-0.179650],[0.952304,0.282257,0.115967],[-0.057954,-0.205825,0.976871]]
2025-10-27T18:29:06.092Z,1761589746.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:06.344Z,1761589746.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:06.394Z,1761589746.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298883,-0.937116,-0.180228],[0.952534,0.281513,0.115887],[-0.057863,-0.206310,0.976774]]
2025-10-27T18:29:06.596Z,1761589746.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:06.838Z,1761589746.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298995,-0.936965,-0.180829],[0.952563,0.281780,0.114994],[-0.056792,-0.206634,0.976769]]
2025-10-27T18:29:06.848Z,1761589746.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:07.100Z,1761589747.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:07.201Z,1761589747.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299485,-0.936777,-0.180993],[0.952455,0.282403,0.114360],[-0.056017,-0.206636,0.976813]]
2025-10-27T18:29:07.356Z,1761589747.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:07.604Z,1761589747.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:07.608Z,1761589747.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300002,-0.936401,-0.182078],[0.952288,0.282755,0.114878],[-0.056088,-0.207854,0.976550]]
2025-10-27T18:29:07.856Z,1761589747.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:08.109Z,1761589748.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:08.360Z,1761589748.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:08.613Z,1761589748.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:08.846Z,1761589748.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294823,-0.937963,-0.182495],[0.953717,0.277010,0.117003],[-0.059192,-0.208544,0.976220]]
2025-10-27T18:29:08.864Z,1761589748.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:09.116Z,1761589749.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:09.225Z,1761589749.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289731,-0.939957,-0.180381],[0.955132,0.271847,0.117568],[-0.061473,-0.206351,0.976545]]
2025-10-27T18:29:09.368Z,1761589749.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:09.620Z,1761589749.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:09.627Z,1761589749.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282646,-0.942272,-0.179538],[0.957124,0.264664,0.117756],[-0.063441,-0.205124,0.976678]]
2025-10-27T18:29:09.872Z,1761589749.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:10.031Z,1761589750.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274290,-0.945219,-0.176992],[0.959456,0.256572,0.116687],[-0.064884,-0.201822,0.977271]]
2025-10-27T18:29:10.126Z,1761589750.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:10.376Z,1761589750.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:10.434Z,1761589750.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265416,-0.948193,-0.174600],[0.961912,0.248138,0.114683],[-0.065417,-0.198389,0.977938]]
2025-10-27T18:29:10.628Z,1761589750.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:10.855Z,1761589750.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256450,-0.950924,-0.173137],[0.964396,0.239764,0.111599],[-0.064611,-0.195592,0.978555]]
2025-10-27T18:29:10.880Z,1761589750.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:11.132Z,1761589751.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:11.253Z,1761589751.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248289,-0.953556,-0.170538],[0.966688,0.232605,0.106812],[-0.062183,-0.191377,0.979545]]
2025-10-27T18:29:11.384Z,1761589751.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:11.636Z,1761589751.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:11.649Z,1761589751.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241954,-0.955393,-0.169356],[0.968530,0.227306,0.101400],[-0.058381,-0.188561,0.980325]]
2025-10-27T18:29:11.888Z,1761589751.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:12.051Z,1761589752.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238185,-0.956336,-0.169380],[0.969733,0.224529,0.095942],[-0.053722,-0.187105,0.980870]]
2025-10-27T18:29:12.140Z,1761589752.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:12.392Z,1761589752.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:12.454Z,1761589752.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237254,-0.956392,-0.170366],[0.970248,0.224574,0.090478],[-0.048272,-0.186764,0.981218]]
2025-10-27T18:29:12.644Z,1761589752.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:12.858Z,1761589752.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238601,-0.955778,-0.171921],[0.970196,0.226900,0.085063],[-0.042293,-0.187094,0.981431]]
2025-10-27T18:29:12.896Z,1761589752.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:13.148Z,1761589753.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:13.262Z,1761589753.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242109,-0.954459,-0.174330],[0.969544,0.231145,0.080979],[-0.036995,-0.188626,0.981352]]
2025-10-27T18:29:13.286Z,1761589753.286 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:29:13.286Z,1761589753.286 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:29:13.286Z,1761589753.286 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateRudder:A] Stopped
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:29:13.287Z,1761589753.287 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateCommandMode] Stopped
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:29:13.288Z,1761589753.288 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:29:13.289Z,1761589753.289 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:29:13.289Z,1761589753.289 [marl:UpdateSpeed] Stopped
2025-10-27T18:29:13.289Z,1761589753.289 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:29:13.400Z,1761589753.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:13.652Z,1761589753.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:13.670Z,1761589753.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246575,-0.952484,-0.178816],[0.968582,0.236036,0.078336],[-0.032407,-0.192514,0.980759]]
2025-10-27T18:29:13.700Z,1761589753.700 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:29:13.700Z,1761589753.700 [marl:UpdateRudder:B] Stopped
2025-10-27T18:29:13.700Z,1761589753.700 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:29:13.700Z,1761589753.700 [marl:UpdateRudder] Stopped
2025-10-27T18:29:13.700Z,1761589753.700 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:29:13.904Z,1761589753.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:14.070Z,1761589754.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251773,-0.950408,-0.182579],[0.967345,0.241438,0.077150],[-0.029243,-0.196041,0.980160]]
2025-10-27T18:29:14.157Z,1761589754.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:14.408Z,1761589754.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:14.474Z,1761589754.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257196,-0.948306,-0.185919],[0.965952,0.246702,0.077941],[-0.028045,-0.199635,0.979469]]
2025-10-27T18:29:14.660Z,1761589754.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:14.879Z,1761589754.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263027,-0.946115,-0.188900],[0.964345,0.251883,0.081199],[-0.029243,-0.203522,0.978634]]
2025-10-27T18:29:14.912Z,1761589754.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:15.164Z,1761589755.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:15.417Z,1761589755.417 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:15.668Z,1761589755.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:15.686Z,1761589755.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272278,-0.942375,-0.194407],[0.961512,0.258726,0.092494],[-0.036866,-0.212108,0.976551]]
2025-10-27T18:29:15.920Z,1761589755.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:16.110Z,1761589756.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271849,-0.942552,-0.194149],[0.961494,0.257568,0.095854],[-0.040341,-0.212731,0.976278]]
2025-10-27T18:29:16.172Z,1761589756.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:16.424Z,1761589756.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:16.500Z,1761589756.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265584,-0.944953,-0.191126],[0.963178,0.251455,0.095181],[-0.041883,-0.209367,0.976940]]
2025-10-27T18:29:16.676Z,1761589756.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:16.898Z,1761589756.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252879,-0.951166,-0.177018],[0.966552,0.240280,0.089677],[-0.042764,-0.193775,0.980114]]
2025-10-27T18:29:16.928Z,1761589756.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:17.180Z,1761589757.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:17.302Z,1761589757.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234102,-0.960558,-0.150084],[0.971263,0.224250,0.079754],[-0.042952,-0.164441,0.985451]]
2025-10-27T18:29:17.432Z,1761589757.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:17.684Z,1761589757.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:17.712Z,1761589757.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211328,-0.970011,-0.120079],[0.976518,0.204271,0.068461],[-0.041879,-0.131727,0.990401]]
2025-10-27T18:29:17.936Z,1761589757.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:18.111Z,1761589758.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186951,-0.978357,-0.088700],[0.981581,0.182422,0.056756],[-0.039347,-0.097677,0.994440]]
2025-10-27T18:29:18.188Z,1761589758.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:18.440Z,1761589758.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:18.518Z,1761589758.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162927,-0.984929,-0.058056],[0.985991,0.160408,0.045721],[-0.035719,-0.064692,0.997266]]
2025-10-27T18:29:18.692Z,1761589758.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:18.918Z,1761589758.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141368,-0.989365,-0.034227],[0.989444,0.140098,0.037051],[-0.031861,-0.039104,0.998727]]
2025-10-27T18:29:18.944Z,1761589758.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:19.196Z,1761589759.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:19.448Z,1761589759.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:19.701Z,1761589759.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:19.741Z,1761589759.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106050,-0.994350,-0.004615],[0.994026,0.105893,0.026423],[-0.025785,-0.007389,0.999640]]
2025-10-27T18:29:19.952Z,1761589759.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:20.129Z,1761589760.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091030,-0.995845,0.002511],[0.995561,0.091064,0.023767],[-0.023896,0.000337,0.999714]]
2025-10-27T18:29:20.205Z,1761589760.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:20.456Z,1761589760.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:20.538Z,1761589760.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076318,-0.997059,0.007067],[0.996829,0.076457,0.022039],[-0.022514,0.005362,0.999732]]
2025-10-27T18:29:20.712Z,1761589760.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:20.942Z,1761589760.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061902,-0.998048,0.008307],[0.997849,0.062065,0.021120],[-0.021594,0.006982,0.999742]]
2025-10-27T18:29:20.964Z,1761589760.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:21.217Z,1761589761.217 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:21.470Z,1761589761.470 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:21.721Z,1761589761.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:21.760Z,1761589761.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031425,-0.999492,0.005276],[0.999315,0.031522,0.019381],[-0.019537,0.004664,0.999798]]
2025-10-27T18:29:21.972Z,1761589761.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:22.225Z,1761589762.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:22.476Z,1761589762.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:22.558Z,1761589762.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000131,-0.999998,0.001929],[0.999859,-0.000099,0.016811],[-0.016811,0.001931,0.999857]]
2025-10-27T18:29:22.728Z,1761589762.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:22.962Z,1761589762.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014983,-0.999887,0.000716],[0.999769,-0.014970,0.015435],[-0.015422,0.000947,0.999881]]
2025-10-27T18:29:22.980Z,1761589762.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:23.232Z,1761589763.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:23.367Z,1761589763.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029852,-0.999554,-0.000705],[0.999458,-0.029859,0.013841],[-0.013856,-0.000292,0.999904]]
2025-10-27T18:29:23.484Z,1761589763.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:23.737Z,1761589763.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:23.770Z,1761589763.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044560,-0.999002,-0.003153],[0.998931,-0.044595,0.012167],[-0.012296,-0.002608,0.999921]]
2025-10-27T18:29:23.988Z,1761589763.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:24.174Z,1761589764.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059043,-0.998248,-0.003900],[0.998196,-0.059081,0.010676],[-0.010887,-0.003262,0.999935]]
2025-10-27T18:29:24.240Z,1761589764.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:24.492Z,1761589764.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:24.581Z,1761589764.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073939,-0.997253,-0.004393],[0.997215,-0.073978,0.009463],[-0.009761,-0.003681,0.999946]]
2025-10-27T18:29:24.745Z,1761589764.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:24.984Z,1761589764.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089438,-0.995980,-0.005017],[0.995953,-0.089478,0.008450],[-0.008865,-0.004241,0.999952]]
2025-10-27T18:29:24.996Z,1761589764.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:25.248Z,1761589765.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:25.386Z,1761589765.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106456,-0.994304,-0.005249],[0.994282,-0.106496,0.007856],[-0.008370,-0.004383,0.999955]]
2025-10-27T18:29:25.500Z,1761589765.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:25.752Z,1761589765.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:25.789Z,1761589765.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123857,-0.992283,-0.005885],[0.992269,-0.123898,0.007203],[-0.007876,-0.004947,0.999957]]
2025-10-27T18:29:26.004Z,1761589766.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:26.203Z,1761589766.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142443,-0.989785,-0.005932],[0.989776,-0.142481,0.006541],[-0.007319,-0.004939,0.999961]]
2025-10-27T18:29:26.256Z,1761589766.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:26.508Z,1761589766.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:26.608Z,1761589766.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162055,-0.986775,-0.003745],[0.986761,-0.162075,0.005800],[-0.006330,-0.002755,0.999976]]
2025-10-27T18:29:26.672Z,1761589766.672 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:29:26.672Z,1761589766.672 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:29:26.672Z,1761589766.672 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:29:26.672Z,1761589766.672 [marl:UpdateRudder:A] Stopped
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode] Stopped
2025-10-27T18:29:26.673Z,1761589766.673 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed] Stopped
2025-10-27T18:29:26.674Z,1761589766.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:29:26.762Z,1761589766.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:27.002Z,1761589767.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182128,-0.983274,-0.001026],[0.983264,-0.182131,0.004442],[-0.004554,-0.000199,0.999990]]
2025-10-27T18:29:27.012Z,1761589767.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:27.091Z,1761589767.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:29:27.097Z,1761589767.097 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:29:27.097Z,1761589767.097 [marl:UpdateRudder:B] Stopped
2025-10-27T18:29:27.097Z,1761589767.097 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:29:27.097Z,1761589767.097 [marl:UpdateRudder] Stopped
2025-10-27T18:29:27.097Z,1761589767.097 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:29:27.264Z,1761589767.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:27.407Z,1761589767.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202277,-0.979328,0.000258],[0.979326,-0.202276,0.002020],[-0.001926,0.000661,0.999998]]
2025-10-27T18:29:27.516Z,1761589767.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:27.768Z,1761589767.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:27.809Z,1761589767.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222081,-0.975026,0.002268],[0.975027,-0.222085,-0.001239],[0.001712,0.001936,0.999997]]
2025-10-27T18:29:28.020Z,1761589768.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:28.095Z,1761589768.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:29:28.220Z,1761589768.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240193,-0.970717,0.004000],[0.970707,-0.240212,-0.005167],[0.005976,0.002642,0.999979]]
2025-10-27T18:29:28.272Z,1761589768.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:28.524Z,1761589768.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:28.618Z,1761589768.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256233,-0.966604,0.004666],[0.966560,-0.256267,-0.009399],[0.010281,0.002102,0.999945]]
2025-10-27T18:29:28.779Z,1761589768.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:29.021Z,1761589769.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270205,-0.962781,0.006460],[0.962692,-0.270269,-0.013335],[0.014585,0.002616,0.999890]]
2025-10-27T18:29:29.028Z,1761589769.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:29.280Z,1761589769.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:29.427Z,1761589769.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282853,-0.959141,0.006608],[0.958976,-0.282927,-0.017789],[0.018932,0.001305,0.999820]]
2025-10-27T18:29:29.533Z,1761589769.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:29.784Z,1761589769.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:29.833Z,1761589769.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294482,-0.955637,0.006136],[0.955381,-0.294545,-0.022148],[0.022973,-0.000660,0.999736]]
2025-10-27T18:29:30.036Z,1761589770.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:30.234Z,1761589770.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305658,-0.952130,0.004713],[0.951780,-0.305675,-0.026020],[0.026215,-0.003468,0.999650]]
2025-10-27T18:29:30.288Z,1761589770.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:30.540Z,1761589770.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:30.638Z,1761589770.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316153,-0.948702,0.003263],[0.948289,-0.316114,-0.028618],[0.028181,-0.005954,0.999585]]
2025-10-27T18:29:30.794Z,1761589770.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:31.044Z,1761589771.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:31.307Z,1761589771.307 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:31.561Z,1761589771.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:31.812Z,1761589771.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:31.850Z,1761589771.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346623,-0.938001,-0.002612],[0.937712,-0.346444,-0.025942],[0.023429,-0.011441,0.999660]]
2025-10-27T18:29:32.064Z,1761589772.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:32.254Z,1761589772.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359699,-0.933053,-0.005289],[0.932862,-0.359494,-0.023074],[0.019628,-0.013233,0.999720]]
2025-10-27T18:29:32.316Z,1761589772.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:32.568Z,1761589772.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:32.662Z,1761589772.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376534,-0.926383,-0.006102],[0.926258,-0.376351,-0.020143],[0.016364,-0.013237,0.999779]]
2025-10-27T18:29:32.821Z,1761589772.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:33.064Z,1761589773.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395019,-0.918652,-0.006163],[0.918576,-0.394871,-0.017148],[0.013320,-0.012435,0.999834]]
2025-10-27T18:29:33.075Z,1761589773.075 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:33.324Z,1761589773.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:33.466Z,1761589773.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413874,-0.910310,-0.006608],[0.910270,-0.413749,-0.014829],[0.010765,-0.012152,0.999868]]
2025-10-27T18:29:33.577Z,1761589773.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:33.828Z,1761589773.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:33.872Z,1761589773.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432920,-0.901416,-0.005373],[0.901384,-0.432828,-0.012883],[0.009288,-0.010420,0.999903]]
2025-10-27T18:29:34.080Z,1761589774.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:34.280Z,1761589774.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471062,-0.882100,-0.000230],[0.882019,-0.471015,-0.013700],[0.011976,-0.006657,0.999906]]
2025-10-27T18:29:34.333Z,1761589774.333 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:34.584Z,1761589774.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:34.694Z,1761589774.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490371,-0.871506,0.003524],[0.871347,-0.490353,-0.017546],[0.017019,-0.005533,0.999840]]
2025-10-27T18:29:34.838Z,1761589774.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:35.086Z,1761589775.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508992,-0.860733,0.008063],[0.860442,-0.509034,-0.022876],[0.023794,-0.004706,0.999706]]
2025-10-27T18:29:35.088Z,1761589775.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:35.340Z,1761589775.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:35.490Z,1761589775.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524461,-0.851333,0.013146],[0.850887,-0.524615,-0.027741],[0.030513,-0.003363,0.999529]]
2025-10-27T18:29:35.592Z,1761589775.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:35.844Z,1761589775.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:35.895Z,1761589775.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536330,-0.843870,0.015315],[0.843264,-0.536530,-0.032280],[0.035457,-0.004398,0.999362]]
2025-10-27T18:29:36.096Z,1761589776.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:36.295Z,1761589776.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546599,-0.837202,0.017935],[0.836476,-0.546878,-0.035113],[0.039205,-0.004190,0.999222]]
2025-10-27T18:29:36.348Z,1761589776.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:36.600Z,1761589776.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:36.852Z,1761589776.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:37.102Z,1761589777.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565300,-0.824676,0.018601],[0.823746,-0.565560,-0.039801],[0.043343,-0.007177,0.999034]]
2025-10-27T18:29:37.104Z,1761589777.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:37.358Z,1761589777.358 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:37.509Z,1761589777.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574512,-0.818312,0.017370],[0.817350,-0.574700,-0.040715],[0.043300,-0.009194,0.999020]]
2025-10-27T18:29:37.608Z,1761589777.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:37.860Z,1761589777.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:38.112Z,1761589778.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:38.314Z,1761589778.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594260,-0.804128,0.015288],[0.803317,-0.594373,-0.037440],[0.039194,-0.009968,0.999182]]
2025-10-27T18:29:38.364Z,1761589778.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:38.616Z,1761589778.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:38.718Z,1761589778.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605925,-0.795405,0.013593],[0.794724,-0.605994,-0.034431],[0.035623,-0.010060,0.999315]]
2025-10-27T18:29:38.869Z,1761589778.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:39.120Z,1761589779.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:39.125Z,1761589779.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619969,-0.784544,0.011365],[0.783978,-0.619980,-0.031672],[0.031894,-0.010725,0.999434]]
2025-10-27T18:29:39.372Z,1761589779.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:39.526Z,1761589779.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635789,-0.771788,0.010739],[0.771346,-0.635810,-0.027765],[0.028257,-0.009369,0.999557]]
2025-10-27T18:29:39.625Z,1761589779.625 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:39.876Z,1761589779.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:39.929Z,1761589779.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652554,-0.757673,0.010274],[0.757344,-0.652590,-0.023592],[0.024580,-0.007614,0.999669]]
2025-10-27T18:29:39.969Z,1761589779.969 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateRudder:A] Stopped
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:29:39.970Z,1761589779.970 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:29:39.971Z,1761589779.971 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:29:39.971Z,1761589779.971 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:29:39.971Z,1761589779.971 [marl:UpdateCommandMode] Stopped
2025-10-27T18:29:39.971Z,1761589779.971 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:29:39.971Z,1761589779.971 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed] Stopped
2025-10-27T18:29:39.972Z,1761589779.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:29:40.128Z,1761589780.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:40.334Z,1761589780.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668212,-0.743917,0.008978],[0.743687,-0.668242,-0.019557],[0.020548,-0.006391,0.999768]]
2025-10-27T18:29:40.380Z,1761589780.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:40.385Z,1761589780.385 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:29:40.385Z,1761589780.385 [marl:UpdateRudder:B] Stopped
2025-10-27T18:29:40.385Z,1761589780.385 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:29:40.385Z,1761589780.385 [marl:UpdateRudder] Stopped
2025-10-27T18:29:40.385Z,1761589780.385 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:29:40.632Z,1761589780.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:40.884Z,1761589780.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:41.136Z,1761589781.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:41.143Z,1761589781.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698442,-0.715629,0.007318],[0.715525,-0.698471,-0.012731],[0.014223,-0.003656,0.999892]]
2025-10-27T18:29:41.388Z,1761589781.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:41.546Z,1761589781.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712708,-0.701402,0.009025],[0.701346,-0.712765,-0.008935],[0.012700,-0.000038,0.999919]]
2025-10-27T18:29:41.640Z,1761589781.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:41.892Z,1761589781.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:41.949Z,1761589781.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726797,-0.686779,0.010071],[0.686731,-0.726866,-0.008159],[0.012923,0.000986,0.999916]]
2025-10-27T18:29:42.144Z,1761589782.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:42.355Z,1761589782.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740227,-0.672248,0.012131],[0.672195,-0.740324,-0.008595],[0.014759,0.001792,0.999889]]
2025-10-27T18:29:42.396Z,1761589782.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:42.648Z,1761589782.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:42.768Z,1761589782.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753085,-0.657764,0.014471],[0.657670,-0.753224,-0.011169],[0.018247,0.001106,0.999833]]
2025-10-27T18:29:42.900Z,1761589782.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:43.153Z,1761589783.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:43.178Z,1761589783.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765170,-0.643613,0.016637],[0.643419,-0.765350,-0.015862],[0.022942,-0.001433,0.999736]]
2025-10-27T18:29:43.404Z,1761589783.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:43.566Z,1761589783.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776078,-0.630327,0.019752],[0.630001,-0.776321,-0.020582],[0.028307,-0.003529,0.999593]]
2025-10-27T18:29:43.656Z,1761589783.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:43.908Z,1761589783.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:43.972Z,1761589783.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785162,-0.618882,0.022471],[0.618391,-0.785461,-0.025370],[0.033352,-0.006024,0.999425]]
2025-10-27T18:29:44.162Z,1761589784.162 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:44.373Z,1761589784.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792242,-0.609706,0.024719],[0.609055,-0.792585,-0.029340],[0.037481,-0.008189,0.999264]]
2025-10-27T18:29:44.412Z,1761589784.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:44.664Z,1761589784.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:44.789Z,1761589784.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798643,-0.601245,0.025964],[0.600385,-0.798978,-0.034224],[0.041322,-0.011744,0.999077]]
2025-10-27T18:29:44.916Z,1761589784.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:45.169Z,1761589785.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:45.188Z,1761589785.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804789,-0.592930,0.027364],[0.591869,-0.805120,-0.038376],[0.044785,-0.014689,0.998889]]
2025-10-27T18:29:45.420Z,1761589785.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:45.587Z,1761589785.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811185,-0.584083,0.028732],[0.582873,-0.811525,-0.041064],[0.047302,-0.016563,0.998743]]
2025-10-27T18:29:45.674Z,1761589785.674 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:45.924Z,1761589785.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:45.990Z,1761589785.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818014,-0.574468,0.028985],[0.573118,-0.818301,-0.043805],[0.048883,-0.019221,0.998620]]
2025-10-27T18:29:46.176Z,1761589786.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:46.394Z,1761589786.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825257,-0.563978,0.029653],[0.562613,-0.825561,-0.043774],[0.049168,-0.019441,0.998601]]
2025-10-27T18:29:46.428Z,1761589786.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:46.680Z,1761589786.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:46.830Z,1761589786.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832939,-0.552575,0.029559],[0.551276,-0.833247,-0.042351],[0.048032,-0.018981,0.998665]]
2025-10-27T18:29:46.933Z,1761589786.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:47.184Z,1761589787.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:47.205Z,1761589787.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840823,-0.540492,0.029745],[0.539387,-0.841198,-0.038038],[0.045581,-0.015939,0.998833]]
2025-10-27T18:29:47.436Z,1761589787.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:47.606Z,1761589787.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848676,-0.528160,0.028198],[0.527272,-0.849037,-0.033474],[0.041620,-0.013540,0.999042]]
2025-10-27T18:29:47.688Z,1761589787.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:47.940Z,1761589787.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:48.010Z,1761589788.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856522,-0.515445,0.026195],[0.514838,-0.856871,-0.026710],[0.036214,-0.009391,0.999300]]
2025-10-27T18:29:48.192Z,1761589788.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:48.414Z,1761589788.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864616,-0.501922,0.022657],[0.501540,-0.864888,-0.020617],[0.029944,-0.006462,0.999531]]
2025-10-27T18:29:48.444Z,1761589788.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:48.696Z,1761589788.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:48.845Z,1761589788.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873019,-0.487317,0.018987],[0.487136,-0.873221,-0.013515],[0.023166,-0.002550,0.999728]]
2025-10-27T18:29:48.948Z,1761589788.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:49.200Z,1761589789.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:49.222Z,1761589789.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882075,-0.470861,0.015295],[0.470803,-0.882207,-0.007389],[0.016972,0.000683,0.999856]]
2025-10-27T18:29:49.452Z,1761589789.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:49.625Z,1761589789.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891310,-0.453262,0.010996],[0.453244,-0.891377,-0.004180],[0.011696,0.001258,0.999931]]
2025-10-27T18:29:49.704Z,1761589789.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:49.956Z,1761589789.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:50.030Z,1761589790.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900164,-0.435477,0.007996],[0.435486,-0.900195,-0.000659],[0.007485,0.002889,0.999968]]
2025-10-27T18:29:50.208Z,1761589790.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:50.436Z,1761589790.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908623,-0.417573,0.006110],[0.417592,-0.908632,0.002239],[0.004617,0.004586,0.999979]]
2025-10-27T18:29:50.460Z,1761589790.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:50.712Z,1761589790.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:50.852Z,1761589790.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916514,-0.399966,0.005440],[0.399991,-0.916508,0.004570],[0.003158,0.006365,0.999975]]
2025-10-27T18:29:50.964Z,1761589790.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:51.216Z,1761589791.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:51.241Z,1761589791.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923999,-0.382353,0.005632],[0.382381,-0.923990,0.005289],[0.003181,0.007041,0.999970]]
2025-10-27T18:29:51.470Z,1761589791.470 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:51.663Z,1761589791.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931230,-0.364361,0.007174],[0.364402,-0.931226,0.005469],[0.004688,0.007707,0.999959]]
2025-10-27T18:29:51.721Z,1761589791.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:51.972Z,1761589791.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:52.051Z,1761589792.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938171,-0.346058,0.008888],[0.346095,-0.938195,0.003046],[0.007285,0.005934,0.999956]]
2025-10-27T18:29:52.224Z,1761589792.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:52.454Z,1761589792.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944922,-0.327073,0.012040],[0.327117,-0.944982,0.001765],[0.010800,0.005606,0.999926]]
2025-10-27T18:29:52.476Z,1761589792.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:52.728Z,1761589792.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:52.857Z,1761589792.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951334,-0.307754,0.015829],[0.307793,-0.951453,0.000003],[0.015060,0.004875,0.999875]]
2025-10-27T18:29:52.980Z,1761589792.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:53.232Z,1761589793.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:53.262Z,1761589793.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957297,-0.288445,0.019555],[0.288461,-0.957489,-0.002078],[0.019323,0.003652,0.999807]]
2025-10-27T18:29:53.289Z,1761589793.289 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:29:53.289Z,1761589793.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:29:53.289Z,1761589793.289 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateRudder:A] Stopped
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:29:53.290Z,1761589793.290 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateCommandMode] Stopped
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:29:53.307Z,1761589793.307 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:29:53.308Z,1761589793.308 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:29:53.308Z,1761589793.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:29:53.308Z,1761589793.308 [marl:UpdateSpeed] Stopped
2025-10-27T18:29:53.308Z,1761589793.308 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:29:53.484Z,1761589793.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:53.678Z,1761589793.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962295,-0.271045,0.022855],[0.271010,-0.962565,-0.004703],[0.023274,0.001668,0.999728]]
2025-10-27T18:29:53.736Z,1761589793.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:53.761Z,1761589793.761 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:29:53.761Z,1761589793.761 [marl:UpdateRudder:B] Stopped
2025-10-27T18:29:53.761Z,1761589793.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:29:53.761Z,1761589793.761 [marl:UpdateRudder] Stopped
2025-10-27T18:29:53.761Z,1761589793.761 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:29:53.988Z,1761589793.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:54.080Z,1761589794.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966209,-0.256542,0.025040],[0.256427,-0.966533,-0.007728],[0.026185,-0.001046,0.999657]]
2025-10-27T18:29:54.240Z,1761589794.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:54.481Z,1761589794.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969177,-0.244959,0.026274],[0.244803,-0.969531,-0.009031],[0.027686,-0.002321,0.999614]]
2025-10-27T18:29:54.492Z,1761589794.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:54.744Z,1761589794.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:54.886Z,1761589794.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971999,-0.233473,0.026627],[0.233294,-0.972358,-0.009689],[0.028153,-0.003206,0.999599]]
2025-10-27T18:29:54.997Z,1761589794.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:55.248Z,1761589795.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:55.293Z,1761589795.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974778,-0.221565,0.026792],[0.221384,-0.975140,-0.009587],[0.028250,-0.003414,0.999595]]
2025-10-27T18:29:55.501Z,1761589795.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:55.701Z,1761589795.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977387,-0.209775,0.026638],[0.209608,-0.977745,-0.008915],[0.027915,-0.003130,0.999605]]
2025-10-27T18:29:55.752Z,1761589795.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:56.004Z,1761589796.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:56.098Z,1761589796.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979767,-0.198381,0.026486],[0.198246,-0.980122,-0.007674],[0.027482,-0.002268,0.999620]]
2025-10-27T18:29:56.256Z,1761589796.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:56.502Z,1761589796.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981468,-0.189962,0.025183],[0.189695,-0.981762,-0.012600],[0.027117,-0.007589,0.999603]]
2025-10-27T18:29:56.508Z,1761589796.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:56.762Z,1761589796.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:56.908Z,1761589796.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982144,-0.186815,0.022232],[0.186271,-0.982194,-0.024472],[0.026408,-0.019894,0.999453]]
2025-10-27T18:29:57.012Z,1761589797.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:57.264Z,1761589797.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:57.321Z,1761589797.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982049,-0.187798,0.017669],[0.186883,-0.981400,-0.043917],[0.025588,-0.039826,0.998879]]
2025-10-27T18:29:57.516Z,1761589797.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:57.714Z,1761589797.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981610,-0.190525,0.011887],[0.189263,-0.979454,-0.069645],[0.024911,-0.066114,0.997501]]
2025-10-27T18:29:57.768Z,1761589797.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:58.020Z,1761589798.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:58.123Z,1761589798.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981182,-0.193005,0.005537],[0.191549,-0.976587,-0.097910],[0.024304,-0.095007,0.995180]]
2025-10-27T18:29:58.227Z,1761589798.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:29:58.272Z,1761589798.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:58.522Z,1761589798.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980846,-0.194787,0.000074],[0.193269,-0.973252,-0.124210],[0.024267,-0.121816,0.992256]]
2025-10-27T18:29:58.524Z,1761589798.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:58.726Z,1761589798.726 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:29:58.726Z,1761589798.726 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:29:58.778Z,1761589798.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:58.925Z,1761589798.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980844,-0.194734,-0.004866],[0.193271,-0.969754,-0.149077],[0.024312,-0.147162,0.988814]]
2025-10-27T18:29:59.029Z,1761589799.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:59.231Z,1761589799.231 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:29:59.280Z,1761589799.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:59.532Z,1761589799.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:59.747Z,1761589799.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981784,-0.189589,-0.012462],[0.188529,-0.963952,-0.187759],[0.023585,-0.186688,0.982136]]
2025-10-27T18:29:59.784Z,1761589799.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:29:59.808Z,1761589799.808 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:30:00.036Z,1761589800.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:00.147Z,1761589800.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982720,-0.184585,-0.013771],[0.183617,-0.962767,-0.198403],[0.023363,-0.197503,0.980024]]
2025-10-27T18:30:00.288Z,1761589800.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:00.540Z,1761589800.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:00.543Z,1761589800.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983812,-0.178663,-0.013889],[0.177709,-0.962694,-0.204059],[0.023087,-0.203224,0.978860]]
2025-10-27T18:30:00.794Z,1761589800.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:00.945Z,1761589800.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984948,-0.172367,-0.012895],[0.171301,-0.963448,-0.205968],[0.023078,-0.205077,0.978474]]
2025-10-27T18:30:01.044Z,1761589801.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:01.296Z,1761589801.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:01.350Z,1761589801.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986057,-0.165963,-0.012126],[0.164856,-0.964361,-0.206953],[0.022653,-0.206066,0.978276]]
2025-10-27T18:30:01.548Z,1761589801.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:01.760Z,1761589801.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987115,-0.159625,-0.011099],[0.158450,-0.965469,-0.206794],[0.022294,-0.205888,0.978322]]
2025-10-27T18:30:01.800Z,1761589801.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:02.052Z,1761589802.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:02.158Z,1761589802.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988032,-0.153926,-0.009981],[0.152677,-0.966700,-0.205380],[0.021964,-0.204446,0.978631]]
2025-10-27T18:30:02.307Z,1761589802.307 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:02.556Z,1761589802.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:02.810Z,1761589802.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:02.965Z,1761589802.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989550,-0.143995,-0.007530],[0.142541,-0.969009,-0.201752],[0.021755,-0.200717,0.979408]]
2025-10-27T18:30:03.060Z,1761589803.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:03.312Z,1761589803.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:03.370Z,1761589803.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990137,-0.139956,-0.006449],[0.138370,-0.969621,-0.201716],[0.021978,-0.200618,0.979423]]
2025-10-27T18:30:03.564Z,1761589803.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:03.774Z,1761589803.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990512,-0.137327,-0.005234],[0.135567,-0.970150,-0.201072],[0.022535,-0.199873,0.979563]]
2025-10-27T18:30:03.816Z,1761589803.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:04.068Z,1761589804.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:04.179Z,1761589804.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990714,-0.135897,-0.004140],[0.133935,-0.970275,-0.201562],[0.023374,-0.200245,0.979467]]
2025-10-27T18:30:04.320Z,1761589804.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:04.572Z,1761589804.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:04.583Z,1761589804.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990721,-0.135862,-0.003517],[0.133778,-0.970307,-0.201514],[0.023966,-0.200115,0.979479]]
2025-10-27T18:30:04.826Z,1761589804.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:04.986Z,1761589804.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990521,-0.137320,-0.003485],[0.135159,-0.969776,-0.203142],[0.024516,-0.201687,0.979143]]
2025-10-27T18:30:05.077Z,1761589805.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:05.328Z,1761589805.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:05.394Z,1761589805.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990213,-0.139520,-0.003487],[0.137320,-0.969522,-0.202906],[0.024928,-0.201399,0.979192]]
2025-10-27T18:30:05.580Z,1761589805.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:05.795Z,1761589805.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989807,-0.142358,-0.004044],[0.140220,-0.969192,-0.202498],[0.024908,-0.201001,0.979274]]
2025-10-27T18:30:05.832Z,1761589805.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:06.084Z,1761589806.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:06.197Z,1761589806.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989405,-0.145088,-0.005212],[0.143109,-0.968608,-0.203267],[0.024443,-0.201859,0.979109]]
2025-10-27T18:30:06.336Z,1761589806.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:06.588Z,1761589806.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:06.610Z,1761589806.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989063,-0.147337,-0.006749],[0.145639,-0.968382,-0.202547],[0.023307,-0.201315,0.979249]]
2025-10-27T18:30:06.653Z,1761589806.653 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:30:06.653Z,1761589806.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:30:06.653Z,1761589806.653 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:30:06.653Z,1761589806.653 [marl:UpdateRudder:A] Stopped
2025-10-27T18:30:06.653Z,1761589806.653 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode] Stopped
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:30:06.654Z,1761589806.654 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed] Stopped
2025-10-27T18:30:06.655Z,1761589806.655 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:30:06.842Z,1761589806.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:07.007Z,1761589807.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988901,-0.148325,-0.008585],[0.146966,-0.968087,-0.202999],[0.021799,-0.202008,0.979141]]
2025-10-27T18:30:07.049Z,1761589807.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:30:07.049Z,1761589807.049 [marl:UpdateRudder:B] Stopped
2025-10-27T18:30:07.049Z,1761589807.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:30:07.050Z,1761589807.050 [marl:UpdateRudder] Stopped
2025-10-27T18:30:07.050Z,1761589807.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:30:07.092Z,1761589807.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:07.344Z,1761589807.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:07.410Z,1761589807.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988906,-0.148154,-0.010716],[0.147217,-0.967932,-0.203553],[0.019785,-0.202873,0.979005]]
2025-10-27T18:30:07.597Z,1761589807.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:07.814Z,1761589807.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989144,-0.146366,-0.013109],[0.145928,-0.967828,-0.204973],[0.017313,-0.204661,0.978680]]
2025-10-27T18:30:07.848Z,1761589807.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:08.101Z,1761589808.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:08.219Z,1761589808.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989530,-0.143492,-0.015495],[0.143622,-0.968416,-0.203822],[0.014241,-0.203914,0.978885]]
2025-10-27T18:30:08.352Z,1761589808.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:08.605Z,1761589808.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:08.632Z,1761589808.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990155,-0.138869,-0.017567],[0.139533,-0.969238,-0.202751],[0.011129,-0.203206,0.979073]]
2025-10-27T18:30:08.856Z,1761589808.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:09.026Z,1761589809.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990881,-0.133355,-0.019259],[0.134494,-0.970331,-0.200919],[0.008106,-0.201677,0.979419]]
2025-10-27T18:30:09.108Z,1761589809.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:09.360Z,1761589809.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:09.430Z,1761589809.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991624,-0.127526,-0.020460],[0.129043,-0.971602,-0.198336],[0.005413,-0.199315,0.979921]]
2025-10-27T18:30:09.614Z,1761589809.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:09.834Z,1761589809.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992302,-0.121946,-0.021567],[0.123804,-0.972796,-0.195806],[0.002897,-0.196969,0.980405]]
2025-10-27T18:30:09.864Z,1761589809.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:10.117Z,1761589810.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:10.368Z,1761589810.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:10.621Z,1761589810.621 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:10.641Z,1761589810.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993351,-0.112712,-0.023459],[0.115119,-0.974894,-0.190604],[-0.001387,-0.192037,0.981387]]
2025-10-27T18:30:10.872Z,1761589810.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:11.046Z,1761589811.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993672,-0.109722,-0.024027],[0.112284,-0.975880,-0.187217],[-0.002906,-0.188730,0.982025]]
2025-10-27T18:30:11.124Z,1761589811.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:11.376Z,1761589811.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:11.451Z,1761589811.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993801,-0.108480,-0.024343],[0.111111,-0.976687,-0.183675],[-0.003851,-0.185241,0.982686]]
2025-10-27T18:30:11.628Z,1761589811.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:11.860Z,1761589811.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993717,-0.109129,-0.024828],[0.111828,-0.977070,-0.181187],[-0.004486,-0.182826,0.983135]]
2025-10-27T18:30:11.880Z,1761589811.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:12.132Z,1761589812.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:12.258Z,1761589812.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993507,-0.110916,-0.025332],[0.113674,-0.976988,-0.180477],[-0.004731,-0.182185,0.983253]]
2025-10-27T18:30:12.384Z,1761589812.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:12.636Z,1761589812.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:12.661Z,1761589812.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993108,-0.114146,-0.026601],[0.117085,-0.976460,-0.181154],[-0.005297,-0.183020,0.983095]]
2025-10-27T18:30:12.888Z,1761589812.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:13.066Z,1761589813.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992659,-0.117704,-0.027833],[0.120812,-0.975920,-0.181616],[-0.005786,-0.183645,0.982976]]
2025-10-27T18:30:13.140Z,1761589813.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:13.392Z,1761589813.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:13.470Z,1761589813.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992144,-0.121631,-0.029257],[0.124933,-0.975428,-0.181474],[-0.006465,-0.183704,0.982960]]
2025-10-27T18:30:13.644Z,1761589813.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:13.873Z,1761589813.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991654,-0.125047,-0.031380],[0.128702,-0.974472,-0.183958],[-0.007575,-0.186462,0.982433]]
2025-10-27T18:30:13.896Z,1761589813.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:14.148Z,1761589814.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:14.278Z,1761589814.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991170,-0.128243,-0.033710],[0.132285,-0.973818,-0.184876],[-0.009118,-0.187703,0.982184]]
2025-10-27T18:30:14.400Z,1761589814.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:14.652Z,1761589814.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:14.684Z,1761589814.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990807,-0.130280,-0.036444],[0.134823,-0.973108,-0.186771],[-0.011131,-0.189967,0.981727]]
2025-10-27T18:30:14.905Z,1761589814.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:15.094Z,1761589815.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990554,-0.131446,-0.039039],[0.136466,-0.972810,-0.187129],[-0.013380,-0.190689,0.981559]]
2025-10-27T18:30:15.156Z,1761589815.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:15.408Z,1761589815.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:15.490Z,1761589815.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990466,-0.131231,-0.041905],[0.136821,-0.972543,-0.188257],[-0.016049,-0.192195,0.981225]]
2025-10-27T18:30:15.660Z,1761589815.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:15.895Z,1761589815.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990527,-0.129779,-0.044869],[0.135998,-0.972335,-0.189918],[-0.018981,-0.194221,0.980774]]
2025-10-27T18:30:15.912Z,1761589815.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:16.164Z,1761589816.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:16.297Z,1761589816.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990798,-0.126683,-0.047651],[0.133522,-0.972493,-0.190866],[-0.022161,-0.195472,0.980459]]
2025-10-27T18:30:16.418Z,1761589816.418 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:16.668Z,1761589816.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:16.921Z,1761589816.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:17.114Z,1761589817.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991795,-0.117063,-0.051380],[0.124850,-0.973356,-0.192331],[-0.027497,-0.197168,0.979984]]
2025-10-27T18:30:17.172Z,1761589817.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:17.424Z,1761589817.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:17.510Z,1761589817.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992402,-0.111302,-0.052447],[0.119385,-0.974183,-0.191612],[-0.029766,-0.196417,0.980069]]
2025-10-27T18:30:17.676Z,1761589817.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:17.914Z,1761589817.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993028,-0.105297,-0.052988],[0.113593,-0.974896,-0.191506],[-0.031493,-0.196190,0.980060]]
2025-10-27T18:30:17.928Z,1761589817.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:18.180Z,1761589818.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:18.322Z,1761589818.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993634,-0.099254,-0.053295],[0.107692,-0.975731,-0.190659],[-0.033078,-0.195185,0.980209]]
2025-10-27T18:30:18.434Z,1761589818.434 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:18.684Z,1761589818.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:18.733Z,1761589818.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994899,-0.086426,-0.052022],[0.094942,-0.976511,-0.193420],[-0.034084,-0.197373,0.979736]]
2025-10-27T18:30:18.936Z,1761589818.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:19.188Z,1761589819.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:19.440Z,1761589819.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:19.534Z,1761589819.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996015,-0.074383,-0.049209],[0.082623,-0.977300,-0.195083],[-0.033581,-0.198372,0.979551]]
2025-10-27T18:30:19.692Z,1761589819.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:19.938Z,1761589819.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996415,-0.069727,-0.047908],[0.077837,-0.977454,-0.196278],[-0.033142,-0.199304,0.979377]]
2025-10-27T18:30:19.944Z,1761589819.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:19.986Z,1761589819.986 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:30:19.986Z,1761589819.986 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:30:19.986Z,1761589819.986 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:30:19.987Z,1761589819.987 [marl:UpdateRudder:A] Stopped
2025-10-27T18:30:19.987Z,1761589819.987 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:30:19.991Z,1761589819.991 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:30:19.991Z,1761589819.991 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:30:19.991Z,1761589819.991 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:30:19.991Z,1761589819.991 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateCommandMode] Stopped
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:30:19.992Z,1761589819.992 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:30:19.993Z,1761589819.993 [marl:UpdateSpeed] Stopped
2025-10-27T18:30:19.993Z,1761589819.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:30:20.196Z,1761589820.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:20.340Z,1761589820.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996621,-0.067109,-0.047358],[0.075191,-0.977475,-0.197205],[-0.033057,-0.200100,0.979218]]
2025-10-27T18:30:20.402Z,1761589820.402 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:30:20.403Z,1761589820.403 [marl:UpdateRudder:B] Stopped
2025-10-27T18:30:20.407Z,1761589820.407 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:30:20.407Z,1761589820.407 [marl:UpdateRudder] Stopped
2025-10-27T18:30:20.407Z,1761589820.407 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:30:20.448Z,1761589820.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:20.700Z,1761589820.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:20.753Z,1761589820.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996690,-0.066377,-0.046933],[0.074406,-0.977423,-0.197757],[-0.032746,-0.200594,0.979127]]
2025-10-27T18:30:20.952Z,1761589820.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:21.165Z,1761589821.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996671,-0.066804,-0.046732],[0.074764,-0.977520,-0.197141],[-0.032512,-0.199979,0.979261]]
2025-10-27T18:30:21.216Z,1761589821.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:21.468Z,1761589821.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:21.550Z,1761589821.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996555,-0.068327,-0.047010],[0.076256,-0.977755,-0.195398],[-0.032614,-0.198310,0.979597]]
2025-10-27T18:30:21.720Z,1761589821.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:21.954Z,1761589821.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996356,-0.070668,-0.047760],[0.078627,-0.978004,-0.193197],[-0.033057,-0.196248,0.979997]]
2025-10-27T18:30:21.972Z,1761589821.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:22.224Z,1761589822.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:22.360Z,1761589822.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996155,-0.072826,-0.048705],[0.080830,-0.978407,-0.190226],[-0.033800,-0.193432,0.980531]]
2025-10-27T18:30:22.476Z,1761589822.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:22.729Z,1761589822.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:22.796Z,1761589822.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995925,-0.075050,-0.050015],[0.083200,-0.978577,-0.188321],[-0.034810,-0.191715,0.980833]]
2025-10-27T18:30:22.980Z,1761589822.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:23.166Z,1761589823.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995675,-0.077451,-0.051309],[0.085730,-0.978769,-0.186176],[-0.035800,-0.189770,0.981176]]
2025-10-27T18:30:23.232Z,1761589823.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:23.484Z,1761589823.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:23.589Z,1761589823.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995387,-0.080128,-0.052769],[0.088589,-0.978770,-0.184826],[-0.036839,-0.188648,0.981354]]
2025-10-27T18:30:23.736Z,1761589823.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:23.973Z,1761589823.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995087,-0.083204,-0.053656],[0.091711,-0.978828,-0.182987],[-0.037295,-0.187008,0.981650]]
2025-10-27T18:30:23.988Z,1761589823.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:24.240Z,1761589824.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:24.378Z,1761589824.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994814,-0.085667,-0.054824],[0.094392,-0.978388,-0.183974],[-0.037879,-0.188195,0.981401]]
2025-10-27T18:30:24.492Z,1761589824.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:24.744Z,1761589824.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:24.836Z,1761589824.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994625,-0.087190,-0.055840],[0.096180,-0.977733,-0.186512],[-0.038335,-0.190880,0.980865]]
2025-10-27T18:30:24.996Z,1761589824.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:25.187Z,1761589825.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994636,-0.086600,-0.056561],[0.095877,-0.977089,-0.190012],[-0.038811,-0.194416,0.980151]]
2025-10-27T18:30:25.248Z,1761589825.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:25.500Z,1761589825.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:25.596Z,1761589825.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994791,-0.084710,-0.056706],[0.094253,-0.976239,-0.195123],[-0.038829,-0.199451,0.979138]]
2025-10-27T18:30:25.753Z,1761589825.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:25.994Z,1761589825.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995081,-0.081615,-0.056149],[0.091264,-0.975707,-0.199167],[-0.038530,-0.203311,0.978356]]
2025-10-27T18:30:26.004Z,1761589826.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:26.256Z,1761589826.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:26.398Z,1761589826.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995440,-0.077810,-0.055181],[0.087487,-0.975260,-0.203012],[-0.038019,-0.206914,0.977620]]
2025-10-27T18:30:26.509Z,1761589826.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:26.762Z,1761589826.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:26.850Z,1761589826.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995797,-0.073809,-0.054235],[0.083480,-0.975016,-0.205851],[-0.037687,-0.209514,0.977079]]
2025-10-27T18:30:27.012Z,1761589827.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:27.205Z,1761589827.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996171,-0.069705,-0.052771],[0.079284,-0.974639,-0.209268],[-0.036845,-0.212651,0.976433]]
2025-10-27T18:30:27.264Z,1761589827.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:27.516Z,1761589827.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:27.609Z,1761589827.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996386,-0.067149,-0.052024],[0.076654,-0.974674,-0.210082],[-0.036600,-0.213310,0.976299]]
2025-10-27T18:30:27.768Z,1761589827.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:28.020Z,1761589828.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:28.036Z,1761589828.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996514,-0.065993,-0.051034],[0.075242,-0.975196,-0.208164],[-0.036031,-0.211278,0.976762]]
2025-10-27T18:30:28.274Z,1761589828.274 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:28.418Z,1761589828.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996533,-0.066093,-0.050524],[0.075110,-0.975915,-0.204813],[-0.035770,-0.207898,0.977496]]
2025-10-27T18:30:28.529Z,1761589828.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:28.782Z,1761589828.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:28.852Z,1761589828.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996486,-0.066680,-0.050694],[0.075617,-0.976459,-0.202014],[-0.036030,-0.205138,0.978070]]
2025-10-27T18:30:29.032Z,1761589829.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:29.226Z,1761589829.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996413,-0.067443,-0.051110],[0.076305,-0.977204,-0.198117],[-0.036583,-0.201306,0.978845]]
2025-10-27T18:30:29.284Z,1761589829.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:29.352Z,1761589829.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:30:29.536Z,1761589829.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:29.635Z,1761589829.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996340,-0.067704,-0.052188],[0.076693,-0.977618,-0.195913],[-0.037756,-0.199199,0.979232]]
2025-10-27T18:30:29.788Z,1761589829.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:30.033Z,1761589830.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996276,-0.067389,-0.053791],[0.076617,-0.978053,-0.193760],[-0.039553,-0.197160,0.979573]]
2025-10-27T18:30:30.040Z,1761589830.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:30.292Z,1761589830.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:30.356Z,1761589830.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:30:30.438Z,1761589830.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996323,-0.065167,-0.055622],[0.074804,-0.978167,-0.193890],[-0.041772,-0.197337,0.979445]]
2025-10-27T18:30:30.544Z,1761589830.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:30.798Z,1761589830.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:30.859Z,1761589830.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996515,-0.061088,-0.056798],[0.071099,-0.978141,-0.195410],[-0.043620,-0.198767,0.979075]]
2025-10-27T18:30:31.049Z,1761589831.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:31.300Z,1761589831.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:31.552Z,1761589831.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:31.650Z,1761589831.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997169,-0.048413,-0.057538],[0.058977,-0.978218,-0.199027],[-0.046649,-0.201857,0.978303]]
2025-10-27T18:30:31.804Z,1761589831.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:32.057Z,1761589832.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:32.070Z,1761589832.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997470,-0.041850,-0.057459],[0.052550,-0.978469,-0.199593],[-0.047868,-0.202107,0.978193]]
2025-10-27T18:30:32.308Z,1761589832.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:32.458Z,1761589832.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997756,-0.035325,-0.056882],[0.046119,-0.978437,-0.201330],[-0.048543,-0.203501,0.977871]]
2025-10-27T18:30:32.560Z,1761589832.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:32.814Z,1761589832.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:33.066Z,1761589833.066 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:33.316Z,1761589833.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:33.319Z,1761589833.319 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:30:33.319Z,1761589833.319 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:30:33.319Z,1761589833.319 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:30:33.320Z,1761589833.320 [marl:UpdateRudder:A] Stopped
2025-10-27T18:30:33.320Z,1761589833.320 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:30:33.320Z,1761589833.320 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:30:33.320Z,1761589833.320 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:30:33.320Z,1761589833.320 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateCommandMode] Stopped
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:30:33.321Z,1761589833.321 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:30:33.322Z,1761589833.322 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:30:33.322Z,1761589833.322 [marl:UpdateSpeed] Stopped
2025-10-27T18:30:33.322Z,1761589833.322 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:30:33.568Z,1761589833.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:33.665Z,1761589833.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998624,-0.019372,-0.048735],[0.028852,-0.978946,-0.202068],[-0.043795,-0.203196,0.978158]]
2025-10-27T18:30:33.709Z,1761589833.709 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:30:33.709Z,1761589833.709 [marl:UpdateRudder:B] Stopped
2025-10-27T18:30:33.709Z,1761589833.709 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:30:33.709Z,1761589833.709 [marl:UpdateRudder] Stopped
2025-10-27T18:30:33.709Z,1761589833.709 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:30:33.820Z,1761589833.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:34.072Z,1761589834.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:34.080Z,1761589834.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998901,-0.015109,-0.044379],[0.023843,-0.978800,-0.203426],[-0.040364,-0.204261,0.978084]]
2025-10-27T18:30:34.324Z,1761589834.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:34.475Z,1761589834.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999135,-0.012957,-0.039515],[0.020781,-0.978631,-0.204572],[-0.036020,-0.205217,0.978054]]
2025-10-27T18:30:34.576Z,1761589834.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:34.599Z,1761589834.599 [DockingStepper](ERROR): getADC uart error serial timeout
2025-10-27T18:30:34.600Z,1761589834.600 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-10-27T18:30:34.600Z,1761589834.600 [DockingStepper] Communications Fault, FailCount= 1
2025-10-27T18:30:34.600Z,1761589834.600 [DockingStepper](ERROR): Communications Fault
2025-10-27T18:30:34.679Z,1761589834.679 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-27T18:30:34.830Z,1761589834.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:34.877Z,1761589834.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999293,-0.012305,-0.035522],[0.019400,-0.978169,-0.206903],[-0.032200,-0.207446,0.977716]]
2025-10-27T18:30:34.944Z,1761589834.944 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-27T18:30:34.944Z,1761589834.944 [DockingStepper](INFO): Powering down
2025-10-27T18:30:35.080Z,1761589835.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:35.282Z,1761589835.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999377,-0.012931,-0.032847],[0.019497,-0.977885,-0.208231],[-0.029428,-0.208742,0.977528]]
2025-10-27T18:30:35.333Z,1761589835.333 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:35.584Z,1761589835.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:35.687Z,1761589835.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999433,-0.013668,-0.030755],[0.019840,-0.977429,-0.210331],[-0.027186,-0.210822,0.977146]]
2025-10-27T18:30:35.836Z,1761589835.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:36.088Z,1761589836.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:36.095Z,1761589836.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999433,-0.016703,-0.029247],[0.022545,-0.976904,-0.212486],[-0.025022,-0.213025,0.976726]]
2025-10-27T18:30:36.343Z,1761589836.343 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:36.493Z,1761589836.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999327,-0.023343,-0.028282],[0.029013,-0.974959,-0.220482],[-0.022427,-0.221154,0.974981]]
2025-10-27T18:30:36.592Z,1761589836.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:36.844Z,1761589836.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:36.897Z,1761589836.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998992,-0.034807,-0.028341],[0.040568,-0.970362,-0.238228],[-0.019209,-0.239138,0.970796]]
2025-10-27T18:30:37.099Z,1761589837.099 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:37.302Z,1761589837.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998279,-0.050379,-0.030027],[0.056520,-0.963071,-0.263249],[-0.015656,-0.264493,0.964261]]
2025-10-27T18:30:37.348Z,1761589837.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:37.600Z,1761589837.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:37.708Z,1761589837.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997076,-0.068924,-0.033010],[0.075537,-0.954370,-0.288916],[-0.011590,-0.290565,0.956785]]
2025-10-27T18:30:37.852Z,1761589837.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:38.104Z,1761589838.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:38.111Z,1761589838.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995319,-0.089101,-0.037436],[0.096364,-0.944519,-0.314003],[-0.007381,-0.316141,0.948684]]
2025-10-27T18:30:38.356Z,1761589838.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:38.514Z,1761589838.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993022,-0.109886,-0.042812],[0.117893,-0.934233,-0.336614],[-0.003007,-0.339312,0.940669]]
2025-10-27T18:30:38.608Z,1761589838.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:38.863Z,1761589838.863 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:38.921Z,1761589838.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990223,-0.130662,-0.048841],[0.139485,-0.923976,-0.356107],[0.001402,-0.359438,0.933168]]
2025-10-27T18:30:39.116Z,1761589839.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:39.322Z,1761589839.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987004,-0.150957,-0.055097],[0.160599,-0.914629,-0.371028],[0.005616,-0.375055,0.926986]]
2025-10-27T18:30:39.368Z,1761589839.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:39.620Z,1761589839.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:39.729Z,1761589839.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983368,-0.170778,-0.061822],[0.181370,-0.905357,-0.383972],[0.009603,-0.388798,0.921273]]
2025-10-27T18:30:39.872Z,1761589839.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:40.124Z,1761589840.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:40.133Z,1761589840.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979489,-0.189591,-0.068233],[0.201049,-0.897032,-0.393591],[0.013414,-0.399236,0.916750]]
2025-10-27T18:30:40.376Z,1761589840.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:40.548Z,1761589840.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975710,-0.206365,-0.073504],[0.218394,-0.890086,-0.400064],[0.017135,-0.406399,0.913535]]
2025-10-27T18:30:40.633Z,1761589840.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:40.884Z,1761589840.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:40.938Z,1761589840.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972266,-0.220589,-0.077711],[0.232946,-0.883765,-0.405828],[0.020843,-0.412675,0.910640]]
2025-10-27T18:30:41.136Z,1761589841.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:41.388Z,1761589841.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:41.640Z,1761589841.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:41.756Z,1761589841.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966797,-0.242733,-0.079903],[0.253823,-0.875876,-0.410383],[0.029629,-0.417039,0.908406]]
2025-10-27T18:30:41.892Z,1761589841.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:42.144Z,1761589842.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:42.155Z,1761589842.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964112,-0.253086,-0.080216],[0.263356,-0.873387,-0.409682],[0.033625,-0.416105,0.908695]]
2025-10-27T18:30:42.398Z,1761589842.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:42.561Z,1761589842.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961315,-0.263692,-0.079618],[0.272812,-0.871559,-0.407381],[0.038031,-0.413342,0.909781]]
2025-10-27T18:30:42.648Z,1761589842.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:42.900Z,1761589842.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:42.958Z,1761589842.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958320,-0.274599,-0.078860],[0.282495,-0.869546,-0.405075],[0.042661,-0.410469,0.910876]]
2025-10-27T18:30:43.152Z,1761589843.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:43.404Z,1761589843.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:43.656Z,1761589843.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:43.790Z,1761589843.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951454,-0.297762,-0.077928],[0.303412,-0.864811,-0.400054],[0.051728,-0.404278,0.913172]]
2025-10-27T18:30:43.908Z,1761589843.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:44.160Z,1761589844.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:44.202Z,1761589844.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947113,-0.311170,-0.078423],[0.315949,-0.861463,-0.397565],[0.056152,-0.401317,0.914216]]
2025-10-27T18:30:44.412Z,1761589844.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:44.641Z,1761589844.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942379,-0.324871,-0.079878],[0.329101,-0.857324,-0.395839],[0.060115,-0.399318,0.914839]]
2025-10-27T18:30:44.664Z,1761589844.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:44.916Z,1761589844.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:45.050Z,1761589845.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937415,-0.338505,-0.081662],[0.342312,-0.852823,-0.394354],[0.063848,-0.397627,0.915323]]
2025-10-27T18:30:45.168Z,1761589845.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:45.420Z,1761589845.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:45.449Z,1761589845.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932096,-0.352201,-0.084567],[0.355911,-0.847212,-0.394410],[0.067265,-0.397726,0.915035]]
2025-10-27T18:30:45.672Z,1761589845.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:45.850Z,1761589845.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926276,-0.366498,-0.087705],[0.370219,-0.841546,-0.393368],[0.070361,-0.396837,0.915188]]
2025-10-27T18:30:45.924Z,1761589845.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:46.177Z,1761589846.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:46.254Z,1761589846.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920123,-0.380811,-0.091417],[0.384673,-0.835007,-0.393434],[0.073490,-0.397173,0.914797]]
2025-10-27T18:30:46.428Z,1761589846.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:46.658Z,1761589846.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913524,-0.395400,-0.095562],[0.399507,-0.827837,-0.393803],[0.076600,-0.397927,0.914214]]
2025-10-27T18:30:46.680Z,1761589846.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:46.720Z,1761589846.720 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:30:46.720Z,1761589846.720 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:30:46.721Z,1761589846.721 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:30:46.721Z,1761589846.721 [marl:UpdateRudder:A] Stopped
2025-10-27T18:30:46.721Z,1761589846.721 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:30:46.721Z,1761589846.721 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:30:46.721Z,1761589846.721 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:30:46.722Z,1761589846.722 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:30:46.722Z,1761589846.722 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:30:46.722Z,1761589846.722 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:30:46.722Z,1761589846.722 [marl:UpdateCommandMode] Stopped
2025-10-27T18:30:46.723Z,1761589846.723 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:30:46.724Z,1761589846.724 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:30:46.724Z,1761589846.724 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:30:46.724Z,1761589846.724 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:30:46.725Z,1761589846.725 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:30:46.725Z,1761589846.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:30:46.725Z,1761589846.725 [marl:UpdateSpeed] Stopped
2025-10-27T18:30:46.725Z,1761589846.725 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:30:46.932Z,1761589846.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:47.080Z,1761589847.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906595,-0.410166,-0.099238],[0.414421,-0.820975,-0.392754],[0.079622,-0.397196,0.914273]]
2025-10-27T18:30:47.135Z,1761589847.135 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:30:47.135Z,1761589847.135 [marl:UpdateRudder:B] Stopped
2025-10-27T18:30:47.135Z,1761589847.135 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:30:47.135Z,1761589847.135 [marl:UpdateRudder] Stopped
2025-10-27T18:30:47.136Z,1761589847.136 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:30:47.184Z,1761589847.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:47.436Z,1761589847.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:47.511Z,1761589847.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898780,-0.425904,-0.103921],[0.430699,-0.813594,-0.390595],[0.081807,-0.395817,0.914678]]
2025-10-27T18:30:47.688Z,1761589847.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:47.910Z,1761589847.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890226,-0.442074,-0.109855],[0.447886,-0.805508,-0.388014],[0.083042,-0.394623,0.915083]]
2025-10-27T18:30:47.940Z,1761589847.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:48.192Z,1761589848.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:48.315Z,1761589848.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881116,-0.458501,-0.115807],[0.465369,-0.797157,-0.384671],[0.084055,-0.392832,0.915761]]
2025-10-27T18:30:48.444Z,1761589848.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:48.696Z,1761589848.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:48.736Z,1761589848.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871711,-0.474563,-0.122102],[0.482625,-0.788349,-0.381549],[0.084811,-0.391530,0.916248]]
2025-10-27T18:30:48.948Z,1761589848.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:49.200Z,1761589849.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:49.453Z,1761589849.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:49.654Z,1761589849.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842958,-0.519583,-0.139483],[0.531340,-0.763479,-0.367119],[0.084257,-0.383579,0.919656]]
2025-10-27T18:30:49.704Z,1761589849.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:49.958Z,1761589849.958 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:50.091Z,1761589850.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833710,-0.532849,-0.144913],[0.545961,-0.756051,-0.360989],[0.082791,-0.380077,0.921242]]
2025-10-27T18:30:50.208Z,1761589850.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:50.460Z,1761589850.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:50.510Z,1761589850.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825017,-0.544400,-0.151579],[0.559333,-0.748411,-0.356409],[0.080585,-0.378827,0.921952]]
2025-10-27T18:30:50.713Z,1761589850.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:50.901Z,1761589850.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816814,-0.555060,-0.157239],[0.571564,-0.741625,-0.351151],[0.078297,-0.376697,0.923022]]
2025-10-27T18:30:50.964Z,1761589850.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:51.216Z,1761589851.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:51.468Z,1761589851.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:51.710Z,1761589851.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800576,-0.575010,-0.168646],[0.594643,-0.727570,-0.342114],[0.074017,-0.374173,0.924400]]
2025-10-27T18:30:51.720Z,1761589851.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:51.972Z,1761589851.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:52.115Z,1761589852.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792316,-0.584899,-0.173578],[0.605773,-0.720303,-0.337938],[0.072630,-0.372903,0.925023]]
2025-10-27T18:30:52.224Z,1761589852.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:52.477Z,1761589852.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:52.533Z,1761589852.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783681,-0.595041,-0.178243],[0.617008,-0.712564,-0.333996],[0.071731,-0.371724,0.925568]]
2025-10-27T18:30:52.728Z,1761589852.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:52.980Z,1761589852.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:53.232Z,1761589853.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:53.325Z,1761589853.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764173,-0.616757,-0.188810],[0.641071,-0.693934,-0.327845],[0.071179,-0.371571,0.925672]]
2025-10-27T18:30:53.484Z,1761589853.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:53.736Z,1761589853.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:53.740Z,1761589853.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753039,-0.628593,-0.194431],[0.654140,-0.683358,-0.324226],[0.070940,-0.371340,0.925783]]
2025-10-27T18:30:53.990Z,1761589853.990 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:54.133Z,1761589854.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740993,-0.640873,-0.200528],[0.667780,-0.671804,-0.320546],[0.070714,-0.371430,0.925764]]
2025-10-27T18:30:54.240Z,1761589854.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:54.493Z,1761589854.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:54.540Z,1761589854.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727813,-0.653632,-0.207494],[0.682193,-0.659184,-0.316370],[0.070012,-0.371809,0.925665]]
2025-10-27T18:30:54.744Z,1761589854.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:54.997Z,1761589854.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:55.248Z,1761589855.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:55.370Z,1761589855.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701911,-0.677252,-0.220569],[0.708995,-0.634706,-0.307367],[0.068168,-0.372127,0.925675]]
2025-10-27T18:30:55.500Z,1761589855.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:55.714Z,1761589855.714 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-27T18:30:55.714Z,1761589855.714 [DockingStepper] No Fault, FailCount= 1
2025-10-27T18:30:55.752Z,1761589855.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:55.794Z,1761589855.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688427,-0.688650,-0.227661],[0.722278,-0.622260,-0.301838],[0.066196,-0.372228,0.925778]]
2025-10-27T18:30:55.972Z,1761589855.972 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T18:30:55.973Z,1761589855.973 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T18:30:56.005Z,1761589856.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:56.200Z,1761589856.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674921,-0.699508,-0.234882],[0.735160,-0.610096,-0.295502],[0.063405,-0.372117,0.926018]]
2025-10-27T18:30:56.256Z,1761589856.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:56.508Z,1761589856.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:56.591Z,1761589856.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661014,-0.710004,-0.242806],[0.748003,-0.597776,-0.288366],[0.059597,-0.372234,0.926224]]
2025-10-27T18:30:56.765Z,1761589856.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:57.000Z,1761589857.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647320,-0.720007,-0.250133],[0.760222,-0.586140,-0.280182],[0.055120,-0.371524,0.926785]]
2025-10-27T18:30:57.013Z,1761589857.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:57.264Z,1761589857.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:57.424Z,1761589857.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634656,-0.729222,-0.255825],[0.771132,-0.575879,-0.271514],[0.050669,-0.369593,0.927811]]
2025-10-27T18:30:57.516Z,1761589857.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:57.768Z,1761589857.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:57.822Z,1761589857.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622566,-0.737823,-0.260822],[0.781207,-0.566309,-0.262695],[0.046117,-0.367301,0.928958]]
2025-10-27T18:30:58.020Z,1761589858.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:58.226Z,1761589858.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611083,-0.745418,-0.266325],[0.790481,-0.557055,-0.254616],[0.041437,-0.366117,0.929646]]
2025-10-27T18:30:58.272Z,1761589858.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:58.524Z,1761589858.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:58.630Z,1761589858.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599895,-0.752846,-0.270829],[0.799231,-0.548302,-0.246161],[0.036825,-0.364126,0.930621]]
2025-10-27T18:30:58.778Z,1761589858.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:58.929Z,1761589858.929 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:30:58.929Z,1761589858.929 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:30:59.028Z,1761589859.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:59.041Z,1761589859.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589100,-0.759559,-0.275739],[0.807396,-0.539452,-0.238964],[0.032760,-0.363404,0.931055]]
2025-10-27T18:30:59.280Z,1761589859.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:59.438Z,1761589859.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578103,-0.766281,-0.280376],[0.815439,-0.530234,-0.232186],[0.029254,-0.362857,0.931386]]
2025-10-27T18:30:59.528Z,1761589859.528 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T18:30:59.533Z,1761589859.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:59.784Z,1761589859.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:30:59.842Z,1761589859.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567169,-0.772796,-0.284791],[0.823174,-0.520765,-0.226248],[0.026535,-0.362753,0.931507]]
2025-10-27T18:30:59.893Z,1761589859.893 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:30:59.893Z,1761589859.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:30:59.893Z,1761589859.893 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:30:59.894Z,1761589859.894 [marl:UpdateRudder:A] Stopped
2025-10-27T18:30:59.894Z,1761589859.894 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:30:59.894Z,1761589859.894 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:30:59.894Z,1761589859.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:30:59.894Z,1761589859.894 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateCommandMode] Stopped
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:30:59.895Z,1761589859.895 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:30:59.896Z,1761589859.896 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:30:59.896Z,1761589859.896 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:30:59.896Z,1761589859.896 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:30:59.896Z,1761589859.896 [marl:UpdateSpeed] Stopped
2025-10-27T18:30:59.896Z,1761589859.896 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:30:59.897Z,1761589859.897 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:31:00.036Z,1761589860.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:00.246Z,1761589860.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555657,-0.779828,-0.288292],[0.831052,-0.510761,-0.220172],[0.024448,-0.361926,0.931886]]
2025-10-27T18:31:00.288Z,1761589860.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:00.327Z,1761589860.327 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:31:00.328Z,1761589860.328 [marl:UpdateRudder:B] Stopped
2025-10-27T18:31:00.328Z,1761589860.328 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:31:00.328Z,1761589860.328 [marl:UpdateRudder] Stopped
2025-10-27T18:31:00.328Z,1761589860.328 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:31:00.475Z,1761589860.475 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:31:00.544Z,1761589860.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:00.650Z,1761589860.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543672,-0.786485,-0.293021],[0.838985,-0.499746,-0.215309],[0.022901,-0.362898,0.931547]]
2025-10-27T18:31:00.794Z,1761589860.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:01.044Z,1761589861.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:01.055Z,1761589861.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530579,-0.793370,-0.298414],[0.847357,-0.487423,-0.210724],[0.021729,-0.364669,0.930884]]
2025-10-27T18:31:01.296Z,1761589861.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:01.457Z,1761589861.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516478,-0.800639,-0.303691],[0.856062,-0.474402,-0.205183],[0.020206,-0.365950,0.930415]]
2025-10-27T18:31:01.480Z,1761589861.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:31:01.548Z,1761589861.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:01.800Z,1761589861.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:01.898Z,1761589861.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502348,-0.808212,-0.307310],[0.864485,-0.462202,-0.197570],[0.017640,-0.364914,0.930874]]
2025-10-27T18:31:02.052Z,1761589862.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:02.265Z,1761589862.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490799,-0.815391,-0.307009],[0.871164,-0.453703,-0.187686],[0.013747,-0.359571,0.933016]]
2025-10-27T18:31:02.306Z,1761589862.306 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:02.556Z,1761589862.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:02.670Z,1761589862.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481886,-0.823749,-0.298702],[0.876202,-0.450089,-0.172311],[0.007498,-0.344758,0.938662]]
2025-10-27T18:31:02.810Z,1761589862.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:03.060Z,1761589863.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:03.076Z,1761589863.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475611,-0.831890,-0.285925],[0.879656,-0.449749,-0.154697],[0.000096,-0.325091,0.945683]]
2025-10-27T18:31:03.312Z,1761589863.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:03.489Z,1761589863.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471002,-0.839027,-0.272379],[0.882097,-0.450707,-0.136994],[-0.007821,-0.304789,0.952388]]
2025-10-27T18:31:03.564Z,1761589863.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:03.816Z,1761589863.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:03.882Z,1761589863.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467544,-0.844724,-0.260470],[0.883819,-0.452155,-0.120083],[-0.016336,-0.286352,0.957985]]
2025-10-27T18:31:04.068Z,1761589864.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:04.286Z,1761589864.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465179,-0.849185,-0.249986],[0.884872,-0.453954,-0.104534],[-0.024714,-0.269833,0.962590]]
2025-10-27T18:31:04.320Z,1761589864.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:04.572Z,1761589864.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:04.690Z,1761589864.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463451,-0.852904,-0.240351],[0.885521,-0.455769,-0.090152],[-0.032654,-0.254617,0.966491]]
2025-10-27T18:31:04.826Z,1761589864.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:05.076Z,1761589865.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:05.099Z,1761589865.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461737,-0.855764,-0.233381],[0.886105,-0.456939,-0.077621],[-0.040216,-0.242640,0.969282]]
2025-10-27T18:31:05.328Z,1761589865.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:05.506Z,1761589865.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460078,-0.857831,-0.229029],[0.886625,-0.457583,-0.067186],[-0.047166,-0.233974,0.971098]]
2025-10-27T18:31:05.580Z,1761589865.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:05.832Z,1761589865.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:05.902Z,1761589865.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458235,-0.859331,-0.227090],[0.887203,-0.457672,-0.058374],[-0.053770,-0.228224,0.972123]]
2025-10-27T18:31:06.084Z,1761589866.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:06.336Z,1761589866.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:06.588Z,1761589866.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:06.712Z,1761589866.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453362,-0.861977,-0.226845],[0.888906,-0.455986,-0.043852],[-0.065639,-0.221525,0.972943]]
2025-10-27T18:31:06.848Z,1761589866.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:07.096Z,1761589867.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:07.114Z,1761589867.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450060,-0.863320,-0.228310],[0.890122,-0.454204,-0.037165],[-0.071614,-0.219950,0.972879]]
2025-10-27T18:31:07.349Z,1761589867.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:07.518Z,1761589867.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446832,-0.864534,-0.230048],[0.891270,-0.452416,-0.030948],[-0.077322,-0.218864,0.972687]]
2025-10-27T18:31:07.600Z,1761589867.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:07.852Z,1761589867.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:08.104Z,1761589868.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:08.327Z,1761589868.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439687,-0.866572,-0.236069],[0.893727,-0.448195,-0.019344],[-0.089042,-0.219486,0.971544]]
2025-10-27T18:31:08.356Z,1761589868.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:08.608Z,1761589868.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:08.738Z,1761589868.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436075,-0.867522,-0.239258],[0.894872,-0.446120,-0.013427],[-0.095089,-0.219960,0.970863]]
2025-10-27T18:31:08.860Z,1761589868.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:09.112Z,1761589869.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:09.364Z,1761589869.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:09.538Z,1761589869.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428836,-0.869264,-0.245927],[0.896951,-0.442127,-0.001299],[-0.107602,-0.221142,0.969287]]
2025-10-27T18:31:09.616Z,1761589869.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:09.868Z,1761589869.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:09.942Z,1761589869.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426199,-0.869372,-0.250092],[0.897423,-0.441152,0.004176],[-0.113959,-0.222658,0.968213]]
2025-10-27T18:31:10.120Z,1761589870.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:10.346Z,1761589870.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423832,-0.869946,-0.252111],[0.897660,-0.440550,0.011096],[-0.120721,-0.221606,0.967635]]
2025-10-27T18:31:10.372Z,1761589870.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:10.624Z,1761589870.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:10.757Z,1761589870.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421415,-0.870160,-0.255405],[0.897867,-0.439925,0.017346],[-0.127453,-0.222010,0.966678]]
2025-10-27T18:31:10.876Z,1761589870.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:11.128Z,1761589871.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:11.381Z,1761589871.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:11.632Z,1761589871.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:11.884Z,1761589871.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:12.136Z,1761589872.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:12.388Z,1761589872.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:12.397Z,1761589872.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421793,-0.866486,-0.267007],[0.894787,-0.445361,0.031772],[-0.146444,-0.225513,0.963171]]
2025-10-27T18:31:12.640Z,1761589872.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:12.829Z,1761589872.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423248,-0.865262,-0.268669],[0.894263,-0.446573,0.029436],[-0.145450,-0.227802,0.962783]]
2025-10-27T18:31:12.888Z,1761589872.888 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateRudder:A] Stopped
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:31:12.889Z,1761589872.889 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateCommandMode] Stopped
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:31:12.890Z,1761589872.890 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:31:12.891Z,1761589872.891 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:31:12.892Z,1761589872.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:12.892Z,1761589872.892 [marl:UpdateSpeed] Stopped
2025-10-27T18:31:12.892Z,1761589872.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:31:13.144Z,1761589873.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:13.196Z,1761589873.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424301,-0.864461,-0.269584],[0.894131,-0.447038,0.026211],[-0.143172,-0.229922,0.962620]]
2025-10-27T18:31:13.220Z,1761589873.220 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:31:13.220Z,1761589873.220 [marl:UpdateRudder:B] Stopped
2025-10-27T18:31:13.220Z,1761589873.220 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:31:13.221Z,1761589873.221 [marl:UpdateRudder] Stopped
2025-10-27T18:31:13.221Z,1761589873.221 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:31:13.396Z,1761589873.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:13.600Z,1761589873.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424916,-0.863793,-0.270756],[0.894301,-0.446910,0.022289],[-0.140257,-0.232666,0.962390]]
2025-10-27T18:31:13.648Z,1761589873.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:13.900Z,1761589873.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:14.002Z,1761589874.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425471,-0.862869,-0.272822],[0.894553,-0.446620,0.017477],[-0.136928,-0.236617,0.961906]]
2025-10-27T18:31:14.152Z,1761589874.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:14.404Z,1761589874.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:14.408Z,1761589874.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424955,-0.862830,-0.273747],[0.895335,-0.445194,0.013331],[-0.133373,-0.239430,0.961709]]
2025-10-27T18:31:14.656Z,1761589874.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:14.908Z,1761589874.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:15.160Z,1761589875.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:15.238Z,1761589875.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419798,-0.864885,-0.275215],[0.898593,-0.438709,0.008013],[-0.127669,-0.243942,0.961349]]
2025-10-27T18:31:15.412Z,1761589875.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:15.641Z,1761589875.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415240,-0.866668,-0.276518],[0.900978,-0.433814,0.006693],[-0.125758,-0.246357,0.960985]]
2025-10-27T18:31:15.664Z,1761589875.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:15.916Z,1761589875.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:16.047Z,1761589876.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408741,-0.868422,-0.280669],[0.904184,-0.427117,0.004778],[-0.124028,-0.251823,0.959793]]
2025-10-27T18:31:16.168Z,1761589876.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:16.420Z,1761589876.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:16.466Z,1761589876.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398103,-0.869658,-0.291905],[0.909150,-0.416468,0.000854],[-0.122311,-0.265045,0.956447]]
2025-10-27T18:31:16.672Z,1761589876.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:16.859Z,1761589876.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384215,-0.869750,-0.309699],[0.915245,-0.402877,-0.004033],[-0.121263,-0.285000,0.950826]]
2025-10-27T18:31:16.924Z,1761589876.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:17.176Z,1761589877.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:17.428Z,1761589877.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:17.664Z,1761589877.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353367,-0.868034,-0.348783],[0.927852,-0.372744,-0.012380],[-0.119260,-0.327993,0.937122]]
2025-10-27T18:31:17.680Z,1761589877.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:17.932Z,1761589877.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:18.168Z,1761589878.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338545,-0.866256,-0.367408],[0.933550,-0.358095,-0.015914],[-0.117781,-0.348381,0.929924]]
2025-10-27T18:31:18.184Z,1761589878.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:18.436Z,1761589878.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:18.570Z,1761589878.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324069,-0.864493,-0.384229],[0.938912,-0.343649,-0.018713],[-0.115862,-0.366821,0.923048]]
2025-10-27T18:31:18.688Z,1761589878.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:18.941Z,1761589878.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:19.045Z,1761589879.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311298,-0.862704,-0.398541],[0.943624,-0.330280,-0.022116],[-0.112551,-0.382958,0.916884]]
2025-10-27T18:31:19.192Z,1761589879.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:19.446Z,1761589879.446 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:19.461Z,1761589879.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298762,-0.862130,-0.409234],[0.948175,-0.316775,-0.024868],[-0.108195,-0.395455,0.912090]]
2025-10-27T18:31:19.696Z,1761589879.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:19.852Z,1761589879.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286783,-0.862273,-0.417421],[0.952501,-0.303248,-0.027979],[-0.102457,-0.405618,0.908282]]
2025-10-27T18:31:19.948Z,1761589879.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:20.200Z,1761589880.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:20.254Z,1761589880.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275041,-0.863982,-0.421766],[0.956675,-0.289525,-0.030777],[-0.095521,-0.411959,0.906182]]
2025-10-27T18:31:20.453Z,1761589880.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:20.658Z,1761589880.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263629,-0.866856,-0.423156],[0.960650,-0.275713,-0.033680],[-0.087474,-0.415384,0.905431]]
2025-10-27T18:31:20.704Z,1761589880.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:20.957Z,1761589880.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:21.209Z,1761589881.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:21.460Z,1761589881.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:21.712Z,1761589881.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:21.878Z,1761589881.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225961,-0.880108,-0.417553],[0.972175,-0.230925,-0.039359],[-0.061784,-0.414829,0.907800]]
2025-10-27T18:31:21.966Z,1761589881.966 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:22.216Z,1761589882.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:22.282Z,1761589882.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210818,-0.885098,-0.414918],[0.976028,-0.214074,-0.039255],[-0.054079,-0.413247,0.909012]]
2025-10-27T18:31:22.468Z,1761589882.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:22.687Z,1761589882.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194865,-0.889901,-0.412436],[0.979721,-0.196594,-0.038706],[-0.046638,-0.411615,0.910164]]
2025-10-27T18:31:22.720Z,1761589882.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:22.972Z,1761589882.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:23.090Z,1761589883.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177445,-0.895266,-0.408671],[0.983325,-0.178093,-0.036817],[-0.039820,-0.408390,0.911939]]
2025-10-27T18:31:23.224Z,1761589883.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:23.476Z,1761589883.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:23.495Z,1761589883.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159035,-0.900164,-0.405478],[0.986704,-0.158864,-0.034322],[-0.033521,-0.405545,0.913460]]
2025-10-27T18:31:23.731Z,1761589883.731 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:23.897Z,1761589883.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139988,-0.904220,-0.403472],[0.989769,-0.139140,-0.031584],[-0.027580,-0.403766,0.914447]]
2025-10-27T18:31:23.980Z,1761589883.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:24.232Z,1761589884.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:24.304Z,1761589884.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120440,-0.907783,-0.401776],[0.992477,-0.119066,-0.028495],[-0.021971,-0.402185,0.915295]]
2025-10-27T18:31:24.484Z,1761589884.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:24.706Z,1761589884.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100746,-0.910203,-0.401722],[0.994765,-0.099100,-0.024937],[-0.017113,-0.402131,0.915422]]
2025-10-27T18:31:24.737Z,1761589884.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:24.989Z,1761589884.989 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:25.109Z,1761589885.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081274,-0.912195,-0.401616],[0.996604,-0.079718,-0.020616],[-0.013210,-0.401928,0.915576]]
2025-10-27T18:31:25.241Z,1761589885.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:25.492Z,1761589885.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:25.513Z,1761589885.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061582,-0.913901,-0.401240],[0.998048,-0.060559,-0.015245],[-0.010366,-0.401395,0.915846]]
2025-10-27T18:31:25.744Z,1761589885.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:25.917Z,1761589885.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041774,-0.915095,-0.401068],[0.999086,-0.041893,-0.008476],[-0.009046,-0.401055,0.916009]]
2025-10-27T18:31:25.997Z,1761589885.997 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:26.248Z,1761589886.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:26.482Z,1761589886.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005040,-0.915837,-0.401518],[0.999940,-0.008520,0.006884],[-0.009725,-0.401459,0.915825]]
2025-10-27T18:31:26.500Z,1761589886.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:26.546Z,1761589886.546 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:31:26.546Z,1761589886.546 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:31:26.551Z,1761589886.551 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:31:26.551Z,1761589886.551 [marl:UpdateRudder:A] Stopped
2025-10-27T18:31:26.551Z,1761589886.551 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:31:26.551Z,1761589886.551 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode] Stopped
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:31:26.552Z,1761589886.552 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:31:26.553Z,1761589886.553 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:31:26.553Z,1761589886.553 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:31:26.553Z,1761589886.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:31:26.553Z,1761589886.553 [marl:UpdateSpeed] Stopped
2025-10-27T18:31:26.553Z,1761589886.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:31:26.752Z,1761589886.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:27.004Z,1761589887.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:27.085Z,1761589887.085 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:31:27.085Z,1761589887.085 [marl:UpdateRudder:B] Stopped
2025-10-27T18:31:27.086Z,1761589887.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:31:27.086Z,1761589887.086 [marl:UpdateRudder] Stopped
2025-10-27T18:31:27.086Z,1761589887.086 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:31:27.256Z,1761589887.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:27.508Z,1761589887.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:27.546Z,1761589887.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023577,-0.916078,-0.400306],[0.999640,0.016468,0.021189],[-0.012818,-0.400662,0.916136]]
2025-10-27T18:31:27.760Z,1761589887.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:27.957Z,1761589887.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035413,-0.916042,-0.399516],[0.999265,0.026581,0.027628],[-0.014689,-0.400201,0.916310]]
2025-10-27T18:31:28.012Z,1761589888.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:28.264Z,1761589888.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:28.354Z,1761589888.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045876,-0.915518,-0.399652],[0.998814,0.035511,0.033305],[-0.016300,-0.400706,0.916062]]
2025-10-27T18:31:28.516Z,1761589888.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:28.768Z,1761589888.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:28.770Z,1761589888.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055729,-0.915098,-0.399362],[0.998299,0.044201,0.038026],[-0.017146,-0.400802,0.916004]]
2025-10-27T18:31:29.020Z,1761589889.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:29.272Z,1761589889.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:29.524Z,1761589889.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:29.602Z,1761589889.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073939,-0.915088,-0.396417],[0.997158,0.062071,0.042704],[-0.014471,-0.398448,0.917077]]
2025-10-27T18:31:29.776Z,1761589889.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:29.990Z,1761589889.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082381,-0.915112,-0.394694],[0.996548,0.071566,0.042073],[-0.010255,-0.396798,0.917849]]
2025-10-27T18:31:30.028Z,1761589890.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:30.280Z,1761589890.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:30.394Z,1761589890.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090807,-0.915062,-0.392958],[0.995861,0.081853,0.039524],[-0.004002,-0.394921,0.918707]]
2025-10-27T18:31:30.532Z,1761589890.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:30.786Z,1761589890.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:31.036Z,1761589891.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:31.228Z,1761589891.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117594,-0.914537,-0.387031],[0.992744,0.118125,0.022508],[0.025134,-0.386870,0.921792]]
2025-10-27T18:31:31.288Z,1761589891.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:31.540Z,1761589891.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:31.603Z,1761589891.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:31:31.618Z,1761589891.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129730,-0.913561,-0.385457],[0.990882,0.133701,0.016612],[0.036360,-0.384097,0.922576]]
2025-10-27T18:31:31.792Z,1761589891.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:32.018Z,1761589892.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145495,-0.911389,-0.384970],[0.988265,0.152171,0.013251],[0.046504,-0.382380,0.922834]]
2025-10-27T18:31:32.044Z,1761589892.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:32.296Z,1761589892.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:32.433Z,1761589892.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164965,-0.908328,-0.384351],[0.984752,0.173504,0.012623],[0.055221,-0.380573,0.923101]]
2025-10-27T18:31:32.548Z,1761589892.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:32.612Z,1761589892.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:31:32.803Z,1761589892.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:33.052Z,1761589893.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:33.304Z,1761589893.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:33.409Z,1761589893.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209309,-0.898291,-0.386346],[0.975444,0.219504,0.018096],[0.068549,-0.380646,0.922177]]
2025-10-27T18:31:33.556Z,1761589893.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:33.808Z,1761589893.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:33.888Z,1761589893.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232256,-0.892438,-0.386796],[0.969915,0.242326,0.023288],[0.072948,-0.380568,0.921871]]
2025-10-27T18:31:34.060Z,1761589894.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:34.290Z,1761589894.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255793,-0.885832,-0.387133],[0.963830,0.264690,0.031178],[0.074852,-0.381105,0.921497]]
2025-10-27T18:31:34.312Z,1761589894.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:34.564Z,1761589894.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:34.695Z,1761589894.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279628,-0.878213,-0.388008],[0.957271,0.286065,0.042406],[0.073754,-0.383287,0.920680]]
2025-10-27T18:31:34.818Z,1761589894.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:35.068Z,1761589895.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:35.098Z,1761589895.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303154,-0.870592,-0.387514],[0.950388,0.305962,0.056118],[0.069709,-0.385301,0.920154]]
2025-10-27T18:31:35.320Z,1761589895.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:35.569Z,1761589895.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325555,-0.862875,-0.386602],[0.943406,0.323778,0.071781],[0.063235,-0.388091,0.919449]]
2025-10-27T18:31:35.579Z,1761589895.579 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:35.824Z,1761589895.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:35.980Z,1761589895.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345159,-0.855945,-0.384999],[0.936923,0.338336,0.087770],[0.055133,-0.391009,0.918734]]
2025-10-27T18:31:36.076Z,1761589896.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:36.328Z,1761589896.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:36.476Z,1761589896.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373909,-0.845387,-0.381463],[0.926712,0.357118,0.116925],[0.037380,-0.397225,0.916960]]
2025-10-27T18:31:36.580Z,1761589896.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:36.834Z,1761589896.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:36.958Z,1761589896.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384356,-0.841835,-0.378925],[0.922718,0.363362,0.128683],[0.029357,-0.399102,0.916437]]
2025-10-27T18:31:37.086Z,1761589897.086 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:37.336Z,1761589897.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:37.362Z,1761589897.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392819,-0.839180,-0.376126],[0.919319,0.368731,0.137438],[0.023354,-0.399768,0.916319]]
2025-10-27T18:31:37.588Z,1761589897.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:37.773Z,1761589897.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399979,-0.836632,-0.374252],[0.916303,0.374002,0.143217],[0.020151,-0.400212,0.916201]]
2025-10-27T18:31:37.840Z,1761589897.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:38.092Z,1761589898.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:38.174Z,1761589898.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406424,-0.834714,-0.371580],[0.913457,0.380268,0.144885],[0.020363,-0.398308,0.917026]]
2025-10-27T18:31:38.344Z,1761589898.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:38.599Z,1761589898.599 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:38.848Z,1761589898.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:39.100Z,1761589899.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:39.314Z,1761589899.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425749,-0.827481,-0.366078],[0.904046,0.405963,0.133771],[0.037921,-0.387904,0.920919]]
2025-10-27T18:31:39.352Z,1761589899.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:39.604Z,1761589899.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:39.849Z,1761589899.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435369,-0.823778,-0.363104],[0.899055,0.418652,0.128185],[0.046418,-0.382258,0.922889]]
2025-10-27T18:31:39.856Z,1761589899.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:40.109Z,1761589900.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:40.249Z,1761589900.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448669,-0.818251,-0.359390],[0.892085,0.434203,0.125113],[0.053674,-0.376740,0.924763]]
2025-10-27T18:31:40.360Z,1761589900.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:40.612Z,1761589900.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:40.720Z,1761589900.720 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:31:40.720Z,1761589900.720 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:31:40.720Z,1761589900.720 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:31:40.721Z,1761589900.721 [marl:UpdateRudder:A] Stopped
2025-10-27T18:31:40.721Z,1761589900.721 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:31:40.721Z,1761589900.721 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:31:40.721Z,1761589900.721 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:31:40.721Z,1761589900.721 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:31:40.722Z,1761589900.722 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:31:40.722Z,1761589900.722 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:31:40.722Z,1761589900.722 [marl:UpdateCommandMode] Stopped
2025-10-27T18:31:40.722Z,1761589900.722 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:31:40.722Z,1761589900.722 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:31:40.723Z,1761589900.723 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:31:40.723Z,1761589900.723 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:31:40.724Z,1761589900.724 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:31:40.724Z,1761589900.724 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:31:40.724Z,1761589900.724 [marl:UpdateSpeed] Stopped
2025-10-27T18:31:40.724Z,1761589900.724 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:31:40.864Z,1761589900.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:41.116Z,1761589901.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:41.141Z,1761589901.141 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:31:41.141Z,1761589901.141 [marl:UpdateRudder:B] Stopped
2025-10-27T18:31:41.141Z,1761589901.141 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:31:41.141Z,1761589901.141 [marl:UpdateRudder] Stopped
2025-10-27T18:31:41.142Z,1761589901.142 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:31:41.368Z,1761589901.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:41.620Z,1761589901.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:41.872Z,1761589901.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:42.002Z,1761589902.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532991,-0.773579,-0.342776],[0.844061,0.514363,0.151633],[0.059011,-0.370143,0.927099]]
2025-10-27T18:31:42.124Z,1761589902.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:42.376Z,1761589902.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:42.424Z,1761589902.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576295,-0.747007,-0.331458],[0.815733,0.550428,0.177788],[0.049635,-0.372840,0.926567]]
2025-10-27T18:31:42.628Z,1761589902.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:42.843Z,1761589902.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593308,-0.737509,-0.322591],[0.803862,0.563900,0.189268],[0.042322,-0.371613,0.927422]]
2025-10-27T18:31:42.880Z,1761589902.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:43.132Z,1761589903.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:43.230Z,1761589903.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603799,-0.735906,-0.306379],[0.796419,0.573219,0.192708],[0.033807,-0.360363,0.932199]]
2025-10-27T18:31:43.384Z,1761589903.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:43.622Z,1761589903.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607919,-0.740780,-0.285795],[0.793607,0.578200,0.189403],[0.024941,-0.341951,0.939387]]
2025-10-27T18:31:43.636Z,1761589903.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:43.889Z,1761589903.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:44.027Z,1761589904.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607723,-0.748389,-0.265683],[0.793979,0.579516,0.183737],[0.016461,-0.322607,0.946390]]
2025-10-27T18:31:44.140Z,1761589904.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:44.394Z,1761589904.394 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:44.434Z,1761589904.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605077,-0.756718,-0.247509],[0.796122,0.578391,0.177916],[0.008525,-0.304700,0.952410]]
2025-10-27T18:31:44.644Z,1761589904.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:44.849Z,1761589904.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600600,-0.765192,-0.231864],[0.799548,0.575374,0.172241],[0.001611,-0.288835,0.957378]]
2025-10-27T18:31:44.897Z,1761589904.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:45.148Z,1761589905.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:45.237Z,1761589905.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595317,-0.773732,-0.216650],[0.803479,0.571786,0.165777],[-0.004389,-0.272763,0.962071]]
2025-10-27T18:31:45.401Z,1761589905.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:45.638Z,1761589905.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589367,-0.782136,-0.202262],[0.807811,0.567653,0.158782],[-0.009374,-0.256970,0.966374]]
2025-10-27T18:31:45.652Z,1761589905.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:45.905Z,1761589905.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:46.043Z,1761589906.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583260,-0.789541,-0.190873],[0.812174,0.562952,0.153162],[-0.013475,-0.244355,0.969592]]
2025-10-27T18:31:46.157Z,1761589906.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:46.409Z,1761589906.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:46.446Z,1761589906.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577880,-0.795706,-0.181402],[0.815939,0.558595,0.149047],[-0.017268,-0.234144,0.972049]]
2025-10-27T18:31:46.662Z,1761589906.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:46.913Z,1761589906.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:47.164Z,1761589907.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:47.416Z,1761589907.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:47.659Z,1761589907.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576447,-0.800508,-0.163998],[0.816616,0.557213,0.150503],[-0.029097,-0.220681,0.974912]]
2025-10-27T18:31:47.668Z,1761589907.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:47.920Z,1761589907.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:48.172Z,1761589908.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:48.424Z,1761589908.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:48.465Z,1761589908.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585119,-0.795530,-0.157379],[0.810088,0.564453,0.158590],[-0.037330,-0.220285,0.974721]]
2025-10-27T18:31:48.676Z,1761589908.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:48.870Z,1761589908.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590964,-0.791629,-0.155194],[0.805613,0.569170,0.164417],[-0.041826,-0.222191,0.974106]]
2025-10-27T18:31:48.928Z,1761589908.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:49.180Z,1761589909.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:49.284Z,1761589909.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597129,-0.787394,-0.153128],[0.800804,0.574130,0.170550],[-0.046375,-0.224465,0.973378]]
2025-10-27T18:31:49.432Z,1761589909.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:49.677Z,1761589909.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603330,-0.783070,-0.150980],[0.795835,0.578993,0.177238],[-0.051374,-0.227088,0.972518]]
2025-10-27T18:31:49.684Z,1761589909.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:49.936Z,1761589909.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:50.082Z,1761589910.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608498,-0.779406,-0.149187],[0.791558,0.582813,0.183751],[-0.056269,-0.229902,0.971586]]
2025-10-27T18:31:50.188Z,1761589910.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:50.440Z,1761589910.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:50.486Z,1761589910.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612436,-0.776738,-0.146970],[0.788120,0.585456,0.190022],[-0.061553,-0.232207,0.970717]]
2025-10-27T18:31:50.694Z,1761589910.694 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:50.906Z,1761589910.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614209,-0.775670,-0.145200],[0.786354,0.586130,0.195189],[-0.066296,-0.234065,0.969958]]
2025-10-27T18:31:50.944Z,1761589910.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:51.196Z,1761589911.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:51.294Z,1761589911.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614530,-0.775833,-0.142957],[0.785710,0.585654,0.199172],[-0.070801,-0.234720,0.969481]]
2025-10-27T18:31:51.448Z,1761589911.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:51.700Z,1761589911.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:51.701Z,1761589911.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613276,-0.777065,-0.141642],[0.786357,0.583762,0.202148],[-0.074397,-0.235354,0.969058]]
2025-10-27T18:31:51.952Z,1761589911.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:52.103Z,1761589912.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610977,-0.778988,-0.141017],[0.787883,0.580992,0.204179],[-0.077123,-0.235854,0.968723]]
2025-10-27T18:31:52.204Z,1761589912.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:52.456Z,1761589912.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:52.506Z,1761589912.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608126,-0.781218,-0.140999],[0.789896,0.577799,0.205457],[-0.079037,-0.236318,0.968456]]
2025-10-27T18:31:52.708Z,1761589912.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:52.912Z,1761589912.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605031,-0.783689,-0.140600],[0.792141,0.574673,0.205582],[-0.080313,-0.235758,0.968487]]
2025-10-27T18:31:52.960Z,1761589912.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:53.212Z,1761589913.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:53.317Z,1761589913.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602672,-0.785430,-0.141020],[0.793863,0.572170,0.205922],[-0.081050,-0.236054,0.968354]]
2025-10-27T18:31:53.464Z,1761589913.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:53.716Z,1761589913.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:53.725Z,1761589913.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601160,-0.786469,-0.141679],[0.794971,0.570496,0.206290],[-0.081414,-0.236644,0.968179]]
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateRudder:A] Stopped
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:31:53.793Z,1761589913.793 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateCommandMode] Stopped
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:31:53.794Z,1761589913.794 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:31:53.795Z,1761589913.795 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:31:53.798Z,1761589913.798 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:31:53.798Z,1761589913.798 [marl:UpdateSpeed] Stopped
2025-10-27T18:31:53.798Z,1761589913.798 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:31:53.968Z,1761589913.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:54.121Z,1761589914.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601837,-0.785815,-0.142435],[0.794405,0.570764,0.207725],[-0.081936,-0.238168,0.967762]]
2025-10-27T18:31:54.160Z,1761589914.160 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:31:54.160Z,1761589914.160 [marl:UpdateRudder:B] Stopped
2025-10-27T18:31:54.160Z,1761589914.160 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:31:54.160Z,1761589914.160 [marl:UpdateRudder] Stopped
2025-10-27T18:31:54.160Z,1761589914.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:31:54.220Z,1761589914.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:54.472Z,1761589914.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:54.526Z,1761589914.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603768,-0.784241,-0.142933],[0.792956,0.572462,0.208586],[-0.081758,-0.239277,0.967503]]
2025-10-27T18:31:54.724Z,1761589914.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:54.930Z,1761589914.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606510,-0.782047,-0.143349],[0.790909,0.575008,0.209355],[-0.081298,-0.240352,0.967275]]
2025-10-27T18:31:54.976Z,1761589914.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:55.228Z,1761589915.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:55.333Z,1761589915.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610140,-0.778864,-0.145259],[0.788187,0.578048,0.211238],[-0.080559,-0.243376,0.966581]]
2025-10-27T18:31:55.480Z,1761589915.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:55.732Z,1761589915.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:55.746Z,1761589915.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614836,-0.775147,-0.145345],[0.784647,0.582675,0.211704],[-0.079413,-0.244208,0.966466]]
2025-10-27T18:31:55.984Z,1761589915.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:56.236Z,1761589916.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:56.488Z,1761589916.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:56.547Z,1761589916.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625600,-0.766307,-0.146282],[0.776306,0.592905,0.214040],[-0.077289,-0.247463,0.965810]]
2025-10-27T18:31:56.741Z,1761589916.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:56.949Z,1761589916.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630494,-0.762190,-0.146775],[0.772430,0.597516,0.215237],[-0.076351,-0.249079,0.965469]]
2025-10-27T18:31:56.992Z,1761589916.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:57.244Z,1761589917.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:57.354Z,1761589917.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634379,-0.759024,-0.146447],[0.769339,0.601451,0.215348],[-0.075374,-0.249279,0.965494]]
2025-10-27T18:31:57.496Z,1761589917.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:57.748Z,1761589917.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:57.764Z,1761589917.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637419,-0.756472,-0.146447],[0.766872,0.604375,0.215958],[-0.074857,-0.249962,0.965358]]
2025-10-27T18:31:57.000Z,1761589918.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:58.170Z,1761589918.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639754,-0.754526,-0.146306],[0.764958,0.606639,0.216400],[-0.074524,-0.250360,0.965280]]
2025-10-27T18:31:58.253Z,1761589918.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:58.504Z,1761589918.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:58.565Z,1761589918.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640936,-0.753636,-0.145717],[0.763960,0.607848,0.216532],[-0.074612,-0.250105,0.965340]]
2025-10-27T18:31:58.757Z,1761589918.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:58.969Z,1761589918.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641183,-0.753284,-0.146449],[0.763708,0.607714,0.217791],[-0.075060,-0.251489,0.964945]]
2025-10-27T18:31:59.008Z,1761589919.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:59.159Z,1761589919.159 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:31:59.159Z,1761589919.159 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:31:59.260Z,1761589919.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:59.394Z,1761589919.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640591,-0.753568,-0.147575],[0.764123,0.606577,0.219502],[-0.075894,-0.253376,0.964386]]
2025-10-27T18:31:59.512Z,1761589919.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:59.764Z,1761589919.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:31:59.779Z,1761589919.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638960,-0.754632,-0.149201],[0.765430,0.604443,0.220829],[-0.076462,-0.255304,0.963833]]
2025-10-27T18:32:00.016Z,1761589920.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:00.182Z,1761589920.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636102,-0.756615,-0.151354],[0.767811,0.601249,0.221284],[-0.076425,-0.256970,0.963393]]
2025-10-27T18:32:00.233Z,1761589920.233 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:32:00.268Z,1761589920.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:00.520Z,1761589920.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:00.772Z,1761589920.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:00.992Z,1761589920.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627016,-0.763078,-0.156724],[0.775552,0.592548,0.217730],[-0.073279,-0.258068,0.963344]]
2025-10-27T18:32:01.024Z,1761589921.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:01.276Z,1761589921.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:01.410Z,1761589921.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621633,-0.766811,-0.159918],[0.780178,0.587874,0.213840],[-0.069963,-0.257694,0.963690]]
2025-10-27T18:32:01.528Z,1761589921.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:01.780Z,1761589921.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:01.798Z,1761589921.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616640,-0.770167,-0.163086],[0.784488,0.583827,0.209104],[-0.065831,-0.256881,0.964198]]
2025-10-27T18:32:02.038Z,1761589922.038 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:02.202Z,1761589922.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612160,-0.773201,-0.165592],[0.788406,0.580764,0.202806],[-0.060640,-0.254703,0.965116]]
2025-10-27T18:32:02.284Z,1761589922.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:02.536Z,1761589922.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:02.607Z,1761589922.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608544,-0.775469,-0.168291],[0.791634,0.578671,0.196102],[-0.054686,-0.252562,0.966034]]
2025-10-27T18:32:02.733Z,1761589922.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:32:02.790Z,1761589922.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:03.040Z,1761589923.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:03.292Z,1761589923.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:03.414Z,1761589923.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604454,-0.777745,-0.172476],[0.795587,0.578207,0.180883],[-0.040954,-0.246555,0.968263]]
2025-10-27T18:32:03.544Z,1761589923.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:03.737Z,1761589923.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:32:03.796Z,1761589923.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:03.818Z,1761589923.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604422,-0.777336,-0.174422],[0.795953,0.579983,0.173433],[-0.033654,-0.243658,0.969277]]
2025-10-27T18:32:04.048Z,1761589924.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:04.222Z,1761589924.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606248,-0.775254,-0.177327],[0.794824,0.583132,0.167967],[-0.026812,-0.242773,0.969712]]
2025-10-27T18:32:04.300Z,1761589924.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:04.552Z,1761589924.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:04.627Z,1761589924.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610151,-0.771752,-0.179205],[0.792003,0.588093,0.163947],[-0.021137,-0.241963,0.970055]]
2025-10-27T18:32:04.806Z,1761589924.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:05.056Z,1761589925.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:05.308Z,1761589925.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:05.434Z,1761589925.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620672,-0.762553,-0.182428],[0.783958,0.599610,0.160865],[-0.013282,-0.242860,0.969970]]
2025-10-27T18:32:05.560Z,1761589925.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:05.812Z,1761589925.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:05.838Z,1761589925.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625862,-0.758080,-0.183337],[0.779861,0.605055,0.160390],[-0.010659,-0.243359,0.969878]]
2025-10-27T18:32:06.064Z,1761589926.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:06.255Z,1761589926.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630320,-0.753992,-0.184913],[0.776285,0.609437,0.161143],[-0.008808,-0.245117,0.969453]]
2025-10-27T18:32:06.316Z,1761589926.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:06.568Z,1761589926.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:06.645Z,1761589926.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633699,-0.750637,-0.187002],[0.773547,0.612644,0.162151],[-0.007151,-0.247410,0.968885]]
2025-10-27T18:32:06.822Z,1761589926.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:07.072Z,1761589927.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:07.106Z,1761589927.106 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:32:07.106Z,1761589927.106 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:32:07.106Z,1761589927.106 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:32:07.107Z,1761589927.107 [marl:UpdateRudder:A] Stopped
2025-10-27T18:32:07.107Z,1761589927.107 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:32:07.107Z,1761589927.107 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:32:07.107Z,1761589927.107 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:32:07.107Z,1761589927.107 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateCommandMode] Stopped
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:32:07.108Z,1761589927.108 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:32:07.109Z,1761589927.109 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:32:07.109Z,1761589927.109 [marl:UpdateSpeed] Stopped
2025-10-27T18:32:07.109Z,1761589927.109 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:32:07.324Z,1761589927.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:07.457Z,1761589927.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635703,-0.747405,-0.193050],[0.771930,0.614643,0.162291],[-0.002640,-0.252189,0.967674]]
2025-10-27T18:32:07.481Z,1761589927.481 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:32:07.482Z,1761589927.482 [marl:UpdateRudder:B] Stopped
2025-10-27T18:32:07.482Z,1761589927.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:32:07.482Z,1761589927.482 [marl:UpdateRudder] Stopped
2025-10-27T18:32:07.482Z,1761589927.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:32:07.576Z,1761589927.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:07.828Z,1761589927.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:07.870Z,1761589927.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634851,-0.747182,-0.196681],[0.772634,0.614044,0.161205],[0.000322,-0.254303,0.967124]]
2025-10-27T18:32:08.080Z,1761589928.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:08.332Z,1761589928.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:08.584Z,1761589928.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:08.665Z,1761589928.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631138,-0.748195,-0.204620],[0.775636,0.611230,0.157439],[0.007275,-0.258076,0.966097]]
2025-10-27T18:32:08.840Z,1761589928.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:09.088Z,1761589929.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:09.340Z,1761589929.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:09.481Z,1761589929.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627221,-0.749067,-0.213289],[0.778708,0.608219,0.153897],[0.014447,-0.262617,0.964792]]
2025-10-27T18:32:09.593Z,1761589929.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:09.845Z,1761589929.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:09.877Z,1761589929.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625396,-0.749664,-0.216525],[0.780107,0.606964,0.151748],[0.017663,-0.263815,0.964411]]
2025-10-27T18:32:10.098Z,1761589930.098 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:10.282Z,1761589930.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623416,-0.750460,-0.219458],[0.781621,0.605516,0.149730],[0.020519,-0.264878,0.964064]]
2025-10-27T18:32:10.352Z,1761589930.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:10.604Z,1761589930.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:10.686Z,1761589930.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621059,-0.752100,-0.220525],[0.783427,0.603964,0.146525],[0.022988,-0.263766,0.964313]]
2025-10-27T18:32:10.857Z,1761589930.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:11.107Z,1761589931.107 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:11.360Z,1761589931.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:11.493Z,1761589931.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614610,-0.757590,-0.219800],[0.788329,0.599831,0.136892],[0.028135,-0.257410,0.965893]]
2025-10-27T18:32:11.614Z,1761589931.614 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:11.864Z,1761589931.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:11.898Z,1761589931.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610255,-0.761240,-0.219325],[0.791590,0.596853,0.130962],[0.031212,-0.253536,0.966822]]
2025-10-27T18:32:12.116Z,1761589932.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:12.301Z,1761589932.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605829,-0.765106,-0.218138],[0.794833,0.594053,0.123861],[0.034819,-0.248422,0.968026]]
2025-10-27T18:32:12.368Z,1761589932.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:12.620Z,1761589932.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:12.707Z,1761589932.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601639,-0.768261,-0.218645],[0.797822,0.591292,0.117698],[0.038861,-0.245251,0.968680]]
2025-10-27T18:32:12.872Z,1761589932.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:13.109Z,1761589933.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597740,-0.771538,-0.217798],[0.800525,0.589061,0.110302],[0.043194,-0.240285,0.969741]]
2025-10-27T18:32:13.124Z,1761589933.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:13.376Z,1761589933.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:13.514Z,1761589933.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594690,-0.773414,-0.219486],[0.802530,0.587331,0.104821],[0.047841,-0.238480,0.969968]]
2025-10-27T18:32:13.628Z,1761589933.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:13.880Z,1761589933.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:13.920Z,1761589933.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592605,-0.774820,-0.220166],[0.803782,0.586634,0.098969],[0.052474,-0.235615,0.970429]]
2025-10-27T18:32:14.132Z,1761589934.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:14.329Z,1761589934.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591033,-0.775601,-0.221638],[0.804646,0.586217,0.094306],[0.056784,-0.234079,0.970558]]
2025-10-27T18:32:14.384Z,1761589934.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:14.636Z,1761589934.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:14.729Z,1761589934.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590113,-0.775336,-0.224990],[0.805024,0.586128,0.091600],[0.060852,-0.235177,0.970046]]
2025-10-27T18:32:14.888Z,1761589934.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:15.130Z,1761589935.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589738,-0.774738,-0.228012],[0.805014,0.586488,0.089352],[0.064502,-0.236248,0.969550]]
2025-10-27T18:32:15.140Z,1761589935.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:15.392Z,1761589935.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:15.541Z,1761589935.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589697,-0.773671,-0.231715],[0.804762,0.587038,0.088002],[0.067941,-0.238369,0.968795]]
2025-10-27T18:32:15.648Z,1761589935.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:15.896Z,1761589935.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:15.941Z,1761589935.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589739,-0.772673,-0.234914],[0.804461,0.587647,0.086681],[0.071071,-0.240098,0.968144]]
2025-10-27T18:32:16.148Z,1761589936.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:16.355Z,1761589936.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590051,-0.771437,-0.238170],[0.803981,0.588414,0.085929],[0.073854,-0.242186,0.967415]]
2025-10-27T18:32:16.400Z,1761589936.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:16.652Z,1761589936.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:16.753Z,1761589936.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590482,-0.770602,-0.239797],[0.803471,0.589267,0.084844],[0.075923,-0.242768,0.967109]]
2025-10-27T18:32:16.904Z,1761589936.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:17.156Z,1761589937.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:17.168Z,1761589937.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590749,-0.769876,-0.241466],[0.803080,0.589954,0.083768],[0.077963,-0.243402,0.966787]]
2025-10-27T18:32:17.408Z,1761589937.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:17.577Z,1761589937.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591317,-0.769039,-0.242739],[0.802466,0.590959,0.082563],[0.079954,-0.243611,0.966572]]
2025-10-27T18:32:17.660Z,1761589937.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:17.912Z,1761589937.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:17.973Z,1761589937.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592276,-0.768061,-0.243498],[0.801587,0.592304,0.081458],[0.081660,-0.243431,0.966475]]
2025-10-27T18:32:18.164Z,1761589938.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:18.377Z,1761589938.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593957,-0.766800,-0.243380],[0.800231,0.594236,0.080710],[0.082736,-0.242698,0.966567]]
2025-10-27T18:32:18.416Z,1761589938.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:18.668Z,1761589938.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:18.806Z,1761589938.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595679,-0.765750,-0.242474],[0.798818,0.596345,0.079133],[0.084002,-0.240831,0.966925]]
2025-10-27T18:32:18.920Z,1761589938.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:19.172Z,1761589939.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:19.190Z,1761589939.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597674,-0.764385,-0.241870],[0.797300,0.598377,0.079113],[0.084256,-0.240127,0.967078]]
2025-10-27T18:32:19.424Z,1761589939.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:19.597Z,1761589939.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599443,-0.763133,-0.241444],[0.795926,0.600223,0.078952],[0.084670,-0.239499,0.967198]]
2025-10-27T18:32:19.677Z,1761589939.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:19.928Z,1761589939.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:19.993Z,1761589939.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600537,-0.762225,-0.241598],[0.795087,0.601286,0.079321],[0.084809,-0.239726,0.967129]]
2025-10-27T18:32:20.180Z,1761589940.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:20.398Z,1761589940.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601222,-0.761529,-0.242086],[0.794536,0.601976,0.079604],[0.085109,-0.240205,0.966984]]
2025-10-27T18:32:20.432Z,1761589940.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:20.455Z,1761589940.455 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:32:20.455Z,1761589940.455 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateRudder:A] Stopped
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:32:20.456Z,1761589940.456 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateCommandMode] Stopped
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:32:20.457Z,1761589940.457 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:32:20.458Z,1761589940.458 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:32:20.458Z,1761589940.458 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:32:20.458Z,1761589940.458 [marl:UpdateSpeed] Stopped
2025-10-27T18:32:20.458Z,1761589940.458 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:32:20.684Z,1761589940.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:20.916Z,1761589940.916 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:32:20.916Z,1761589940.916 [marl:UpdateRudder:B] Stopped
2025-10-27T18:32:20.916Z,1761589940.916 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:32:20.916Z,1761589940.916 [marl:UpdateRudder] Stopped
2025-10-27T18:32:20.916Z,1761589940.916 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:32:20.936Z,1761589940.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:21.188Z,1761589941.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:21.206Z,1761589941.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599746,-0.761886,-0.244610],[0.795560,0.600572,0.079992],[0.085961,-0.242577,0.966316]]
2025-10-27T18:32:21.440Z,1761589941.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:21.610Z,1761589941.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597695,-0.763314,-0.245178],[0.797008,0.598831,0.078604],[0.086820,-0.242390,0.966286]]
2025-10-27T18:32:21.692Z,1761589941.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:21.944Z,1761589941.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:22.014Z,1761589942.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594709,-0.765345,-0.246107],[0.799181,0.596070,0.077530],[0.087359,-0.242792,0.966137]]
2025-10-27T18:32:22.196Z,1761589942.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:22.448Z,1761589942.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:22.450Z,1761589942.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591397,-0.767610,-0.247030],[0.801590,0.592962,0.076485],[0.087769,-0.243249,0.965985]]
2025-10-27T18:32:22.700Z,1761589942.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:22.860Z,1761589942.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584822,-0.772747,-0.246669],[0.806439,0.586650,0.074150],[0.087410,-0.242288,0.966259]]
2025-10-27T18:32:22.952Z,1761589942.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:23.204Z,1761589943.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:23.265Z,1761589943.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582297,-0.774755,-0.246344],[0.808265,0.584278,0.072982],[0.087391,-0.241609,0.966431]]
2025-10-27T18:32:23.459Z,1761589943.459 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:23.662Z,1761589943.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582698,-0.773965,-0.247873],[0.807880,0.584780,0.073227],[0.088276,-0.242921,0.966021]]
2025-10-27T18:32:23.708Z,1761589943.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:23.960Z,1761589943.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:24.066Z,1761589944.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588061,-0.766009,-0.259644],[0.803794,0.589198,0.082223],[0.089998,-0.257053,0.962198]]
2025-10-27T18:32:24.212Z,1761589944.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:24.464Z,1761589944.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:24.472Z,1761589944.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598228,-0.752503,-0.275430],[0.796012,0.597571,0.096296],[0.092126,-0.276852,0.956486]]
2025-10-27T18:32:24.716Z,1761589944.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:24.877Z,1761589944.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611984,-0.734421,-0.293430],[0.785197,0.608587,0.114401],[0.094559,-0.300412,0.949111]]
2025-10-27T18:32:24.968Z,1761589944.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:25.220Z,1761589945.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:25.285Z,1761589945.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627900,-0.714536,-0.308513],[0.772241,0.621319,0.132687],[0.096875,-0.321560,0.941920]]
2025-10-27T18:32:25.472Z,1761589945.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:25.677Z,1761589945.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644797,-0.693197,-0.322047],[0.757894,0.634489,0.151724],[0.099161,-0.341908,0.934487]]
2025-10-27T18:32:25.725Z,1761589945.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:25.976Z,1761589945.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:26.081Z,1761589946.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661509,-0.672090,-0.332718],[0.743079,0.647284,0.169874],[0.101192,-0.359609,0.927600]]
2025-10-27T18:32:26.228Z,1761589946.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:26.480Z,1761589946.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:26.583Z,1761589946.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677405,-0.652557,-0.339545],[0.728415,0.659446,0.185854],[0.102632,-0.373228,0.922045]]
2025-10-27T18:32:26.735Z,1761589946.735 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:26.984Z,1761589946.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:27.013Z,1761589947.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692095,-0.634486,-0.344140],[0.714324,0.670534,0.200313],[0.103662,-0.384463,0.917302]]
2025-10-27T18:32:27.236Z,1761589947.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:27.488Z,1761589947.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:27.503Z,1761589947.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704877,-0.619129,-0.346161],[0.701641,0.680230,0.212101],[0.104151,-0.392385,0.913885]]
2025-10-27T18:32:27.741Z,1761589947.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:27.906Z,1761589947.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715939,-0.606211,-0.346321],[0.690398,0.688509,0.222050],[0.103836,-0.398073,0.911458]]
2025-10-27T18:32:27.992Z,1761589947.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:28.244Z,1761589948.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:28.326Z,1761589948.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725423,-0.595188,-0.345706],[0.680517,0.695524,0.230529],[0.103238,-0.402490,0.909584]]
2025-10-27T18:32:28.496Z,1761589948.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:28.715Z,1761589948.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733919,-0.585568,-0.344200],[0.671441,0.702004,0.237397],[0.102618,-0.405341,0.908388]]
2025-10-27T18:32:28.748Z,1761589948.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:28.000Z,1761589949.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:29.252Z,1761589949.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:29.504Z,1761589949.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:29.552Z,1761589949.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749670,-0.568687,-0.338512],[0.653878,0.715423,0.246199],[0.102169,-0.405914,0.908183]]
2025-10-27T18:32:29.756Z,1761589949.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:29.954Z,1761589949.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757746,-0.560591,-0.334004],[0.644467,0.723212,0.248249],[0.102389,-0.403364,0.909293]]
2025-10-27T18:32:30.009Z,1761589950.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:30.260Z,1761589950.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:30.381Z,1761589950.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766211,-0.552036,-0.328902],[0.634285,0.731751,0.249445],[0.102972,-0.399745,0.910824]]
2025-10-27T18:32:30.513Z,1761589950.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:30.768Z,1761589950.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:30.818Z,1761589950.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775333,-0.542613,-0.323156],[0.622940,0.741276,0.249911],[0.103943,-0.395071,0.912751]]
2025-10-27T18:32:31.020Z,1761589951.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:31.272Z,1761589951.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:31.346Z,1761589951.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796318,-0.520079,-0.308861],[0.595744,0.762742,0.251620],[0.104719,-0.384372,0.917220]]
2025-10-27T18:32:31.524Z,1761589951.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:31.776Z,1761589951.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:31.812Z,1761589951.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808304,-0.506424,-0.300298],[0.579434,0.774689,0.253207],[0.104408,-0.378672,0.919623]]
2025-10-27T18:32:32.028Z,1761589952.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:32.197Z,1761589952.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820661,-0.491600,-0.291281],[0.561915,0.786858,0.255159],[0.103760,-0.373074,0.921981]]
2025-10-27T18:32:32.280Z,1761589952.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:32.532Z,1761589952.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:32.602Z,1761589952.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833260,-0.475061,-0.282835],[0.543269,0.798503,0.259329],[0.102648,-0.369744,0.923446]]
2025-10-27T18:32:32.790Z,1761589952.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:33.006Z,1761589953.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845553,-0.457625,-0.274989],[0.524198,0.809309,0.265020],[0.101271,-0.368237,0.924200]]
2025-10-27T18:32:33.036Z,1761589953.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:33.289Z,1761589953.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:33.410Z,1761589953.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857638,-0.439325,-0.267303],[0.504502,0.819530,0.271751],[0.099676,-0.367919,0.924500]]
2025-10-27T18:32:33.540Z,1761589953.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:33.794Z,1761589953.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:33.856Z,1761589953.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:32:33.921Z,1761589953.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868744,-0.421461,-0.260106],[0.485577,0.828185,0.279864],[0.097465,-0.369432,0.924133]]
2025-10-27T18:32:34.044Z,1761589954.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:34.300Z,1761589954.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:34.348Z,1761589954.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877946,-0.406124,-0.253523],[0.469241,0.835008,0.287359],[0.094991,-0.371249,0.923662]]
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateRudder:A] Stopped
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:32:34.381Z,1761589954.381 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode] Stopped
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:32:34.382Z,1761589954.382 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:32:34.383Z,1761589954.383 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:32:34.383Z,1761589954.383 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:32:34.383Z,1761589954.383 [marl:UpdateSpeed] Stopped
2025-10-27T18:32:34.383Z,1761589954.383 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:32:34.552Z,1761589954.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:34.807Z,1761589954.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:34.859Z,1761589954.859 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:32:34.868Z,1761589954.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885736,-0.393532,-0.246181],[0.455083,0.840714,0.293425],[0.091495,-0.371930,0.923741]]
2025-10-27T18:32:34.929Z,1761589954.929 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:32:34.929Z,1761589954.929 [marl:UpdateRudder:B] Stopped
2025-10-27T18:32:34.929Z,1761589954.929 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:32:34.929Z,1761589954.929 [marl:UpdateRudder] Stopped
2025-10-27T18:32:34.929Z,1761589954.929 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:32:35.056Z,1761589955.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:35.313Z,1761589955.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:35.392Z,1761589955.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898992,-0.371419,-0.232082],[0.430041,0.848948,0.307167],[0.082938,-0.375945,0.922923]]
2025-10-27T18:32:35.560Z,1761589955.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:35.805Z,1761589955.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904877,-0.361857,-0.224183],[0.418436,0.852844,0.312360],[0.078163,-0.376453,0.923132]]
2025-10-27T18:32:35.812Z,1761589955.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:36.064Z,1761589956.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:36.320Z,1761589956.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:36.572Z,1761589956.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:36.602Z,1761589956.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914864,-0.347171,-0.206147],[0.398219,0.860153,0.318684],[0.066680,-0.373644,0.925172]]
2025-10-27T18:32:36.825Z,1761589956.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:37.005Z,1761589957.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917978,-0.345890,-0.194103],[0.392169,0.864731,0.313757],[0.059321,-0.364143,0.929452]]
2025-10-27T18:32:37.076Z,1761589957.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:37.328Z,1761589957.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:37.410Z,1761589957.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919601,-0.349461,-0.179472],[0.389571,0.870123,0.301863],[0.050673,-0.347510,0.936306]]
2025-10-27T18:32:37.580Z,1761589957.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:37.816Z,1761589957.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920133,-0.355624,-0.163971],[0.389365,0.875533,0.286071],[0.041828,-0.327068,0.944075]]
2025-10-27T18:32:37.832Z,1761589957.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:38.084Z,1761589958.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:38.221Z,1761589958.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919921,-0.362586,-0.149252],[0.390719,0.879628,0.271282],[0.032923,-0.307874,0.950857]]
2025-10-27T18:32:38.340Z,1761589958.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:38.593Z,1761589958.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:38.622Z,1761589958.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919521,-0.369074,-0.135149],[0.392298,0.882947,0.257887],[0.024150,-0.290152,0.956676]]
2025-10-27T18:32:38.844Z,1761589958.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:39.026Z,1761589959.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919524,-0.373696,-0.121767],[0.392711,0.886123,0.246097],[0.015935,-0.274112,0.961566]]
2025-10-27T18:32:39.096Z,1761589959.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:39.348Z,1761589959.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:39.431Z,1761589959.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919771,-0.377054,-0.108865],[0.392369,0.889299,0.234935],[0.008230,-0.258801,0.965896]]
2025-10-27T18:32:39.603Z,1761589959.603 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:39.833Z,1761589959.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920578,-0.378383,-0.096760],[0.390558,0.892342,0.226252],[0.000733,-0.246073,0.969251]]
2025-10-27T18:32:39.852Z,1761589959.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:40.104Z,1761589960.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:40.241Z,1761589960.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921696,-0.378406,-0.085357],[0.387852,0.895053,0.220113],[-0.006893,-0.235983,0.971733]]
2025-10-27T18:32:40.356Z,1761589960.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:40.608Z,1761589960.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:40.642Z,1761589960.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923415,-0.376582,-0.074091],[0.383530,0.898140,0.215055],[-0.014442,-0.227001,0.973787]]
2025-10-27T18:32:40.860Z,1761589960.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:41.047Z,1761589961.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925458,-0.373523,-0.063307],[0.378198,0.901080,0.212183],[-0.022210,-0.220309,0.975177]]
2025-10-27T18:32:41.112Z,1761589961.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:41.364Z,1761589961.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:41.450Z,1761589961.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927862,-0.369156,-0.052879],[0.371713,0.904085,0.210856],[-0.030032,-0.215301,0.976086]]
2025-10-27T18:32:41.616Z,1761589961.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:41.857Z,1761589961.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930490,-0.363943,-0.041633],[0.364312,0.907528,0.208971],[-0.038270,-0.209613,0.977035]]
2025-10-27T18:32:41.868Z,1761589961.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:42.120Z,1761589962.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:42.263Z,1761589962.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933375,-0.357550,-0.031137],[0.355841,0.910614,0.210141],[-0.046782,-0.207220,0.977175]]
2025-10-27T18:32:42.372Z,1761589962.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:42.624Z,1761589962.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:42.665Z,1761589962.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936167,-0.350907,-0.021365],[0.347126,0.913042,0.214144],[-0.055638,-0.207891,0.976568]]
2025-10-27T18:32:42.879Z,1761589962.879 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:43.066Z,1761589963.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938781,-0.344332,-0.011187],[0.338393,0.915525,0.217495],[-0.064649,-0.207966,0.975997]]
2025-10-27T18:32:43.128Z,1761589963.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:43.380Z,1761589963.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:43.470Z,1761589963.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940856,-0.338798,-0.002421],[0.330747,0.916903,0.223374],[-0.073459,-0.210964,0.974730]]
2025-10-27T18:32:43.632Z,1761589963.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:43.874Z,1761589963.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942075,-0.335356,0.005556],[0.325291,0.917588,0.228512],[-0.081731,-0.213469,0.973525]]
2025-10-27T18:32:43.884Z,1761589963.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:44.136Z,1761589964.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:44.291Z,1761589964.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942052,-0.335256,0.011902],[0.323454,0.917155,0.232817],[-0.088970,-0.215476,0.972448]]
2025-10-27T18:32:44.388Z,1761589964.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:44.640Z,1761589964.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:44.685Z,1761589964.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941352,-0.337022,0.016531],[0.323842,0.916130,0.236288],[-0.094779,-0.217077,0.971542]]
2025-10-27T18:32:44.893Z,1761589964.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:45.144Z,1761589965.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:45.396Z,1761589965.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:45.489Z,1761589965.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939224,-0.342641,0.021340],[0.327389,0.912655,0.244698],[-0.103319,-0.222840,0.969364]]
2025-10-27T18:32:45.648Z,1761589965.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:45.896Z,1761589965.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938102,-0.345584,0.023178],[0.329566,0.911199,0.247189],[-0.106545,-0.224250,0.968690]]
2025-10-27T18:32:45.900Z,1761589965.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:46.152Z,1761589966.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:46.300Z,1761589966.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937078,-0.348239,0.024793],[0.331546,0.909906,0.249297],[-0.109374,-0.225390,0.968110]]
2025-10-27T18:32:46.409Z,1761589966.409 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:46.660Z,1761589966.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:46.701Z,1761589966.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936262,-0.350351,0.025855],[0.333032,0.908585,0.252118],[-0.111821,-0.227438,0.967351]]
2025-10-27T18:32:46.912Z,1761589966.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:47.140Z,1761589967.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935429,-0.352488,0.026920],[0.334548,0.907280,0.254795],[-0.114236,-0.229337,0.966620]]
2025-10-27T18:32:47.164Z,1761589967.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:47.416Z,1761589967.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:47.541Z,1761589967.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934992,-0.353562,0.027980],[0.334959,0.906216,0.258020],[-0.116582,-0.231874,0.965734]]
2025-10-27T18:32:47.592Z,1761589967.592 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:32:47.592Z,1761589967.592 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateRudder:A] Stopped
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:32:47.593Z,1761589967.593 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateCommandMode] Stopped
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:32:47.594Z,1761589967.594 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:32:47.595Z,1761589967.595 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:32:47.595Z,1761589967.595 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:32:47.595Z,1761589967.595 [marl:UpdateSpeed] Stopped
2025-10-27T18:32:47.595Z,1761589967.595 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:32:47.668Z,1761589967.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:47.920Z,1761589967.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:47.948Z,1761589967.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934622,-0.354423,0.029413],[0.335209,0.905537,0.260072],[-0.118810,-0.233210,0.965141]]
2025-10-27T18:32:48.010Z,1761589968.010 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:32:48.010Z,1761589968.010 [marl:UpdateRudder:B] Stopped
2025-10-27T18:32:48.010Z,1761589968.010 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:32:48.010Z,1761589968.010 [marl:UpdateRudder] Stopped
2025-10-27T18:32:48.010Z,1761589968.010 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:32:48.173Z,1761589968.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:48.350Z,1761589968.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934245,-0.355361,0.030063],[0.335773,0.904880,0.261629],[-0.120176,-0.234331,0.964700]]
2025-10-27T18:32:48.424Z,1761589968.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:48.676Z,1761589968.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:48.777Z,1761589968.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933815,-0.356454,0.030484],[0.336582,0.904234,0.262819],[-0.121248,-0.235164,0.964364]]
2025-10-27T18:32:48.928Z,1761589968.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:49.158Z,1761589969.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933561,-0.357182,0.029745],[0.337065,0.903132,0.265969],[-0.121863,-0.238272,0.963523]]
2025-10-27T18:32:49.180Z,1761589969.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:49.432Z,1761589969.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:49.563Z,1761589969.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933701,-0.356862,0.029171],[0.336805,0.903022,0.266670],[-0.121507,-0.239165,0.963346]]
2025-10-27T18:32:49.687Z,1761589969.687 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:49.936Z,1761589969.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:49.966Z,1761589969.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934186,-0.355657,0.028369],[0.335571,0.902864,0.268754],[-0.121198,-0.241546,0.962791]]
2025-10-27T18:32:50.189Z,1761589970.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:50.370Z,1761589970.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935139,-0.353164,0.028102],[0.332977,0.903229,0.270748],[-0.121002,-0.243830,0.962240]]
2025-10-27T18:32:50.440Z,1761589970.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:50.692Z,1761589970.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:50.809Z,1761589970.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936294,-0.350076,0.028308],[0.329831,0.904114,0.271642],[-0.120688,-0.244999,0.961982]]
2025-10-27T18:32:50.943Z,1761589970.943 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:51.197Z,1761589971.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:51.448Z,1761589971.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:51.700Z,1761589971.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:51.952Z,1761589971.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:52.058Z,1761589972.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941462,-0.335939,0.028170],[0.316378,0.909307,0.270306],[-0.116422,-0.245571,0.962362]]
2025-10-27T18:32:52.205Z,1761589972.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:52.456Z,1761589972.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:52.463Z,1761589972.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943552,-0.330007,0.028365],[0.310676,0.911460,0.269669],[-0.114846,-0.245634,0.962535]]
2025-10-27T18:32:52.708Z,1761589972.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:52.866Z,1761589972.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945587,-0.324045,0.029320],[0.304943,0.914047,0.267448],[-0.113465,-0.243954,0.963126]]
2025-10-27T18:32:52.960Z,1761589972.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:53.212Z,1761589973.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:53.278Z,1761589973.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947549,-0.318186,0.030140],[0.299172,0.916183,0.266656],[-0.112460,-0.243652,0.963320]]
2025-10-27T18:32:53.464Z,1761589973.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:53.674Z,1761589973.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949188,-0.313171,0.031092],[0.294059,0.917761,0.266917],[-0.112126,-0.244212,0.963218]]
2025-10-27T18:32:53.716Z,1761589973.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:53.968Z,1761589973.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:54.078Z,1761589974.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950260,-0.309773,0.032335],[0.290590,0.919166,0.265879],[-0.112084,-0.243258,0.963464]]
2025-10-27T18:32:54.220Z,1761589974.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:54.473Z,1761589974.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:54.484Z,1761589974.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950410,-0.309276,0.032708],[0.290081,0.919485,0.265329],[-0.112134,-0.242683,0.963603]]
2025-10-27T18:32:54.724Z,1761589974.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:54.886Z,1761589974.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950027,-0.310558,0.031653],[0.291553,0.918955,0.265553],[-0.111557,-0.243054,0.963577]]
2025-10-27T18:32:54.977Z,1761589974.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:55.228Z,1761589975.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:55.480Z,1761589975.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:55.699Z,1761589975.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947245,-0.319581,0.024398],[0.301954,0.915340,0.266415],[-0.107474,-0.244993,0.963550]]
2025-10-27T18:32:55.733Z,1761589975.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:55.984Z,1761589975.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:56.104Z,1761589976.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946329,-0.322496,0.021403],[0.305591,0.914353,0.265653],[-0.105242,-0.244855,0.963831]]
2025-10-27T18:32:56.237Z,1761589976.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:56.492Z,1761589976.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:56.515Z,1761589976.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945691,-0.324567,0.018023],[0.308402,0.913354,0.265842],[-0.102745,-0.245846,0.963848]]
2025-10-27T18:32:56.741Z,1761589976.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:56.910Z,1761589976.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945130,-0.326349,0.015047],[0.311097,0.913110,0.263530],[-0.099742,-0.244389,0.964534]]
2025-10-27T18:32:56.992Z,1761589976.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:57.244Z,1761589977.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:57.314Z,1761589977.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944792,-0.327459,0.011758],[0.313289,0.913260,0.260397],[-0.096008,-0.242337,0.965430]]
2025-10-27T18:32:57.499Z,1761589977.499 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:57.719Z,1761589977.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944644,-0.328000,0.008012],[0.315189,0.913988,0.255503],[-0.091128,-0.238834,0.966775]]
2025-10-27T18:32:57.749Z,1761589977.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:58.001Z,1761589978.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:58.121Z,1761589978.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944713,-0.327877,0.003772],[0.316590,0.915066,0.249850],[-0.085372,-0.234842,0.968277]]
2025-10-27T18:32:58.253Z,1761589978.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:58.504Z,1761589978.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:58.525Z,1761589978.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945148,-0.326642,-0.000670],[0.316804,0.916176,0.245474],[-0.079569,-0.232221,0.969403]]
2025-10-27T18:32:58.758Z,1761589978.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:58.930Z,1761589978.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945788,-0.324748,-0.004889],[0.316233,0.917348,0.241805],[-0.074040,-0.230243,0.970312]]
2025-10-27T18:32:59.008Z,1761589979.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:59.260Z,1761589979.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:59.334Z,1761589979.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946709,-0.321957,-0.009291],[0.314716,0.918513,0.239348],[-0.068526,-0.229517,0.970889]]
2025-10-27T18:32:59.487Z,1761589979.487 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:32:59.487Z,1761589979.487 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:32:59.512Z,1761589979.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:59.764Z,1761589979.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:32:59.769Z,1761589979.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947848,-0.318461,-0.012908],[0.312301,0.919901,0.237171],[-0.063655,-0.228833,0.971382]]
2025-10-27T18:33:00.016Z,1761589980.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:00.141Z,1761589980.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949271,-0.314055,-0.015947],[0.308814,0.921464,0.235667],[-0.059318,-0.228636,0.971703]]
2025-10-27T18:33:00.268Z,1761589980.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:00.520Z,1761589980.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:00.545Z,1761589980.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950778,-0.309296,-0.018911],[0.304802,0.922478,0.236918],[-0.055833,-0.231020,0.971346]]
2025-10-27T18:33:00.589Z,1761589980.589 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:33:00.589Z,1761589980.589 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:33:00.589Z,1761589980.589 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:33:00.589Z,1761589980.589 [marl:UpdateRudder:A] Stopped
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode] Stopped
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:33:00.590Z,1761589980.590 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:33:00.591Z,1761589980.591 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:33:00.595Z,1761589980.595 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:33:00.595Z,1761589980.595 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:33:00.595Z,1761589980.595 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:33:00.595Z,1761589980.595 [marl:UpdateSpeed] Stopped
2025-10-27T18:33:00.596Z,1761589980.596 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:33:00.597Z,1761589980.597 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:33:00.772Z,1761589980.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:00.953Z,1761589980.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952403,-0.304112,-0.021088],[0.300230,0.923757,0.237771],[-0.052829,-0.232785,0.971092]]
2025-10-27T18:33:01.014Z,1761589981.014 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:33:01.014Z,1761589981.014 [marl:UpdateRudder:B] Stopped
2025-10-27T18:33:01.014Z,1761589981.014 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:33:01.014Z,1761589981.014 [marl:UpdateRudder] Stopped
2025-10-27T18:33:01.014Z,1761589981.014 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:33:01.027Z,1761589981.027 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:01.276Z,1761589981.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:01.356Z,1761589981.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954057,-0.298745,-0.022951],[0.295329,0.924689,0.240274],[-0.050558,-0.236013,0.970434]]
2025-10-27T18:33:01.528Z,1761589981.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:01.780Z,1761589981.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:02.032Z,1761589982.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:02.161Z,1761589982.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956331,-0.291209,-0.025070],[0.288313,0.925760,0.244630],[-0.048030,-0.241175,0.969292]]
2025-10-27T18:33:02.285Z,1761589982.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:02.536Z,1761589982.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:02.566Z,1761589982.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956643,-0.290056,-0.026503],[0.287498,0.925767,0.245564],[-0.046692,-0.242536,0.969018]]
2025-10-27T18:33:02.790Z,1761589982.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:02.977Z,1761589982.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956268,-0.290989,-0.029609],[0.289088,0.924887,0.247008],[-0.044492,-0.244765,0.968561]]
2025-10-27T18:33:03.040Z,1761589983.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:03.292Z,1761589983.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:03.374Z,1761589983.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955280,-0.293790,-0.033570],[0.292733,0.923526,0.247804],[-0.041800,-0.246549,0.968228]]
2025-10-27T18:33:03.544Z,1761589983.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:03.778Z,1761589983.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953922,-0.297604,-0.038275],[0.297594,0.922068,0.247442],[-0.038348,-0.247431,0.968146]]
2025-10-27T18:33:03.796Z,1761589983.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:04.048Z,1761589984.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:04.182Z,1761589984.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952305,-0.302044,-0.043403],[0.303178,0.920414,0.246821],[-0.034602,-0.248208,0.968089]]
2025-10-27T18:33:04.301Z,1761589984.301 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:04.552Z,1761589984.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:04.589Z,1761589984.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950716,-0.306137,-0.049189],[0.308580,0.918687,0.246560],[-0.030292,-0.249588,0.967878]]
2025-10-27T18:33:04.806Z,1761589984.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:04.987Z,1761589984.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:33:04.992Z,1761589984.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949162,-0.310002,-0.054686],[0.313750,0.917548,0.244268],[-0.025547,-0.249007,0.968165]]
2025-10-27T18:33:05.056Z,1761589985.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:05.308Z,1761589985.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:05.394Z,1761589985.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947839,-0.312949,-0.060538],[0.318114,0.916725,0.241702],[-0.020144,-0.248352,0.968460]]
2025-10-27T18:33:05.560Z,1761589985.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:05.798Z,1761589985.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946899,-0.314714,-0.065860],[0.321200,0.916574,0.238165],[-0.014588,-0.246673,0.968989]]
2025-10-27T18:33:05.812Z,1761589985.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:05.991Z,1761589985.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:33:06.064Z,1761589986.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:06.203Z,1761589986.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946368,-0.315284,-0.070592],[0.322963,0.917014,0.234049],[-0.009059,-0.244295,0.969659]]
2025-10-27T18:33:06.316Z,1761589986.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:06.568Z,1761589986.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:06.605Z,1761589986.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946316,-0.314502,-0.074659],[0.323223,0.918194,0.229013],[-0.003474,-0.240850,0.970556]]
2025-10-27T18:33:06.822Z,1761589986.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:07.010Z,1761589987.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946642,-0.312717,-0.077958],[0.322283,0.919837,0.223683],[0.001759,-0.236872,0.971539]]
2025-10-27T18:33:07.072Z,1761589987.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:07.324Z,1761589987.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:07.414Z,1761589987.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947322,-0.309950,-0.080695],[0.320219,0.921615,0.219283],[0.006403,-0.233572,0.972319]]
2025-10-27T18:33:07.576Z,1761589987.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:07.819Z,1761589987.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948198,-0.306792,-0.082461],[0.317513,0.923651,0.214604],[0.010326,-0.229669,0.973214]]
2025-10-27T18:33:07.828Z,1761589987.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:08.080Z,1761589988.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:08.238Z,1761589988.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949157,-0.303145,-0.084880],[0.314498,0.925003,0.213215],[0.013879,-0.229069,0.973311]]
2025-10-27T18:33:08.332Z,1761589988.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:08.584Z,1761589988.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:08.626Z,1761589988.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950332,-0.298879,-0.086834],[0.310787,0.926282,0.213103],[0.016740,-0.229506,0.973163]]
2025-10-27T18:33:08.838Z,1761589988.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:09.030Z,1761589989.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951659,-0.294068,-0.088714],[0.306583,0.927058,0.215803],[0.018782,-0.232569,0.972399]]
2025-10-27T18:33:09.088Z,1761589989.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:09.340Z,1761589989.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:09.435Z,1761589989.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953180,-0.288806,-0.089662],[0.301721,0.928183,0.217808],[0.020319,-0.234663,0.971864]]
2025-10-27T18:33:09.592Z,1761589989.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:09.838Z,1761589989.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954691,-0.283498,-0.090524],[0.296819,0.929082,0.220693],[0.021538,-0.237563,0.971133]]
2025-10-27T18:33:09.845Z,1761589989.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:10.096Z,1761589990.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:10.244Z,1761589990.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955890,-0.279278,-0.090986],[0.292855,0.930012,0.222067],[0.022600,-0.238917,0.970777]]
2025-10-27T18:33:10.350Z,1761589990.350 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:10.600Z,1761589990.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:10.646Z,1761589990.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956620,-0.276686,-0.091228],[0.290432,0.930364,0.223767],[0.022962,-0.240555,0.970364]]
2025-10-27T18:33:10.852Z,1761589990.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:11.104Z,1761589991.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:11.356Z,1761589991.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:11.455Z,1761589991.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956632,-0.276260,-0.092388],[0.290273,0.930650,0.222784],[0.024435,-0.239940,0.970480]]
2025-10-27T18:33:11.608Z,1761589991.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:11.858Z,1761589991.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955988,-0.278142,-0.093405],[0.292303,0.930429,0.221046],[0.025424,-0.238620,0.970780]]
2025-10-27T18:33:11.860Z,1761589991.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:12.112Z,1761589992.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:12.261Z,1761589992.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954973,-0.280957,-0.095335],[0.295489,0.929565,0.220442],[0.026685,-0.238686,0.970730]]
2025-10-27T18:33:12.364Z,1761589992.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:12.616Z,1761589992.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:12.665Z,1761589992.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953845,-0.284044,-0.097465],[0.298995,0.928516,0.220135],[0.027970,-0.239116,0.970588]]
2025-10-27T18:33:12.868Z,1761589992.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:13.075Z,1761589993.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952736,-0.286877,-0.099977],[0.302357,0.927425,0.220145],[0.029566,-0.239969,0.970330]]
2025-10-27T18:33:13.120Z,1761589993.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:13.372Z,1761589993.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:13.473Z,1761589993.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951793,-0.288993,-0.102822],[0.305118,0.926405,0.220626],[0.031495,-0.241364,0.969924]]
2025-10-27T18:33:13.624Z,1761589993.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:13.876Z,1761589993.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:13.947Z,1761589993.947 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:33:13.967Z,1761589993.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:33:13.967Z,1761589993.967 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateRudder:A] Stopped
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:33:13.968Z,1761589993.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateCommandMode] Stopped
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:33:13.969Z,1761589993.969 [marl:UpdateSpeed] Stopped
2025-10-27T18:33:13.970Z,1761589993.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:33:14.128Z,1761589994.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:14.341Z,1761589994.341 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:33:14.341Z,1761589994.341 [marl:UpdateRudder:B] Stopped
2025-10-27T18:33:14.341Z,1761589994.341 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:33:14.341Z,1761589994.341 [marl:UpdateRudder] Stopped
2025-10-27T18:33:14.341Z,1761589994.341 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:33:14.380Z,1761589994.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:14.632Z,1761589994.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:14.884Z,1761589994.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:15.090Z,1761589995.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950906,-0.289003,-0.110699],[0.307123,0.925283,0.222548],[0.038111,-0.245620,0.968617]]
2025-10-27T18:33:15.136Z,1761589995.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:15.388Z,1761589995.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:15.498Z,1761589995.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950780,-0.289023,-0.111725],[0.307328,0.925617,0.220870],[0.039578,-0.244335,0.968883]]
2025-10-27T18:33:15.640Z,1761589995.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:15.892Z,1761589995.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:15.900Z,1761589995.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950582,-0.289142,-0.113096],[0.307739,0.925711,0.219901],[0.041112,-0.243838,0.968944]]
2025-10-27T18:33:16.144Z,1761589996.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:16.309Z,1761589996.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950438,-0.289050,-0.114530],[0.307959,0.925866,0.218934],[0.042756,-0.243354,0.968995]]
2025-10-27T18:33:16.396Z,1761589996.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:16.648Z,1761589996.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:16.721Z,1761589996.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950362,-0.288694,-0.116053],[0.307968,0.925954,0.218552],[0.044365,-0.243443,0.968900]]
2025-10-27T18:33:16.900Z,1761589996.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:17.109Z,1761589997.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950851,-0.285786,-0.119203],[0.306098,0.925645,0.222451],[0.046766,-0.248006,0.967629]]
2025-10-27T18:33:17.152Z,1761589997.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:17.404Z,1761589997.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:17.617Z,1761589997.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952961,-0.276745,-0.123606],[0.298970,0.925320,0.233237],[0.049828,-0.259220,0.964532]]
2025-10-27T18:33:17.656Z,1761589997.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:17.909Z,1761589997.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:18.009Z,1761589998.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956702,-0.261218,-0.128400],[0.286180,0.924678,0.251140],[0.053126,-0.277012,0.959397]]
2025-10-27T18:33:18.160Z,1761589998.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:18.412Z,1761589998.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:18.416Z,1761589998.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961344,-0.241325,-0.132588],[0.269533,0.923208,0.273935],[0.056299,-0.299082,0.952565]]
2025-10-27T18:33:18.664Z,1761589998.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:18.865Z,1761589998.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966259,-0.219415,-0.134908],[0.250616,0.921788,0.295800],[0.059454,-0.319630,0.945675]]
2025-10-27T18:33:18.918Z,1761589998.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:19.168Z,1761589999.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:19.420Z,1761589999.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:19.676Z,1761589999.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:19.703Z,1761589999.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974908,-0.176945,-0.135077],[0.212985,0.917907,0.334790],[0.064749,-0.355158,0.932561]]
2025-10-27T18:33:19.928Z,1761589999.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:20.094Z,1761590000.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978255,-0.158361,-0.133933],[0.196234,0.915770,0.350510],[0.067145,-0.369170,0.926933]]
2025-10-27T18:33:20.181Z,1761590000.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:20.432Z,1761590000.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:20.494Z,1761590000.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981104,-0.141505,-0.131952],[0.180734,0.913714,0.363953],[0.069065,-0.380924,0.922023]]
2025-10-27T18:33:20.685Z,1761590000.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:20.900Z,1761590000.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983476,-0.126658,-0.129352],[0.166658,0.912477,0.373645],[0.070706,-0.389028,0.918508]]
2025-10-27T18:33:20.936Z,1761590000.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:21.189Z,1761590001.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:21.394Z,1761590001.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987493,-0.097906,-0.123583],[0.139043,0.910320,0.389851],[0.074331,-0.402158,0.912548]]
2025-10-27T18:33:21.440Z,1761590001.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:21.693Z,1761590001.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:21.794Z,1761590001.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989295,-0.083628,-0.119590],[0.124649,0.910400,0.394506],[0.075883,-0.405190,0.911078]]
2025-10-27T18:33:21.947Z,1761590001.947 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:22.197Z,1761590002.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:22.272Z,1761590002.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991109,-0.068150,-0.114273],[0.108454,0.911324,0.397147],[0.077074,-0.406009,0.910613]]
2025-10-27T18:33:22.448Z,1761590002.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:22.701Z,1761590002.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:22.702Z,1761590002.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992806,-0.051776,-0.107961],[0.090877,0.912925,0.397882],[0.077959,-0.404831,0.911062]]
2025-10-27T18:33:22.953Z,1761590002.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:23.084Z,1761590003.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994217,-0.034977,-0.101532],[0.072488,0.916157,0.394211],[0.079231,-0.399291,0.913394]]
2025-10-27T18:33:23.094Z,1761590003.094 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  55.35, 736.37, 671.94
2025-10-27T18:33:23.205Z,1761590003.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:23.456Z,1761590003.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:23.486Z,1761590003.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995288,-0.017643,-0.095347],[0.053599,0.919529,0.389349],[0.080805,-0.392625,0.916142]]
2025-10-27T18:33:23.708Z,1761590003.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:23.890Z,1761590003.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996010,0.000925,-0.089238],[0.033663,0.922186,0.385278],[0.082650,-0.386744,0.918476]]
2025-10-27T18:33:23.960Z,1761590003.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:24.212Z,1761590004.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:24.294Z,1761590004.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996330,0.020850,-0.083023],[0.012520,0.923959,0.382286],[0.084680,-0.381922,0.920307]]
2025-10-27T18:33:24.464Z,1761590004.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:24.708Z,1761590004.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996210,0.041682,-0.076342],[-0.009519,0.924671,0.380648],[0.086458,-0.378479,0.921563]]
2025-10-27T18:33:24.716Z,1761590004.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:24.968Z,1761590004.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:25.220Z,1761590005.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:25.228Z,1761590005.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995668,0.062377,-0.068957],[-0.031451,0.923814,0.381547],[0.087503,-0.377725,0.921774]]
2025-10-27T18:33:25.472Z,1761590005.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:25.659Z,1761590005.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994771,0.081498,-0.061546],[-0.051897,0.922433,0.382653],[0.087958,-0.377459,0.921840]]
2025-10-27T18:33:25.725Z,1761590005.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:25.976Z,1761590005.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:26.208Z,1761590006.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992562,0.112934,-0.045458],[-0.086833,0.918474,0.385832],[0.085326,-0.379015,0.921448]]
2025-10-27T18:33:26.228Z,1761590006.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:26.480Z,1761590006.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:26.598Z,1761590006.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991319,0.126110,-0.037190],[-0.101935,0.915829,0.388415],[0.083043,-0.381252,0.920734]]
2025-10-27T18:33:26.732Z,1761590006.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:26.984Z,1761590006.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:27.004Z,1761590007.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989943,0.138532,-0.028666],[-0.116426,0.912919,0.391182],[0.080361,-0.383910,0.919867]]
2025-10-27T18:33:27.236Z,1761590007.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:27.410Z,1761590007.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988517,0.149681,-0.020724],[-0.129721,0.910921,0.391657],[0.077502,-0.384471,0.919878]]
2025-10-27T18:33:27.488Z,1761590007.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:27.741Z,1761590007.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:27.810Z,1761590007.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986925,0.160661,-0.012905],[-0.142876,0.909104,0.391301],[0.074599,-0.384341,0.920172]]
2025-10-27T18:33:27.850Z,1761590007.850 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:33:27.850Z,1761590007.850 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:33:27.859Z,1761590007.859 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:33:27.859Z,1761590007.859 [marl:UpdateRudder:A] Stopped
2025-10-27T18:33:27.859Z,1761590007.859 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:33:27.859Z,1761590007.859 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode] Stopped
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:33:27.860Z,1761590007.860 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:33:27.861Z,1761590007.861 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:33:27.861Z,1761590007.861 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:33:27.861Z,1761590007.861 [marl:UpdateSpeed] Stopped
2025-10-27T18:33:27.861Z,1761590007.861 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:33:27.992Z,1761590007.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:28.215Z,1761590008.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985009,0.172399,-0.006012],[-0.156581,0.908172,0.388209],[0.072387,-0.381448,0.921552]]
2025-10-27T18:33:28.239Z,1761590008.239 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:33:28.239Z,1761590008.239 [marl:UpdateRudder:B] Stopped
2025-10-27T18:33:28.239Z,1761590008.239 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:33:28.239Z,1761590008.239 [marl:UpdateRudder] Stopped
2025-10-27T18:33:28.239Z,1761590008.239 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:33:28.252Z,1761590008.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:28.504Z,1761590008.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:28.621Z,1761590008.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983060,0.183285,0.000480],[-0.169257,0.906807,0.386075],[0.070327,-0.379616,0.922467]]
2025-10-27T18:33:28.757Z,1761590008.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:29.008Z,1761590009.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:29.026Z,1761590009.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981079,0.193501,0.006421],[-0.181097,0.905452,0.383875],[0.068466,-0.377774,0.923363]]
2025-10-27T18:33:29.260Z,1761590009.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:29.512Z,1761590009.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:29.765Z,1761590009.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:29.830Z,1761590009.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976644,0.214137,0.017639],[-0.204581,0.901677,0.380952],[0.065671,-0.375663,0.924427]]
2025-10-27T18:33:30.019Z,1761590010.019 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:30.272Z,1761590010.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:30.321Z,1761590010.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974087,0.224917,0.023822],[-0.216790,0.898448,0.381828],[0.064477,-0.377098,0.923926]]
2025-10-27T18:33:30.520Z,1761590010.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:30.723Z,1761590010.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971219,0.236202,0.030677],[-0.229690,0.894682,0.383128],[0.063049,-0.379147,0.923186]]
2025-10-27T18:33:30.773Z,1761590010.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:31.025Z,1761590011.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:31.278Z,1761590011.278 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:31.532Z,1761590011.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:31.784Z,1761590011.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:31.820Z,1761590011.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958989,0.277134,0.059470],[-0.278100,0.879420,0.386370],[0.054777,-0.387063,0.920425]]
2025-10-27T18:33:32.036Z,1761590012.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:32.228Z,1761590012.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953316,0.293374,0.071556],[-0.297695,0.873293,0.385663],[0.050654,-0.388961,0.919861]]
2025-10-27T18:33:32.289Z,1761590012.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:32.540Z,1761590012.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:32.625Z,1761590012.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947113,0.309814,0.083619],[-0.317647,0.868112,0.381420],[0.045579,-0.387810,0.920612]]
2025-10-27T18:33:32.794Z,1761590012.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:33.029Z,1761590013.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940507,0.326008,0.095740],[-0.337463,0.863438,0.374957],[0.039573,-0.384958,0.922085]]
2025-10-27T18:33:33.044Z,1761590013.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:33.296Z,1761590013.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:33.433Z,1761590013.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933569,0.342092,0.106877],[-0.356880,0.859898,0.364983],[0.032954,-0.378879,0.924860]]
2025-10-27T18:33:33.548Z,1761590013.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:33.800Z,1761590013.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:33.842Z,1761590013.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926478,0.357685,0.117049],[-0.375471,0.857243,0.352358],[0.025694,-0.370400,0.928517]]
2025-10-27T18:33:34.052Z,1761590014.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:34.242Z,1761590014.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919312,0.372839,0.125919],[-0.393107,0.855230,0.337710],[0.018222,-0.359961,0.932789]]
2025-10-27T18:33:34.313Z,1761590014.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:34.564Z,1761590014.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:34.645Z,1761590014.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912142,0.387485,0.133615],[-0.409732,0.853388,0.322255],[0.010843,-0.348688,0.937176]]
2025-10-27T18:33:34.817Z,1761590014.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:35.049Z,1761590015.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904912,0.401938,0.139930],[-0.425578,0.851286,0.306914],[0.004240,-0.337281,0.941395]]
2025-10-27T18:33:35.068Z,1761590015.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:35.320Z,1761590015.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:35.456Z,1761590015.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897635,0.416035,0.145487],[-0.440739,0.848190,0.293809],[-0.001166,-0.327855,0.944727]]
2025-10-27T18:33:35.572Z,1761590015.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:35.824Z,1761590015.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:35.857Z,1761590015.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890215,0.429848,0.150824],[-0.455515,0.843426,0.284848],[-0.004767,-0.322279,0.946633]]
2025-10-27T18:33:36.076Z,1761590016.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:36.120Z,1761590016.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:33:36.261Z,1761590016.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882151,0.444582,0.155422],[-0.470923,0.837120,0.278320],[-0.006371,-0.318712,0.947830]]
2025-10-27T18:33:36.328Z,1761590016.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:36.580Z,1761590016.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:36.676Z,1761590016.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874075,0.458882,0.159437],[-0.485754,0.829665,0.275134],[-0.006026,-0.317935,0.948093]]
2025-10-27T18:33:36.834Z,1761590016.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:37.071Z,1761590017.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865712,0.473021,0.163691],[-0.500526,0.820807,0.275226],[-0.004171,-0.320198,0.947341]]
2025-10-27T18:33:37.084Z,1761590017.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:37.123Z,1761590017.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:33:37.339Z,1761590017.339 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:37.474Z,1761590017.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857411,0.485905,0.169539],[-0.514630,0.810467,0.279819],[-0.001440,-0.327169,0.944965]]
2025-10-27T18:33:37.589Z,1761590017.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:37.840Z,1761590017.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:37.878Z,1761590017.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849836,0.496334,0.177290],[-0.527046,0.799644,0.287735],[0.001043,-0.337968,0.941157]]
2025-10-27T18:33:38.092Z,1761590018.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:38.346Z,1761590018.346 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:38.596Z,1761590018.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:38.686Z,1761590018.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835535,0.512480,0.198106],[-0.549430,0.777327,0.306414],[0.003039,-0.364865,0.931056]]
2025-10-27T18:33:38.848Z,1761590018.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:39.088Z,1761590019.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828304,0.519012,0.211045],[-0.560275,0.765800,0.315662],[0.002214,-0.379707,0.925104]]
2025-10-27T18:33:39.100Z,1761590019.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:39.352Z,1761590019.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:39.504Z,1761590019.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821123,0.524596,0.224846],[-0.570751,0.754998,0.322835],[-0.000401,-0.393418,0.919360]]
2025-10-27T18:33:39.605Z,1761590019.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:39.856Z,1761590019.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:39.906Z,1761590019.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813525,0.530820,0.237502],[-0.581513,0.745710,0.325206],[-0.004482,-0.402674,0.915332]]
2025-10-27T18:33:40.108Z,1761590020.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:40.310Z,1761590020.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804501,0.538872,0.249791],[-0.593871,0.736712,0.323377],[-0.009765,-0.408501,0.912706]]
2025-10-27T18:33:40.360Z,1761590020.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:40.612Z,1761590020.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:40.717Z,1761590020.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793099,0.550498,0.260664],[-0.608907,0.727160,0.316973],[-0.015051,-0.410111,0.911911]]
2025-10-27T18:33:40.864Z,1761590020.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:41.116Z,1761590021.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:41.249Z,1761590021.249 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:33:41.249Z,1761590021.249 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:33:41.249Z,1761590021.249 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:33:41.249Z,1761590021.249 [marl:UpdateRudder:A] Stopped
2025-10-27T18:33:41.249Z,1761590021.249 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode] Stopped
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:33:41.250Z,1761590021.250 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed] Stopped
2025-10-27T18:33:41.251Z,1761590021.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:33:41.368Z,1761590021.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:41.572Z,1761590021.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767272,0.579575,0.274565],[-0.640778,0.710444,0.290987],[-0.026414,-0.399202,0.916482]]
2025-10-27T18:33:41.620Z,1761590021.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:41.628Z,1761590021.628 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:33:41.628Z,1761590021.628 [marl:UpdateRudder:B] Stopped
2025-10-27T18:33:41.628Z,1761590021.628 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:33:41.628Z,1761590021.628 [marl:UpdateRudder] Stopped
2025-10-27T18:33:41.628Z,1761590021.628 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:33:41.872Z,1761590021.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:41.973Z,1761590021.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754269,0.595037,0.277505],[-0.655746,0.703842,0.273138],[-0.032793,-0.387992,0.921079]]
2025-10-27T18:33:42.124Z,1761590022.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:42.376Z,1761590022.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:42.381Z,1761590022.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741537,0.610429,0.278388],[-0.669756,0.697870,0.253779],[-0.039365,-0.374638,0.926335]]
2025-10-27T18:33:42.628Z,1761590022.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:42.843Z,1761590022.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729394,0.625126,0.277852],[-0.682574,0.692103,0.234706],[-0.045581,-0.360848,0.931510]]
2025-10-27T18:33:42.880Z,1761590022.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:43.133Z,1761590023.133 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:43.226Z,1761590023.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716913,0.640007,0.276454],[-0.695306,0.685309,0.216568],[-0.050852,-0.347480,0.936307]]
2025-10-27T18:33:43.384Z,1761590023.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:43.625Z,1761590023.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703968,0.654447,0.275913],[-0.708123,0.676665,0.201711],[-0.054692,-0.337378,0.939779]]
2025-10-27T18:33:43.637Z,1761590023.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:43.888Z,1761590023.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:44.030Z,1761590024.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690187,0.668674,0.276619],[-0.721399,0.665805,0.190492],[-0.056797,-0.331027,0.941910]]
2025-10-27T18:33:44.144Z,1761590024.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:44.392Z,1761590024.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:44.434Z,1761590024.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675469,0.682869,0.278267],[-0.735179,0.652845,0.182497],[-0.057044,-0.327847,0.943007]]
2025-10-27T18:33:44.644Z,1761590024.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:44.859Z,1761590024.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659676,0.696625,0.282031],[-0.749490,0.637555,0.178291],[-0.055608,-0.328993,0.942694]]
2025-10-27T18:33:44.896Z,1761590024.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:45.150Z,1761590025.150 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:45.256Z,1761590025.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642663,0.710103,0.287641],[-0.764325,0.620124,0.176790],[-0.052834,-0.333467,0.941280]]
2025-10-27T18:33:45.400Z,1761590025.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:45.652Z,1761590025.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:45.668Z,1761590025.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625048,0.723210,0.293738],[-0.779015,0.601804,0.175975],[-0.049505,-0.338819,0.939548]]
2025-10-27T18:33:45.905Z,1761590025.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:46.061Z,1761590026.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608269,0.734256,0.301457],[-0.792329,0.584257,0.175662],[-0.047148,-0.345704,0.937159]]
2025-10-27T18:33:46.157Z,1761590026.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:46.408Z,1761590026.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:46.466Z,1761590026.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593832,0.742275,0.310469],[-0.803255,0.569143,0.175662],[-0.046311,-0.353699,0.934212]]
2025-10-27T18:33:46.660Z,1761590026.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:46.871Z,1761590026.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581399,0.748624,0.318650],[-0.812271,0.556600,0.174390],[-0.046807,-0.360220,0.931692]]
2025-10-27T18:33:46.912Z,1761590026.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:47.164Z,1761590027.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:47.273Z,1761590027.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570221,0.754388,0.325189],[-0.820078,0.545954,0.171483],[-0.048174,-0.364463,0.929971]]
2025-10-27T18:33:47.416Z,1761590027.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:47.668Z,1761590027.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:47.679Z,1761590027.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559183,0.760124,0.330946],[-0.827558,0.535670,0.167944],[-0.049620,-0.367788,0.928585]]
2025-10-27T18:33:47.924Z,1761590027.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:48.082Z,1761590028.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548303,0.765642,0.336388],[-0.834718,0.525625,0.164209],[-0.051088,-0.370826,0.927296]]
2025-10-27T18:33:48.172Z,1761590028.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:48.424Z,1761590028.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:48.488Z,1761590028.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537458,0.771953,0.339452],[-0.841658,0.516078,0.158983],[-0.052457,-0.371149,0.927091]]
2025-10-27T18:33:48.676Z,1761590028.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:48.892Z,1761590028.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526461,0.778506,0.341712],[-0.848504,0.506471,0.153387],[-0.053654,-0.370697,0.927203]]
2025-10-27T18:33:48.928Z,1761590028.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:49.180Z,1761590029.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:49.432Z,1761590029.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:49.684Z,1761590029.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:49.700Z,1761590029.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504082,0.790983,0.346766],[-0.861809,0.486920,0.142104],[-0.056445,-0.370478,0.927125]]
2025-10-27T18:33:49.939Z,1761590029.939 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:50.104Z,1761590030.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492430,0.796948,0.349838],[-0.868420,0.476664,0.136518],[-0.057958,-0.371032,0.926810]]
2025-10-27T18:33:50.188Z,1761590030.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:50.440Z,1761590030.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:50.505Z,1761590030.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479773,0.803085,0.353373],[-0.875392,0.465320,0.131018],[-0.059213,-0.372199,0.926262]]
2025-10-27T18:33:50.692Z,1761590030.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:50.910Z,1761590030.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466084,0.809507,0.357021],[-0.882678,0.452991,0.125211],[-0.060368,-0.373493,0.925667]]
2025-10-27T18:33:50.944Z,1761590030.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:51.196Z,1761590031.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:51.338Z,1761590031.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451840,0.815710,0.361189],[-0.889959,0.440188,0.119199],[-0.061759,-0.375302,0.924843]]
2025-10-27T18:33:51.448Z,1761590031.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:51.700Z,1761590031.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:51.723Z,1761590031.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435879,0.822492,0.365399],[-0.897798,0.425779,0.112566],[-0.062995,-0.377120,0.924020]]
2025-10-27T18:33:51.952Z,1761590031.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:52.136Z,1761590032.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419596,0.829123,0.369452],[-0.905464,0.410941,0.106126],[-0.063831,-0.379056,0.923170]]
2025-10-27T18:33:52.204Z,1761590032.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:52.456Z,1761590032.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:52.526Z,1761590032.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402627,0.836134,0.372520],[-0.913066,0.395676,0.098750],[-0.064829,-0.379895,0.922755]]
2025-10-27T18:33:52.708Z,1761590032.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:52.930Z,1761590032.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385649,0.843222,0.374501],[-0.920281,0.380588,0.090747],[-0.066011,-0.379643,0.922775]]
2025-10-27T18:33:52.960Z,1761590032.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:53.212Z,1761590033.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:53.337Z,1761590033.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368448,0.849971,0.376558],[-0.927200,0.365361,0.082532],[-0.067430,-0.379553,0.922709]]
2025-10-27T18:33:53.465Z,1761590033.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:53.716Z,1761590033.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:53.757Z,1761590033.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351089,0.857575,0.375901],[-0.933783,0.350334,0.072900],[-0.069174,-0.376604,0.923788]]
2025-10-27T18:33:53.968Z,1761590033.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:54.161Z,1761590034.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316956,0.873535,0.369425],[-0.945555,0.321396,0.051292],[-0.073927,-0.365568,0.927844]]
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateRudder:A] Stopped
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:33:54.205Z,1761590034.205 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode] Stopped
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:33:54.206Z,1761590034.206 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:33:54.207Z,1761590034.207 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:33:54.220Z,1761590034.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:54.227Z,1761590034.227 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:33:54.227Z,1761590034.227 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:33:54.227Z,1761590034.227 [marl:UpdateSpeed] Stopped
2025-10-27T18:33:54.227Z,1761590034.227 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:33:54.472Z,1761590034.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:54.597Z,1761590034.597 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:33:54.597Z,1761590034.597 [marl:UpdateRudder:B] Stopped
2025-10-27T18:33:54.597Z,1761590034.597 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:33:54.597Z,1761590034.597 [marl:UpdateRudder] Stopped
2025-10-27T18:33:54.597Z,1761590034.597 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:33:54.724Z,1761590034.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:54.962Z,1761590034.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282056,0.889625,0.359181],[-0.956109,0.291622,0.028516],[-0.079377,-0.351459,0.932832]]
2025-10-27T18:33:54.977Z,1761590034.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:55.228Z,1761590035.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:55.364Z,1761590035.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263677,0.897361,0.353861],[-0.961128,0.275554,0.017396],[-0.081898,-0.344693,0.935136]]
2025-10-27T18:33:55.480Z,1761590035.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:55.732Z,1761590035.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:55.768Z,1761590035.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245352,0.904974,0.347598],[-0.965763,0.259344,0.006480],[-0.084283,-0.337287,0.937621]]
2025-10-27T18:33:55.984Z,1761590035.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:56.170Z,1761590036.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228729,0.913122,0.337479],[-0.969624,0.244560,-0.004541],[-0.086680,-0.326189,0.941322]]
2025-10-27T18:33:56.237Z,1761590036.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:56.488Z,1761590036.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:56.573Z,1761590036.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215614,0.921158,0.324004],[-0.972392,0.232871,-0.014969],[-0.089240,-0.311832,0.945937]]
2025-10-27T18:33:56.740Z,1761590036.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:56.976Z,1761590036.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206088,0.929067,0.307183],[-0.974187,0.224357,-0.024983],[-0.092130,-0.294105,0.951323]]
2025-10-27T18:33:56.992Z,1761590036.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:57.244Z,1761590037.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:57.378Z,1761590037.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200386,0.935087,0.292331],[-0.975070,0.219379,-0.033347],[-0.095314,-0.278361,0.955736]]
2025-10-27T18:33:57.496Z,1761590037.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:57.748Z,1761590037.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:57.782Z,1761590037.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197714,0.940188,0.277408],[-0.975328,0.217030,-0.040423],[-0.098211,-0.262571,0.959901]]
2025-10-27T18:33:58.000Z,1761590038.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:58.252Z,1761590038.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:58.504Z,1761590038.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:58.591Z,1761590038.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199110,0.944671,0.260677],[-0.974468,0.219024,-0.049408],[-0.103769,-0.244183,0.964161]]
2025-10-27T18:33:58.760Z,1761590038.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:58.993Z,1761590038.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202008,0.944446,0.259259],[-0.973538,0.222518,-0.052046],[-0.106845,-0.241885,0.964404]]
2025-10-27T18:33:59.008Z,1761590039.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:59.260Z,1761590039.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:59.398Z,1761590039.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206126,0.943206,0.260528],[-0.972212,0.227599,-0.054790],[-0.110974,-0.241995,0.963910]]
2025-10-27T18:33:59.512Z,1761590039.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:59.592Z,1761590039.592 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:33:59.592Z,1761590039.592 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:33:59.764Z,1761590039.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:33:59.804Z,1761590039.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211047,0.941349,0.263290],[-0.970547,0.233821,-0.058019],[-0.116179,-0.243291,0.962970]]
2025-10-27T18:34:00.016Z,1761590040.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:00.205Z,1761590040.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216108,0.939052,0.267354],[-0.968730,0.240408,-0.061364],[-0.121898,-0.245733,0.961643]]
2025-10-27T18:34:00.269Z,1761590040.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:00.520Z,1761590040.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:00.622Z,1761590040.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219794,0.937267,0.270596],[-0.967196,0.245577,-0.064996],[-0.127371,-0.247434,0.960496]]
2025-10-27T18:34:00.656Z,1761590040.656 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:34:00.774Z,1761590040.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:01.028Z,1761590041.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:01.280Z,1761590041.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:01.423Z,1761590041.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223321,0.936493,0.270385],[-0.965013,0.251515,-0.074097],[-0.137397,-0.244378,0.959897]]
2025-10-27T18:34:01.532Z,1761590041.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:01.784Z,1761590041.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:01.821Z,1761590041.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223425,0.937530,0.266682],[-0.964353,0.252413,-0.079437],[-0.141789,-0.239427,0.960505]]
2025-10-27T18:34:02.036Z,1761590042.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:02.228Z,1761590042.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222834,0.938967,0.262079],[-0.963913,0.252390,-0.084682],[-0.145660,-0.233751,0.961324]]
2025-10-27T18:34:02.289Z,1761590042.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:02.540Z,1761590042.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:02.631Z,1761590042.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221027,0.941352,0.254958],[-0.963882,0.250680,-0.089952],[-0.148590,-0.225868,0.962759]]
2025-10-27T18:34:02.797Z,1761590042.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:03.034Z,1761590043.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217925,0.944220,0.246897],[-0.964286,0.247333,-0.094755],[-0.150535,-0.217430,0.964398]]
2025-10-27T18:34:03.037Z,1761590043.037 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T18:34:03.037Z,1761590043.037 [NAL9602] Data Fault, FailCount= 1
2025-10-27T18:34:03.037Z,1761590043.037 [NAL9602](ERROR): Data Fault
2025-10-27T18:34:03.044Z,1761590043.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:03.133Z,1761590043.133 [marl:NeedComms] Running Loop=1
2025-10-27T18:34:03.133Z,1761590043.133 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T18:34:03.134Z,1761590043.134 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T18:34:03.134Z,1761590043.134 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:34:03.134Z,1761590043.134 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T18:34:03.134Z,1761590043.134 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T18:34:03.139Z,1761590043.139 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T18:34:03.139Z,1761590043.139 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T18:34:03.140Z,1761590043.140 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:34:03.140Z,1761590043.140 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:34:03.141Z,1761590043.141 [marl:NeedComms:A] Running Loop=1
2025-10-27T18:34:03.142Z,1761590043.142 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T18:34:03.142Z,1761590043.142 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T18:34:03.142Z,1761590043.142 [marl:NeedComms:A] Stopped
2025-10-27T18:34:03.296Z,1761590043.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:03.414Z,1761590043.414 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T18:34:03.451Z,1761590043.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214028,0.946696,0.240746],[-0.964939,0.243236,-0.098637],[-0.151937,-0.211194,0.965563]]
2025-10-27T18:34:03.454Z,1761590043.454 [NAL9602](INFO): Powering down
2025-10-27T18:34:03.548Z,1761590043.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:03.800Z,1761590043.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:03.845Z,1761590043.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209194,0.949662,0.233197],[-0.965844,0.237951,-0.102590],[-0.152915,-0.203770,0.967003]]
2025-10-27T18:34:04.052Z,1761590044.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:04.246Z,1761590044.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203702,0.951863,0.229047],[-0.966941,0.232259,-0.105267],[-0.153398,-0.200031,0.967707]]
2025-10-27T18:34:04.305Z,1761590044.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:04.414Z,1761590044.414 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T18:34:04.414Z,1761590044.414 [NAL9602] No Fault, FailCount= 1
2025-10-27T18:34:04.556Z,1761590044.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:04.650Z,1761590044.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197575,0.953803,0.226327],[-0.968249,0.225948,-0.106961],[-0.153158,-0.198009,0.968161]]
2025-10-27T18:34:04.811Z,1761590044.811 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:05.060Z,1761590045.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:05.123Z,1761590045.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191039,0.955022,0.226796],[-0.969661,0.219513,-0.107570],[-0.152516,-0.199365,0.967984]]
2025-10-27T18:34:05.312Z,1761590045.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:05.518Z,1761590045.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184551,0.956057,0.227808],[-0.971069,0.213119,-0.107731],[-0.151547,-0.201336,0.967728]]
2025-10-27T18:34:05.564Z,1761590045.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:05.816Z,1761590045.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:05.924Z,1761590045.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178228,0.956765,0.229859],[-0.972167,0.207317,-0.109137],[-0.152072,-0.204010,0.967085]]
2025-10-27T18:34:06.071Z,1761590046.071 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:06.320Z,1761590046.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:06.350Z,1761590046.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172519,0.957071,0.232921],[-0.972517,0.203036,-0.113956],[-0.156356,-0.206860,0.965796]]
2025-10-27T18:34:06.573Z,1761590046.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:06.736Z,1761590046.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168043,0.956774,0.237372],[-0.972002,0.200938,-0.121807],[-0.164238,-0.210257,0.963752]]
2025-10-27T18:34:06.828Z,1761590046.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:07.077Z,1761590047.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:07.134Z,1761590047.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164436,0.956379,0.241454],[-0.970815,0.200241,-0.131992],[-0.174584,-0.212702,0.961394]]
2025-10-27T18:34:07.203Z,1761590047.203 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:34:07.203Z,1761590047.203 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:34:07.203Z,1761590047.203 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateRudder:A] Stopped
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:34:07.204Z,1761590047.204 [marl:UpdateCommandMode] Stopped
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed] Stopped
2025-10-27T18:34:07.205Z,1761590047.205 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:34:07.249Z,1761590047.249 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:34:07.328Z,1761590047.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:07.539Z,1761590047.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161399,0.955713,0.246097],[-0.969140,0.200571,-0.143314],[-0.186327,-0.215371,0.958591]]
2025-10-27T18:34:07.562Z,1761590047.562 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:34:07.562Z,1761590047.562 [marl:UpdateRudder:B] Stopped
2025-10-27T18:34:07.562Z,1761590047.562 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:34:07.562Z,1761590047.562 [marl:UpdateRudder] Stopped
2025-10-27T18:34:07.562Z,1761590047.562 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:34:07.593Z,1761590047.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:07.844Z,1761590047.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:07.942Z,1761590047.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158847,0.955224,0.249628],[-0.967044,0.201489,-0.155653],[-0.198981,-0.216676,0.955750]]
2025-10-27T18:34:08.097Z,1761590048.097 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:08.251Z,1761590048.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:34:08.346Z,1761590048.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158277,0.954493,0.252769],[-0.964310,0.204457,-0.168235],[-0.212260,-0.217120,0.952788]]
2025-10-27T18:34:08.348Z,1761590048.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:08.601Z,1761590048.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:08.761Z,1761590048.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157973,0.953629,0.256195],[-0.961335,0.207797,-0.180706],[-0.225563,-0.217742,0.949584]]
2025-10-27T18:34:08.852Z,1761590048.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:09.105Z,1761590049.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:09.157Z,1761590049.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158731,0.952916,0.258371],[-0.958033,0.211922,-0.193033],[-0.238698,-0.216887,0.946564]]
2025-10-27T18:34:09.356Z,1761590049.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:09.559Z,1761590049.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160439,0.952226,0.259854],[-0.954467,0.216751,-0.204968],[-0.251499,-0.215137,0.943644]]
2025-10-27T18:34:09.608Z,1761590049.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:09.863Z,1761590049.863 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:09.962Z,1761590049.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162846,0.951109,0.262435],[-0.950647,0.222450,-0.216301],[-0.264104,-0.214259,0.940395]]
2025-10-27T18:34:10.113Z,1761590050.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:10.364Z,1761590050.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:10.368Z,1761590050.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165218,0.950328,0.263779],[-0.946728,0.227779,-0.227646],[-0.276422,-0.212116,0.937335]]
2025-10-27T18:34:10.617Z,1761590050.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:10.795Z,1761590050.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166873,0.949367,0.266188],[-0.942917,0.232572,-0.238363],[-0.288202,-0.211217,0.933984]]
2025-10-27T18:34:10.868Z,1761590050.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:11.120Z,1761590051.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:11.176Z,1761590051.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166852,0.949236,0.266666],[-0.939416,0.235182,-0.249374],[-0.299430,-0.208901,0.930968]]
2025-10-27T18:34:11.374Z,1761590051.374 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:11.592Z,1761590051.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164627,0.949267,0.267936],[-0.936358,0.235794,-0.260068],[-0.310052,-0.208070,0.927672]]
2025-10-27T18:34:11.624Z,1761590051.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:11.876Z,1761590051.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:11.982Z,1761590051.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160580,0.949964,0.267922],[-0.933450,0.234375,-0.271551],[-0.320758,-0.206486,0.924380]]
2025-10-27T18:34:12.128Z,1761590052.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:12.380Z,1761590052.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:12.387Z,1761590052.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154863,0.951017,0.267551],[-0.930741,0.231254,-0.283271],[-0.331268,-0.205153,0.920964]]
2025-10-27T18:34:12.632Z,1761590052.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:12.831Z,1761590052.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148007,0.951949,0.268118],[-0.928269,0.227246,-0.294408],[-0.341190,-0.205311,0.917298]]
2025-10-27T18:34:12.884Z,1761590052.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:13.136Z,1761590053.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:13.193Z,1761590053.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140388,0.953542,0.266549],[-0.925997,0.221744,-0.305547],[-0.350457,-0.203929,0.914108]]
2025-10-27T18:34:13.389Z,1761590053.389 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:13.611Z,1761590053.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132981,0.954753,0.266013],[-0.923976,0.216530,-0.315252],[-0.358587,-0.203867,0.910963]]
2025-10-27T18:34:13.641Z,1761590053.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:13.892Z,1761590053.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:14.014Z,1761590054.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127109,0.955664,0.265610],[-0.921925,0.212617,-0.323803],[-0.365920,-0.203714,0.908076]]
2025-10-27T18:34:14.144Z,1761590054.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:14.396Z,1761590054.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:14.648Z,1761590054.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:14.900Z,1761590054.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:15.006Z,1761590055.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117824,0.957179,0.264436],[-0.915894,0.207650,-0.343540],[-0.383739,-0.201718,0.901141]]
2025-10-27T18:34:15.152Z,1761590055.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:15.404Z,1761590055.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:15.409Z,1761590055.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115142,0.958537,0.260669],[-0.913880,0.205064,-0.350389],[-0.389315,-0.197876,0.899599]]
2025-10-27T18:34:15.656Z,1761590055.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:15.815Z,1761590055.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112417,0.960308,0.255287],[-0.911783,0.201817,-0.357661],[-0.394986,-0.192560,0.898280]]
2025-10-27T18:34:15.910Z,1761590055.910 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:16.164Z,1761590056.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:16.214Z,1761590056.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109520,0.962192,0.249381],[-0.909597,0.198181,-0.365182],[-0.400798,-0.186842,0.896912]]
2025-10-27T18:34:16.416Z,1761590056.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:16.619Z,1761590056.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107142,0.963990,0.243401],[-0.907374,0.194882,-0.372415],[-0.406438,-0.180955,0.895580]]
2025-10-27T18:34:16.668Z,1761590056.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:16.920Z,1761590056.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:17.022Z,1761590057.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106018,0.965527,0.237734],[-0.905303,0.192620,-0.378581],[-0.411322,-0.175085,0.894516]]
2025-10-27T18:34:17.172Z,1761590057.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:17.424Z,1761590057.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:17.446Z,1761590057.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106457,0.966314,0.234317],[-0.903511,0.192398,-0.382951],[-0.415133,-0.170940,0.893557]]
2025-10-27T18:34:17.676Z,1761590057.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:17.848Z,1761590057.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109142,0.966166,0.233692],[-0.901983,0.195062,-0.385199],[-0.417751,-0.168745,0.892754]]
2025-10-27T18:34:17.932Z,1761590057.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:18.184Z,1761590058.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:18.249Z,1761590058.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113877,0.965273,0.235117],[-0.900724,0.200166,-0.385524],[-0.419199,-0.167873,0.892239]]
2025-10-27T18:34:18.280Z,1761590058.280 [marl:SendObservationData] Running Loop=1
2025-10-27T18:34:18.280Z,1761590058.280 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T18:34:18.280Z,1761590058.280 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T18:34:18.281Z,1761590058.281 [marl:SendObservationData:A] Running Loop=1
2025-10-27T18:34:18.282Z,1761590058.282 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T18:34:18.282Z,1761590058.282 [marl:SendObservationData:A] Stopped
2025-10-27T18:34:18.282Z,1761590058.282 [marl:SendObservationData:B] Running Loop=1
2025-10-27T18:34:18.436Z,1761590058.436 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:34:18.436Z,1761590058.436 [DAT](INFO): #Outgoing data=1
2025-10-27T18:34:18.437Z,1761590058.437 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:34:18.437Z,1761590058.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:18.654Z,1761590058.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120205,0.963921,0.237503],[-0.899779,0.206868,-0.384193],[-0.419463,-0.167519,0.892182]]
2025-10-27T18:34:18.688Z,1761590058.688 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:34:18.688Z,1761590058.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:18.713Z,1761590058.713 [marl:SendObservationData:B] Stopped
2025-10-27T18:34:18.713Z,1761590058.713 [marl:SendObservationData:C] Running Loop=1
2025-10-27T18:34:18.940Z,1761590058.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:19.069Z,1761590059.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127828,0.962690,0.238511],[-0.898924,0.214065,-0.382246],[-0.419041,-0.165542,0.892749]]
2025-10-27T18:34:19.137Z,1761590059.137 [marl:SendObservationData:C] Stopped
2025-10-27T18:34:19.137Z,1761590059.137 [marl:SendObservationData:E] Running Loop=1
2025-10-27T18:34:19.192Z,1761590059.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:19.444Z,1761590059.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:19.465Z,1761590059.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135545,0.961212,0.240206],[-0.898200,0.221541,-0.379679],[-0.418168,-0.164290,0.893389]]
2025-10-27T18:34:19.490Z,1761590059.490 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.007797 min 
2025-10-27T18:34:19.490Z,1761590059.490 [marl:SendObservationData:E] Stopped
2025-10-27T18:34:19.492Z,1761590059.492 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T18:34:19.492Z,1761590059.492 [marl:SendObservationData] Stopped
2025-10-27T18:34:19.492Z,1761590059.492 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T18:34:19.492Z,1761590059.492 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T18:34:19.696Z,1761590059.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:19.866Z,1761590059.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142789,0.959288,0.243676],[-0.897584,0.229253,-0.376544],[-0.417078,-0.164954,0.893776]]
2025-10-27T18:34:19.948Z,1761590059.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:20.200Z,1761590060.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:20.270Z,1761590060.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149509,0.957434,0.246914],[-0.897371,0.236248,-0.372708],[-0.415177,-0.165850,0.894495]]
2025-10-27T18:34:20.452Z,1761590060.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:20.674Z,1761590060.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154728,0.956284,0.248155],[-0.897903,0.240890,-0.368433],[-0.412105,-0.165813,0.895922]]
2025-10-27T18:34:20.697Z,1761590060.697 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:34:20.697Z,1761590060.697 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:34:20.697Z,1761590060.697 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateRudder:A] Stopped
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:34:20.698Z,1761590060.698 [marl:UpdateCommandMode] Stopped
2025-10-27T18:34:20.699Z,1761590060.699 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:34:20.699Z,1761590060.699 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:34:20.699Z,1761590060.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:34:20.699Z,1761590060.699 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:34:20.699Z,1761590060.699 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:34:20.700Z,1761590060.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:34:20.700Z,1761590060.700 [marl:UpdateSpeed] Stopped
2025-10-27T18:34:20.700Z,1761590060.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:34:20.704Z,1761590060.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:20.956Z,1761590060.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:21.085Z,1761590061.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157225,0.956599,0.245355],[-0.899372,0.241320,-0.364546],[-0.407934,-0.163350,0.898280]]
2025-10-27T18:34:21.143Z,1761590061.143 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:34:21.143Z,1761590061.143 [marl:UpdateRudder:B] Stopped
2025-10-27T18:34:21.143Z,1761590061.143 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:34:21.143Z,1761590061.143 [marl:UpdateRudder] Stopped
2025-10-27T18:34:21.143Z,1761590061.143 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:34:21.208Z,1761590061.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:21.460Z,1761590061.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:21.484Z,1761590061.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158037,0.957767,0.240220],[-0.901049,0.239389,-0.361668],[-0.403900,-0.159293,0.900828]]
2025-10-27T18:34:21.712Z,1761590061.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:21.885Z,1761590061.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157564,0.958910,0.235935],[-0.902763,0.236706,-0.359151],[-0.400241,-0.156404,0.902965]]
2025-10-27T18:34:21.965Z,1761590061.965 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:34:21.1951

2025-10-27T18:34:21.966Z,1761590061.966 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:34:21.966Z,1761590061.966 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:22.216Z,1761590062.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:22.289Z,1761590062.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156127,0.960571,0.230061],[-0.904439,0.232647,-0.357584],[-0.397008,-0.152248,0.905100]]
2025-10-27T18:34:22.468Z,1761590062.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:22.694Z,1761590062.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154169,0.962343,0.223891],[-0.906072,0.228070,-0.356395],[-0.394037,-0.147916,0.907114]]
2025-10-27T18:34:22.729Z,1761590062.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:22.980Z,1761590062.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:23.099Z,1761590063.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153243,0.963766,0.218340],[-0.907591,0.224666,-0.354688],[-0.390890,-0.143810,0.909134]]
2025-10-27T18:34:23.233Z,1761590063.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:23.484Z,1761590063.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:23.502Z,1761590063.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155203,0.964059,0.215646],[-0.908354,0.225077,-0.352468],[-0.388337,-0.141179,0.910639]]
2025-10-27T18:34:23.737Z,1761590063.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:23.906Z,1761590063.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157336,0.962986,0.218868],[-0.909552,0.227632,-0.347705],[-0.384657,-0.144365,0.911701]]
2025-10-27T18:34:23.988Z,1761590063.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:24.244Z,1761590064.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:24.310Z,1761590064.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156449,0.959506,0.234249],[-0.912184,0.231313,-0.338252],[-0.378740,-0.160759,0.911435]]
2025-10-27T18:34:24.492Z,1761590064.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:24.715Z,1761590064.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152371,0.953337,0.260635],[-0.915871,0.235313,-0.325283],[-0.371435,-0.189145,0.908989]]
2025-10-27T18:34:24.745Z,1761590064.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:24.996Z,1761590064.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:25.121Z,1761590065.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145872,0.944422,0.294597],[-0.920097,0.238932,-0.310376],[-0.363515,-0.225783,0.903814]]
2025-10-27T18:34:25.248Z,1761590065.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:25.500Z,1761590065.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:25.521Z,1761590065.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137053,0.934066,0.329754],[-0.924280,0.240315,-0.296572],[-0.356262,-0.264139,0.896275]]
2025-10-27T18:34:25.752Z,1761590065.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:25.926Z,1761590065.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123045,0.924273,0.361358],[-0.929149,0.235210,-0.285234],[-0.348629,-0.300659,0.887729]]
2025-10-27T18:34:26.004Z,1761590066.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:26.256Z,1761590066.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:26.372Z,1761590066.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103223,0.916196,0.387208],[-0.934570,0.222591,-0.277547],[-0.340476,-0.333224,0.879225]]
2025-10-27T18:34:26.508Z,1761590066.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:26.762Z,1761590066.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:26.862Z,1761590066.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081318,0.910608,0.405193],[-0.939369,0.205900,-0.274208],[-0.333125,-0.358328,0.872141]]
2025-10-27T18:34:27.012Z,1761590067.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:27.264Z,1761590067.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:27.394Z,1761590067.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037067,0.908238,0.416810],[-0.947232,0.164826,-0.274923],[-0.318397,-0.384625,0.866422]]
2025-10-27T18:34:27.516Z,1761590067.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:27.768Z,1761590067.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:27.861Z,1761590067.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016699,0.909982,0.414311],[-0.951051,0.142340,-0.274300],[-0.308581,-0.389450,0.867817]]
2025-10-27T18:34:28.020Z,1761590068.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:28.272Z,1761590068.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:28.341Z,1761590068.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000654,0.911265,0.411821],[-0.954807,0.122973,-0.270594],[-0.297226,-0.393032,0.870162]]
2025-10-27T18:34:28.524Z,1761590068.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:28.758Z,1761590068.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010048,0.910746,0.412844],[-0.958604,0.108719,-0.263169],[-0.284564,-0.398398,0.871953]]
2025-10-27T18:34:28.779Z,1761590068.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:29.029Z,1761590069.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:29.281Z,1761590069.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:29.332Z,1761590069.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017088,0.909328,0.415728],[-0.962506,0.097619,-0.253086],[-0.270721,-0.404466,0.873566]]
2025-10-27T18:34:29.533Z,1761590069.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:29.784Z,1761590069.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:29.798Z,1761590069.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029847,0.906469,0.421216],[-0.968364,0.078228,-0.236965],[-0.247752,-0.414963,0.875457]]
2025-10-27T18:34:30.038Z,1761590070.038 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:30.288Z,1761590070.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:30.322Z,1761590070.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040964,0.907514,0.418020],[-0.968974,0.065979,-0.238195],[-0.243746,-0.414807,0.876654]]
2025-10-27T18:34:30.541Z,1761590070.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:30.740Z,1761590070.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055920,0.912324,0.405632],[-0.967538,0.050770,-0.247574],[-0.246461,-0.406309,0.879869]]
2025-10-27T18:34:30.794Z,1761590070.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:31.044Z,1761590071.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:31.296Z,1761590071.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:31.324Z,1761590071.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074613,0.920160,0.384369],[-0.964190,0.031802,-0.263299],[-0.254501,-0.390250,0.884836]]
2025-10-27T18:34:31.549Z,1761590071.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:31.802Z,1761590071.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:31.894Z,1761590071.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121144,0.933728,0.336862],[-0.955052,-0.017144,-0.295941],[-0.270553,-0.357572,0.893836]]
2025-10-27T18:34:32.053Z,1761590072.053 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:34:32.053Z,1761590072.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:32.304Z,1761590072.304 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:34:32.304Z,1761590072.304 [DAT](INFO): #Outgoing data=1
2025-10-27T18:34:32.304Z,1761590072.304 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:34:32.305Z,1761590072.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:32.556Z,1761590072.556 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:34:32.556Z,1761590072.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:32.720Z,1761590072.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170212,0.932087,0.319752],[-0.948091,-0.066453,-0.310979],[-0.268612,-0.356086,0.895014]]
2025-10-27T18:34:32.813Z,1761590072.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:33.064Z,1761590073.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:33.171Z,1761590073.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189451,0.926061,0.326372],[-0.946058,-0.083182,-0.313138],[-0.262837,-0.368092,0.891866]]
2025-10-27T18:34:33.316Z,1761590073.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:33.568Z,1761590073.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:33.606Z,1761590073.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202735,0.918924,0.338345],[-0.944626,-0.092480,-0.314847],[-0.258030,-0.383441,0.886788]]
2025-10-27T18:34:33.609Z,1761590073.609 [NAL9602](INFO): Powering up NAL9602
2025-10-27T18:34:33.820Z,1761590073.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:34.006Z,1761590074.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211067,0.912707,0.349880],[-0.943352,-0.096456,-0.317464],[-0.256004,-0.397067,0.881363]]
2025-10-27T18:34:34.072Z,1761590074.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:34.324Z,1761590074.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:34.420Z,1761590074.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217090,0.907463,0.359699],[-0.941799,-0.097816,-0.321631],[-0.256683,-0.408587,0.875883]]
2025-10-27T18:34:34.576Z,1761590074.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:34.839Z,1761590074.839 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:34.857Z,1761590074.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222455,0.906085,0.359894],[-0.939780,-0.101042,-0.326502],[-0.259474,-0.410853,0.873998]]
2025-10-27T18:34:35.088Z,1761590075.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:35.289Z,1761590075.289 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:34:35.289Z,1761590075.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateRudder:A] Stopped
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:34:35.290Z,1761590075.290 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:34:35.291Z,1761590075.291 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:34:35.307Z,1761590075.307 [marl:UpdateCommandMode] Stopped
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:34:35.308Z,1761590075.308 [marl:UpdateSpeed] Stopped
2025-10-27T18:34:35.309Z,1761590075.309 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:34:35.340Z,1761590075.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:35.593Z,1761590075.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:35.674Z,1761590075.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240557,0.909961,0.337793],[-0.933297,-0.121248,-0.338019],[-0.266627,-0.396574,0.878430]]
2025-10-27T18:34:35.700Z,1761590075.700 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:34:35.700Z,1761590075.700 [marl:UpdateRudder:B] Stopped
2025-10-27T18:34:35.700Z,1761590075.700 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:34:35.701Z,1761590075.701 [marl:UpdateRudder] Stopped
2025-10-27T18:34:35.701Z,1761590075.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:34:35.845Z,1761590075.845 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:34:35.0951

2025-10-27T18:34:35.845Z,1761590075.845 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:34:35.845Z,1761590075.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:36.075Z,1761590076.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255138,0.913058,0.318165],[-0.928286,-0.139238,-0.344816],[-0.270536,-0.383324,0.883104]]
2025-10-27T18:34:36.096Z,1761590076.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:36.348Z,1761590076.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:36.477Z,1761590076.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272340,0.915684,0.295555],[-0.921937,-0.160401,-0.352567],[-0.275433,-0.368502,0.887887]]
2025-10-27T18:34:36.602Z,1761590076.602 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:36.852Z,1761590076.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:36.886Z,1761590076.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291014,0.916399,0.274816],[-0.914462,-0.182011,-0.361430],[-0.281194,-0.356490,0.890979]]
2025-10-27T18:34:37.104Z,1761590077.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:37.287Z,1761590077.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310377,0.916144,0.253666],[-0.905965,-0.204253,-0.370822],[-0.287914,-0.344907,0.893389]]
2025-10-27T18:34:37.357Z,1761590077.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:37.608Z,1761590077.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:37.690Z,1761590077.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327984,0.916026,0.230918],[-0.896985,-0.225286,-0.380348],[-0.296386,-0.331878,0.895551]]
2025-10-27T18:34:37.860Z,1761590077.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:38.094Z,1761590078.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342351,0.917180,0.203904],[-0.888054,-0.244992,-0.389024],[-0.306850,-0.314261,0.898378]]
2025-10-27T18:34:38.112Z,1761590078.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:38.364Z,1761590078.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:38.373Z,1761590078.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:34:38.498Z,1761590078.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353303,0.919200,0.173921],[-0.879449,-0.262952,-0.396769],[-0.318978,-0.293134,0.901291]]
2025-10-27T18:34:38.616Z,1761590078.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:38.868Z,1761590078.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:38.905Z,1761590078.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362092,0.920965,0.143921],[-0.871269,-0.279506,-0.403444],[-0.331331,-0.271478,0.903615]]
2025-10-27T18:34:39.120Z,1761590079.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:39.306Z,1761590079.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368003,0.922410,0.117190],[-0.864392,-0.292936,-0.408674],[-0.342636,-0.251691,0.905125]]
2025-10-27T18:34:39.372Z,1761590079.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:39.375Z,1761590079.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:34:39.624Z,1761590079.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:39.710Z,1761590079.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370606,0.923653,0.097555],[-0.859758,-0.301427,-0.412259],[-0.351378,-0.236659,0.905829]]
2025-10-27T18:34:39.876Z,1761590079.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:40.128Z,1761590080.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:40.216Z,1761590080.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365740,0.927291,0.079788],[-0.859262,-0.303476,-0.411790],[-0.357635,-0.219167,0.907779]]
2025-10-27T18:34:40.380Z,1761590080.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:40.632Z,1761590080.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:40.689Z,1761590080.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359122,0.930120,0.076866],[-0.862273,-0.299156,-0.408645],[-0.357093,-0.213033,0.909451]]
2025-10-27T18:34:40.884Z,1761590080.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:41.146Z,1761590081.146 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:41.400Z,1761590081.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:41.494Z,1761590081.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337872,0.938853,0.066314],[-0.869046,-0.284144,-0.404996],[-0.361389,-0.194466,0.911911]]
2025-10-27T18:34:41.653Z,1761590081.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:41.898Z,1761590081.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325179,0.944107,0.054034],[-0.870440,-0.276496,-0.407289],[-0.369584,-0.179475,0.911700]]
2025-10-27T18:34:41.904Z,1761590081.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:42.156Z,1761590082.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:42.302Z,1761590082.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314583,0.948501,0.037194],[-0.869335,-0.272150,-0.412543],[-0.381175,-0.162113,0.910179]]
2025-10-27T18:34:42.408Z,1761590082.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:42.660Z,1761590082.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:42.912Z,1761590082.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:43.110Z,1761590083.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308360,0.951226,-0.009165],[-0.859162,-0.282626,-0.426571],[-0.408355,-0.123664,0.904408]]
2025-10-27T18:34:43.164Z,1761590083.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:43.416Z,1761590083.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:43.542Z,1761590083.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312902,0.949409,-0.026733],[-0.851204,-0.292800,-0.435568],[-0.421360,-0.113535,0.899759]]
2025-10-27T18:34:43.668Z,1761590083.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:43.920Z,1761590083.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:43.932Z,1761590083.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321005,0.946477,-0.033718],[-0.842381,-0.301609,-0.446572],[-0.432840,-0.114949,0.894112]]
2025-10-27T18:34:44.176Z,1761590084.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:44.342Z,1761590084.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331516,0.942912,-0.031834],[-0.834075,-0.308686,-0.457201],[-0.440927,-0.125018,0.888794]]
2025-10-27T18:34:44.424Z,1761590084.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:44.676Z,1761590084.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:44.745Z,1761590084.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342193,0.939267,-0.026097],[-0.827460,-0.314387,-0.465265],[-0.445212,-0.137616,0.884787]]
2025-10-27T18:34:44.762Z,1761590084.762 [NAL9602](INFO): NAL9602 initialized
2025-10-27T18:34:44.929Z,1761590084.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:45.141Z,1761590085.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349113,0.936936,-0.016457],[-0.823768,-0.315223,-0.471211],[-0.446682,-0.150949,0.881867]]
2025-10-27T18:34:45.180Z,1761590085.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:45.432Z,1761590085.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:45.552Z,1761590085.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349817,0.936812,-0.003394],[-0.823643,-0.309281,-0.475350],[-0.446363,-0.163490,0.879790]]
2025-10-27T18:34:45.686Z,1761590085.686 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:45.936Z,1761590085.936 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:34:45.936Z,1761590085.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:45.955Z,1761590085.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346250,0.938090,0.009941],[-0.826195,-0.299895,-0.476933],[-0.444425,-0.173352,0.878883]]
2025-10-27T18:34:46.189Z,1761590086.189 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:34:46.189Z,1761590086.189 [DAT](INFO): #Outgoing data=2
2025-10-27T18:34:46.189Z,1761590086.189 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:34:46.189Z,1761590086.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:46.381Z,1761590086.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339587,0.940300,0.022728],[-0.829659,-0.288070,-0.478207],[-0.443111,-0.181249,0.877953]]
2025-10-27T18:34:46.440Z,1761590086.440 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:34:46.441Z,1761590086.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:46.692Z,1761590086.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:46.766Z,1761590086.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334464,0.941923,0.030236],[-0.831856,-0.279999,-0.479182],[-0.442887,-0.185421,0.877194]]
2025-10-27T18:34:46.944Z,1761590086.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:47.162Z,1761590087.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335608,0.941368,0.034534],[-0.831854,-0.278964,-0.479790],[-0.442025,-0.189749,0.876704]]
2025-10-27T18:34:47.167Z,1761590087.167 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000
2025-10-27T18:34:47.196Z,1761590087.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:47.448Z,1761590087.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:47.567Z,1761590087.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335569,0.941355,0.035286],[-0.831379,-0.278336,-0.480976],[-0.442948,-0.190737,0.876023]]
2025-10-27T18:34:47.700Z,1761590087.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:47.952Z,1761590087.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:47.970Z,1761590087.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332793,0.942402,0.033577],[-0.832995,-0.277095,-0.478893],[-0.442005,-0.187342,0.877231]]
2025-10-27T18:34:48.204Z,1761590088.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:48.425Z,1761590088.425 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:34:48.425Z,1761590088.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateRudder:A] Stopped
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:34:48.426Z,1761590088.426 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateCommandMode] Stopped
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:34:48.427Z,1761590088.427 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:34:48.428Z,1761590088.428 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:34:48.428Z,1761590088.428 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:34:48.428Z,1761590088.428 [marl:UpdateSpeed] Stopped
2025-10-27T18:34:48.428Z,1761590088.428 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:34:48.456Z,1761590088.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:48.708Z,1761590088.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:48.798Z,1761590088.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326241,0.944676,0.033977],[-0.848103,-0.276637,-0.451877],[-0.417478,-0.176237,0.891433]]
2025-10-27T18:34:48.893Z,1761590088.893 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:34:48.893Z,1761590088.893 [marl:UpdateRudder:B] Stopped
2025-10-27T18:34:48.893Z,1761590088.893 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:34:48.893Z,1761590088.893 [marl:UpdateRudder] Stopped
2025-10-27T18:34:48.893Z,1761590088.893 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:34:48.960Z,1761590088.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:49.183Z,1761590089.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324187,0.945054,0.042150],[-0.860112,-0.275913,-0.429045],[-0.393841,-0.175344,0.902299]]
2025-10-27T18:34:49.212Z,1761590089.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:49.464Z,1761590089.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:49.589Z,1761590089.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321020,0.945354,0.057033],[-0.872606,-0.271835,-0.405790],[-0.368111,-0.180034,0.912185]]
2025-10-27T18:34:49.718Z,1761590089.718 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:34:48.9950

2025-10-27T18:34:49.718Z,1761590089.718 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:34:49.719Z,1761590089.719 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:49.968Z,1761590089.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:49.990Z,1761590089.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314663,0.946142,0.076176],[-0.884074,-0.262912,-0.386381],[-0.345544,-0.188925,0.919188]]
2025-10-27T18:34:50.220Z,1761590090.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:50.394Z,1761590090.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306131,0.947593,0.091389],[-0.892958,-0.252544,-0.372624],[-0.330016,-0.195678,0.923471]]
2025-10-27T18:34:50.473Z,1761590090.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:50.724Z,1761590090.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:50.847Z,1761590090.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298169,0.949325,0.099381],[-0.898083,-0.243748,-0.366106],[-0.323330,-0.198414,0.925251]]
2025-10-27T18:34:50.976Z,1761590090.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:51.228Z,1761590091.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:51.480Z,1761590091.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:51.734Z,1761590091.734 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:51.984Z,1761590091.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:52.063Z,1761590092.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282344,0.957191,0.063768],[-0.900029,-0.241305,-0.362933],[-0.332009,-0.159865,0.929631]]
2025-10-27T18:34:52.236Z,1761590092.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:52.468Z,1761590092.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283315,0.957750,0.049465],[-0.899889,-0.247658,-0.358978],[-0.331561,-0.146217,0.932034]]
2025-10-27T18:34:52.488Z,1761590092.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:52.740Z,1761590092.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:52.880Z,1761590092.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287633,0.956787,0.042734],[-0.899041,-0.254355,-0.356411],[-0.330139,-0.140935,0.933352]]
2025-10-27T18:34:52.993Z,1761590092.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:53.244Z,1761590093.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:53.498Z,1761590093.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:53.678Z,1761590093.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301244,0.952922,0.034511],[-0.896608,-0.270751,-0.350412],[-0.324571,-0.136503,0.935960]]
2025-10-27T18:34:53.752Z,1761590093.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:54.005Z,1761590094.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:54.082Z,1761590094.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311556,0.949746,0.030269],[-0.893004,-0.281758,-0.350936],[-0.324772,-0.136367,0.935910]]
2025-10-27T18:34:54.256Z,1761590094.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:54.487Z,1761590094.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326349,0.944388,0.040335],[-0.886935,-0.291181,-0.358553],[-0.326869,-0.152789,0.932637]]
2025-10-27T18:34:54.508Z,1761590094.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:54.761Z,1761590094.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:54.889Z,1761590094.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345357,0.935989,0.068212],[-0.879483,-0.297431,-0.371543],[-0.327472,-0.188306,0.925907]]
2025-10-27T18:34:55.013Z,1761590095.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:55.264Z,1761590095.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:55.294Z,1761590095.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359858,0.927174,0.104168],[-0.874843,-0.296511,-0.383054],[-0.324271,-0.228975,0.917834]]
2025-10-27T18:34:55.516Z,1761590095.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:55.698Z,1761590095.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361359,0.922516,0.135587],[-0.878763,-0.288323,-0.380323],[-0.311761,-0.256582,0.914861]]
2025-10-27T18:34:55.771Z,1761590095.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:56.021Z,1761590096.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:56.103Z,1761590096.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352406,0.923453,0.151803],[-0.889488,-0.280092,-0.361053],[-0.290897,-0.262265,0.920107]]
2025-10-27T18:34:56.272Z,1761590096.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:56.522Z,1761590096.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335711,0.928910,0.156282],[-0.898758,-0.266201,-0.348382],[-0.282013,-0.257416,0.924233]]
2025-10-27T18:34:56.525Z,1761590096.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:56.779Z,1761590096.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:56.910Z,1761590096.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330778,0.931999,0.148199],[-0.896391,-0.261193,-0.358136],[-0.295074,-0.251308,0.921833]]
2025-10-27T18:34:57.028Z,1761590097.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:57.280Z,1761590097.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:57.316Z,1761590097.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345691,0.928399,0.136279],[-0.886279,-0.275341,-0.372420],[-0.308231,-0.249524,0.918004]]
2025-10-27T18:34:57.532Z,1761590097.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:57.733Z,1761590097.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354978,0.925303,0.133435],[-0.883429,-0.285315,-0.371683],[-0.305848,-0.249820,0.918720]]
2025-10-27T18:34:57.784Z,1761590097.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:58.036Z,1761590098.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:58.125Z,1761590098.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352901,0.925960,0.134381],[-0.889539,-0.287492,-0.355061],[-0.290139,-0.244839,0.925134]]
2025-10-27T18:34:58.288Z,1761590098.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:58.535Z,1761590098.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336534,0.931640,0.137082],[-0.901175,-0.276399,-0.333896],[-0.273181,-0.235902,0.932589]]
2025-10-27T18:34:58.540Z,1761590098.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:58.587Z,1761590098.587 [marl:NeedComms:C] Running Loop=1
2025-10-27T18:34:58.794Z,1761590098.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:59.010Z,1761590099.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323673,0.936160,0.137262],[-0.914350,-0.272174,-0.299810],[-0.243311,-0.222546,0.944072]]
2025-10-27T18:34:59.044Z,1761590099.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:59.047Z,1761590099.047 [Radio_Surface](INFO): Powering up
2025-10-27T18:34:59.296Z,1761590099.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:59.445Z,1761590099.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344473,0.926745,0.149939],[-0.910682,-0.291074,-0.293145],[-0.228028,-0.237527,0.944237]]
2025-10-27T18:34:59.549Z,1761590099.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:59.757Z,1761590099.757 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:34:59.757Z,1761590099.757 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:34:59.800Z,1761590099.800 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:34:59.800Z,1761590099.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:34:59.838Z,1761590099.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340919,0.929058,0.143613],[-0.906651,-0.284550,-0.311473],[-0.248511,-0.236394,0.939340]]
2025-10-27T18:35:00.052Z,1761590100.052 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:35:00.052Z,1761590100.052 [DAT](INFO): #Outgoing data=3
2025-10-27T18:35:00.052Z,1761590100.052 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:35:00.053Z,1761590100.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:00.240Z,1761590100.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304598,0.943106,0.133312],[-0.925613,-0.260083,-0.274950],[-0.224634,-0.207144,0.952172]]
2025-10-27T18:35:00.304Z,1761590100.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:00.556Z,1761590100.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:00.642Z,1761590100.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280158,0.950245,0.136186],[-0.948930,-0.252701,-0.188877],[-0.145065,-0.182146,0.972512]]
2025-10-27T18:35:00.668Z,1761590100.668 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:35:00.811Z,1761590100.811 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:01.047Z,1761590101.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288974,0.948666,0.128555],[-0.949774,-0.267250,-0.162808],[-0.120095,-0.169146,0.978247]]
2025-10-27T18:35:01.060Z,1761590101.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:01.312Z,1761590101.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:01.450Z,1761590101.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301881,0.948465,0.096346],[-0.944177,-0.283464,-0.167861],[-0.131899,-0.141642,0.981091]]
2025-10-27T18:35:01.564Z,1761590101.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:01.816Z,1761590101.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:01.856Z,1761590101.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307698,0.949759,0.057270],[-0.939344,-0.293637,-0.177226],[-0.151506,-0.108329,0.982502]]
2025-10-27T18:35:01.906Z,1761590101.906 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:35:01.906Z,1761590101.906 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:35:01.906Z,1761590101.906 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:35:01.911Z,1761590101.911 [marl:UpdateRudder:A] Stopped
2025-10-27T18:35:01.911Z,1761590101.911 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:35:01.911Z,1761590101.911 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:35:01.911Z,1761590101.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:35:01.911Z,1761590101.911 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateCommandMode] Stopped
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:35:01.912Z,1761590101.912 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:35:01.913Z,1761590101.913 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:35:01.913Z,1761590101.913 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:35:01.913Z,1761590101.913 [marl:UpdateSpeed] Stopped
2025-10-27T18:35:01.913Z,1761590101.913 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:35:02.068Z,1761590102.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:02.258Z,1761590102.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280530,0.959630,0.020316],[-0.949181,-0.274204,-0.154490],[-0.142683,-0.062622,0.987785]]
2025-10-27T18:35:02.282Z,1761590102.282 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:35:02.282Z,1761590102.282 [marl:UpdateRudder:B] Stopped
2025-10-27T18:35:02.282Z,1761590102.282 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:35:02.282Z,1761590102.282 [marl:UpdateRudder] Stopped
2025-10-27T18:35:02.282Z,1761590102.282 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:35:02.320Z,1761590102.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:02.572Z,1761590102.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:02.827Z,1761590102.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:03.065Z,1761590103.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265937,0.963364,0.034756],[-0.961697,-0.262647,-0.078454],[-0.066451,-0.054289,0.996312]]
2025-10-27T18:35:03.076Z,1761590103.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:03.328Z,1761590103.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:03.470Z,1761590103.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276785,0.954564,0.110445],[-0.960286,-0.270551,-0.068216],[-0.035236,-0.124940,0.991538]]
2025-10-27T18:35:03.580Z,1761590103.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:03.832Z,1761590103.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:03.876Z,1761590103.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294228,0.942188,0.160348],[-0.954791,-0.282312,-0.093138],[-0.042486,-0.180503,0.982656]]
2025-10-27T18:35:04.084Z,1761590104.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:04.279Z,1761590104.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284387,0.946095,0.155009],[-0.956499,-0.269023,-0.112858],[-0.065074,-0.180361,0.981445]]
2025-10-27T18:35:04.307Z,1761590104.307 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T18:35:04.308Z,1761590104.308 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T18:35:04.336Z,1761590104.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:04.590Z,1761590104.590 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:04.682Z,1761590104.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258304,0.959774,0.110061],[-0.964287,-0.249243,-0.089605],[-0.058568,-0.129276,0.989878]]
2025-10-27T18:35:04.844Z,1761590104.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:05.086Z,1761590105.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260539,0.962524,0.075281],[-0.965417,-0.260496,-0.010561],[0.009445,-0.075429,0.997106]]
2025-10-27T18:35:05.096Z,1761590105.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:05.348Z,1761590105.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:05.503Z,1761590105.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270404,0.958885,0.086149],[-0.959454,-0.275792,0.058195],[0.079561,-0.066920,0.994581]]
2025-10-27T18:35:05.600Z,1761590105.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:05.852Z,1761590105.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:05.896Z,1761590105.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256203,0.962897,0.084795],[-0.965394,-0.259313,0.027772],[0.048730,-0.074745,0.996011]]
2025-10-27T18:35:06.104Z,1761590106.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:06.298Z,1761590106.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260704,0.963359,0.063037],[-0.965379,-0.260733,-0.007908],[0.008818,-0.062917,0.997980]]
2025-10-27T18:35:06.356Z,1761590106.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:06.608Z,1761590106.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:06.701Z,1761590106.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261759,0.963544,0.055370],[-0.964349,-0.263428,0.025231],[0.038898,-0.046791,0.998147]]
2025-10-27T18:35:06.860Z,1761590106.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:07.108Z,1761590107.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226816,0.971739,0.065407],[-0.972743,-0.229351,0.034189],[0.048224,-0.055870,0.997273]]
2025-10-27T18:35:07.112Z,1761590107.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:07.364Z,1761590107.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:07.516Z,1761590107.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176587,0.979433,0.097614],[-0.982350,-0.181586,0.044880],[0.061683,-0.087966,0.994212]]
2025-10-27T18:35:07.616Z,1761590107.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:07.868Z,1761590107.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:07.914Z,1761590107.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156371,0.977664,0.140432],[-0.984745,-0.165306,0.054319],[0.076320,-0.129796,0.988599]]
2025-10-27T18:35:08.120Z,1761590108.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:08.318Z,1761590108.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173716,0.975140,0.137567],[-0.983423,-0.179146,0.028031],[0.051978,-0.130417,0.990096]]
2025-10-27T18:35:08.373Z,1761590108.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:08.624Z,1761590108.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:08.726Z,1761590108.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169025,0.977776,0.124036],[-0.985550,-0.169079,-0.010168],[0.011030,-0.123962,0.992226]]
2025-10-27T18:35:08.876Z,1761590108.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:09.125Z,1761590109.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168518,0.978326,0.120333],[-0.985645,-0.165979,-0.030891],[-0.010249,-0.123811,0.992253]]
2025-10-27T18:35:09.128Z,1761590109.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:09.380Z,1761590109.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:09.499Z,1761590109.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:35:09.532Z,1761590109.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146410,0.982985,0.110928],[-0.988834,-0.142282,-0.044302],[-0.027766,-0.116176,0.992841]]
2025-10-27T18:35:09.632Z,1761590109.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:09.884Z,1761590109.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:09.934Z,1761590109.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119107,0.990400,0.070155],[-0.990663,-0.113823,-0.075046],[-0.066340,-0.078439,0.994709]]
2025-10-27T18:35:10.136Z,1761590110.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:10.343Z,1761590110.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139820,0.989607,0.033578],[-0.985869,-0.135972,-0.097846],[-0.092264,-0.046784,0.994635]]
2025-10-27T18:35:10.388Z,1761590110.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:10.504Z,1761590110.504 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T18:35:10.504Z,1761590110.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:35:10.640Z,1761590110.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:10.752Z,1761590110.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162402,0.985776,0.043267],[-0.985800,-0.160195,-0.050355],[-0.042708,-0.050831,0.997794]]
2025-10-27T18:35:10.892Z,1761590110.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:11.144Z,1761590111.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:11.147Z,1761590111.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156402,0.985600,0.064270],[-0.987643,-0.156719,-0.000109],[0.009965,-0.063493,0.997933]]
2025-10-27T18:35:11.397Z,1761590111.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:11.549Z,1761590111.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140926,0.987101,0.075972],[-0.989563,-0.142777,0.019487],[0.030083,-0.072432,0.996920]]
2025-10-27T18:35:11.648Z,1761590111.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:11.900Z,1761590111.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:11.958Z,1761590111.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113915,0.987462,0.109283],[-0.992967,-0.116736,0.019751],[0.032261,-0.106264,0.993814]]
2025-10-27T18:35:12.152Z,1761590112.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:12.358Z,1761590112.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106360,0.985729,0.130484],[-0.994148,-0.107913,0.004867],[0.018879,-0.129203,0.991438]]
2025-10-27T18:35:12.404Z,1761590112.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:12.656Z,1761590112.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:12.768Z,1761590112.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101472,0.988619,0.111070],[-0.994795,-0.101878,-0.002028],[0.009310,-0.110698,0.993810]]
2025-10-27T18:35:12.908Z,1761590112.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:13.160Z,1761590113.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:13.168Z,1761590113.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066988,0.995682,0.064265],[-0.997269,-0.064808,-0.035421],[-0.031103,-0.066462,0.997304]]
2025-10-27T18:35:13.412Z,1761590113.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:13.577Z,1761590113.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065774,0.996260,0.056030],[-0.993431,-0.060111,-0.097370],[-0.093638,-0.062066,0.993670]]
2025-10-27T18:35:13.664Z,1761590113.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:13.916Z,1761590113.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:13.998Z,1761590113.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070953,0.996601,0.041853],[-0.994765,-0.067605,-0.076627],[-0.073537,-0.047071,0.996181]]
2025-10-27T18:35:14.168Z,1761590114.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:14.377Z,1761590114.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050601,0.998549,0.018441],[-0.998707,-0.050502,-0.005793],[-0.004854,-0.018711,0.999813]]
2025-10-27T18:35:14.420Z,1761590114.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:14.672Z,1761590114.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:14.814Z,1761590114.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035331,0.998837,0.032815],[-0.999092,-0.036085,0.022668],[0.023826,-0.031984,0.999204]]
2025-10-27T18:35:14.896Z,1761590114.896 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:35:14.896Z,1761590114.896 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:35:14.896Z,1761590114.896 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:35:14.896Z,1761590114.896 [marl:UpdateRudder:A] Stopped
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode] Stopped
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:35:14.897Z,1761590114.897 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed] Stopped
2025-10-27T18:35:14.898Z,1761590114.898 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:35:14.936Z,1761590114.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:15.187Z,1761590115.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016829,0.996570,0.081029],[-0.999313,-0.019441,0.031566],[0.033033,-0.080442,0.996212]]
2025-10-27T18:35:15.188Z,1761590115.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:15.234Z,1761590115.234 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:35:15.234Z,1761590115.234 [marl:UpdateRudder:B] Stopped
2025-10-27T18:35:15.235Z,1761590115.235 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:35:15.251Z,1761590115.251 [marl:UpdateRudder] Stopped
2025-10-27T18:35:15.251Z,1761590115.251 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:35:15.442Z,1761590115.442 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:15.692Z,1761590115.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:15.945Z,1761590115.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:16.004Z,1761590116.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028159,0.986139,0.163515],[-0.998829,-0.034196,0.034223],[0.039340,-0.162360,0.985947]]
2025-10-27T18:35:16.196Z,1761590116.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:16.421Z,1761590116.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013759,0.987468,0.157220],[-0.999889,0.012689,0.007807],[0.005714,-0.157310,0.987533]]
2025-10-27T18:35:16.448Z,1761590116.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:16.700Z,1761590116.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:16.839Z,1761590116.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031486,0.990819,0.131476],[-0.997985,0.038414,-0.050498],[-0.055084,-0.129621,0.990032]]
2025-10-27T18:35:16.952Z,1761590116.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:17.204Z,1761590117.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:17.208Z,1761590117.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014041,0.994692,0.101932],[-0.998217,0.019860,-0.056295],[-0.058021,-0.100960,0.993197]]
2025-10-27T18:35:17.456Z,1761590117.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:17.609Z,1761590117.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019690,0.994966,0.098260],[-0.999660,0.021269,-0.015051],[-0.017065,-0.097930,0.995047]]
2025-10-27T18:35:17.709Z,1761590117.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:17.961Z,1761590117.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:18.014Z,1761590118.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045380,0.995676,0.081059],[-0.998917,0.044395,0.013912],[0.010253,-0.081603,0.996612]]
2025-10-27T18:35:18.212Z,1761590118.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:18.419Z,1761590118.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078148,0.994882,0.064059],[-0.996936,0.078203,0.001652],[-0.003367,-0.063992,0.997945]]
2025-10-27T18:35:18.465Z,1761590118.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:18.716Z,1761590118.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:18.843Z,1761590118.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099046,0.993970,0.047039],[-0.994433,0.100579,-0.031420],[-0.035961,-0.043665,0.998399]]
2025-10-27T18:35:18.970Z,1761590118.970 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:19.220Z,1761590119.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:19.230Z,1761590119.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104055,0.993821,0.038627],[-0.993280,0.105820,-0.046862],[-0.050660,-0.033491,0.998154]]
2025-10-27T18:35:19.472Z,1761590119.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:19.630Z,1761590119.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099772,0.993856,0.047912],[-0.994211,0.101505,-0.035219],[-0.039866,-0.044121,0.998231]]
2025-10-27T18:35:19.724Z,1761590119.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:19.977Z,1761590119.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:20.034Z,1761590120.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110141,0.990397,0.083564],[-0.993526,0.112063,-0.018650],[-0.027835,-0.080969,0.996328]]
2025-10-27T18:35:20.228Z,1761590120.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:20.440Z,1761590120.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126650,0.983936,0.125813],[-0.991411,0.129729,-0.016558],[-0.032614,-0.122635,0.991916]]
2025-10-27T18:35:20.489Z,1761590120.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:20.740Z,1761590120.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:20.857Z,1761590120.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144108,0.982785,0.115617],[-0.989146,0.146448,-0.011960],[-0.028686,-0.112639,0.993222]]
2025-10-27T18:35:20.993Z,1761590120.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:21.244Z,1761590121.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:21.247Z,1761590121.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137483,0.988003,0.070343],[-0.989981,0.139373,-0.022668],[-0.032200,-0.066522,0.997265]]
2025-10-27T18:35:21.496Z,1761590121.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:21.656Z,1761590121.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120941,0.989967,0.073063],[-0.992633,0.120068,0.016237],[0.007302,-0.074488,0.997195]]
2025-10-27T18:35:21.749Z,1761590121.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:21.000Z,1761590122.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:22.054Z,1761590122.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140733,0.984171,0.107710],[-0.988549,0.133704,0.069952],[0.054444,-0.116321,0.991718]]
2025-10-27T18:35:22.252Z,1761590122.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:22.504Z,1761590122.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:22.758Z,1761590122.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:22.861Z,1761590122.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166887,0.977170,0.131484],[-0.984886,0.171482,-0.024354],[-0.046345,-0.125433,0.991019]]
2025-10-27T18:35:23.008Z,1761590123.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:23.260Z,1761590123.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:23.268Z,1761590123.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185961,0.976228,0.111341],[-0.982202,0.187743,-0.005641],[-0.026411,-0.108311,0.993766]]
2025-10-27T18:35:23.513Z,1761590123.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:23.672Z,1761590123.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206338,0.976152,0.067466],[-0.978212,0.204174,0.037611],[0.022940,-0.073757,0.997012]]
2025-10-27T18:35:23.764Z,1761590123.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:24.016Z,1761590124.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:24.073Z,1761590124.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214208,0.975957,0.040283],[-0.976161,0.212411,0.044629],[0.034999,-0.048882,0.998191]]
2025-10-27T18:35:24.268Z,1761590124.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:24.495Z,1761590124.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211882,0.974834,0.069313],[-0.977273,0.210865,0.021753],[0.006590,-0.072347,0.997358]]
2025-10-27T18:35:24.520Z,1761590124.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:24.774Z,1761590124.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:24.882Z,1761590124.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212920,0.973116,0.087813],[-0.975968,0.216085,-0.028166],[-0.046384,-0.079706,0.995739]]
2025-10-27T18:35:25.025Z,1761590125.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:25.276Z,1761590125.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:25.291Z,1761590125.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229652,0.970486,0.073595],[-0.972675,0.231503,-0.017588],[-0.034107,-0.067545,0.997133]]
2025-10-27T18:35:25.528Z,1761590125.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:25.689Z,1761590125.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246738,0.967547,0.054528],[-0.968803,0.244926,0.037834],[0.023251,-0.062162,0.997795]]
2025-10-27T18:35:25.780Z,1761590125.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:26.032Z,1761590126.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:26.094Z,1761590126.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237873,0.967800,0.082342],[-0.968368,0.229724,0.097422],[0.075369,-0.102911,0.991831]]
2025-10-27T18:35:26.284Z,1761590126.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:26.499Z,1761590126.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240727,0.962687,0.123632],[-0.961571,0.219220,0.165299],[0.132028,-0.158673,0.978464]]
2025-10-27T18:35:26.536Z,1761590126.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:26.790Z,1761590126.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:26.941Z,1761590126.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269042,0.956323,0.114297],[-0.952709,0.246842,0.177239],[0.141284,-0.156576,0.977508]]
2025-10-27T18:35:27.040Z,1761590127.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:27.292Z,1761590127.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:27.307Z,1761590127.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292403,0.952445,0.085723],[-0.954779,0.285719,0.082225],[0.053823,-0.105889,0.992920]]
2025-10-27T18:35:27.544Z,1761590127.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:27.716Z,1761590127.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297552,0.949949,0.095186],[-0.954703,0.295843,0.031916],[0.002159,-0.100372,0.994948]]
2025-10-27T18:35:27.796Z,1761590127.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:28.048Z,1761590128.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:28.115Z,1761590128.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302828,0.947675,0.101028],[-0.953029,0.301745,0.026209],[-0.005647,-0.104220,0.994538]]
2025-10-27T18:35:28.140Z,1761590128.140 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:35:28.140Z,1761590128.140 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:35:28.140Z,1761590128.140 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:35:28.140Z,1761590128.140 [marl:UpdateRudder:A] Stopped
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode] Stopped
2025-10-27T18:35:28.141Z,1761590128.141 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed] Stopped
2025-10-27T18:35:28.142Z,1761590128.142 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:35:28.300Z,1761590128.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:28.518Z,1761590128.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296852,0.948198,0.113132],[-0.954586,0.297808,0.008744],[-0.025401,-0.110590,0.993541]]
2025-10-27T18:35:28.552Z,1761590128.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:28.558Z,1761590128.558 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:35:28.558Z,1761590128.558 [marl:UpdateRudder:B] Stopped
2025-10-27T18:35:28.558Z,1761590128.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:35:28.558Z,1761590128.558 [marl:UpdateRudder] Stopped
2025-10-27T18:35:28.558Z,1761590128.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:35:28.806Z,1761590128.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:28.922Z,1761590128.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289414,0.949691,0.119692],[-0.956410,0.291996,-0.004243],[-0.038979,-0.113247,0.992802]]
2025-10-27T18:35:29.057Z,1761590129.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:29.308Z,1761590129.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:29.328Z,1761590129.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303530,0.949453,0.080055],[-0.952141,0.305416,-0.012176],[-0.036011,-0.072528,0.996716]]
2025-10-27T18:35:29.560Z,1761590129.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:29.736Z,1761590129.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314102,0.948445,0.042338],[-0.948172,0.315645,-0.036582],[-0.048060,-0.028653,0.998433]]
2025-10-27T18:35:29.812Z,1761590129.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:30.064Z,1761590130.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:30.134Z,1761590130.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305272,0.951010,0.048878],[-0.950646,0.307343,-0.042569],[-0.055506,-0.033471,0.997897]]
2025-10-27T18:35:30.316Z,1761590130.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:30.538Z,1761590130.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307027,0.946842,0.096043],[-0.949878,0.311118,-0.030622],[-0.058875,-0.081827,0.994906]]
2025-10-27T18:35:30.568Z,1761590130.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:30.822Z,1761590130.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:30.949Z,1761590130.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318421,0.941440,0.110901],[-0.947383,0.320089,0.002904],[-0.032765,-0.105990,0.993827]]
2025-10-27T18:35:31.072Z,1761590131.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:31.324Z,1761590131.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:31.348Z,1761590131.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335335,0.937342,0.094548],[-0.942077,0.334315,0.026906],[-0.006388,-0.098094,0.995157]]
2025-10-27T18:35:31.576Z,1761590131.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:31.756Z,1761590131.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346360,0.934637,0.080553],[-0.938084,0.344556,0.035762],[0.005670,-0.087952,0.996109]]
2025-10-27T18:35:31.828Z,1761590131.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:32.080Z,1761590132.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:32.165Z,1761590132.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353226,0.930948,0.092557],[-0.935538,0.351563,0.034246],[-0.000658,-0.098687,0.995118]]
2025-10-27T18:35:32.336Z,1761590132.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:32.558Z,1761590132.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347231,0.932676,0.097701],[-0.937712,0.346568,0.024221],[-0.011270,-0.100026,0.994921]]
2025-10-27T18:35:32.588Z,1761590132.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:32.840Z,1761590132.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:32.971Z,1761590132.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361470,0.929992,0.066741],[-0.932362,0.361019,0.019119],[-0.006314,-0.069138,0.997587]]
2025-10-27T18:35:33.092Z,1761590133.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:33.344Z,1761590133.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:33.366Z,1761590133.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377060,0.925764,0.028049],[-0.925920,0.376049,0.035475],[0.022294,-0.039348,0.998977]]
2025-10-27T18:35:33.596Z,1761590133.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:33.772Z,1761590133.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379197,0.924974,0.025157],[-0.924906,0.378080,0.040048],[0.027532,-0.038454,0.998881]]
2025-10-27T18:35:33.848Z,1761590133.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:34.100Z,1761590134.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:34.174Z,1761590134.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356424,0.932314,0.061265],[-0.934277,0.354979,0.033410],[0.009401,-0.069147,0.997562]]
2025-10-27T18:35:34.352Z,1761590134.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:34.579Z,1761590134.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347507,0.934149,0.081268],[-0.937138,0.343060,0.063896],[0.031809,-0.098364,0.994642]]
2025-10-27T18:35:34.604Z,1761590134.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:34.856Z,1761590134.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:34.982Z,1761590134.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362182,0.927716,0.090373],[-0.931428,0.356513,0.073073],[0.035572,-0.110641,0.993224]]
2025-10-27T18:35:35.108Z,1761590135.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:35.360Z,1761590135.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:35.385Z,1761590135.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375560,0.921430,0.099602],[-0.926798,0.373414,0.040094],[-0.000249,-0.107369,0.994219]]
2025-10-27T18:35:35.612Z,1761590135.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:35.790Z,1761590135.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369450,0.925771,0.080342],[-0.929118,0.366553,0.048773],[0.015703,-0.092666,0.995573]]
2025-10-27T18:35:35.865Z,1761590135.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:36.116Z,1761590136.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:36.369Z,1761590136.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:36.597Z,1761590136.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352133,0.934658,0.049173],[-0.932027,0.345367,0.109759],[0.085604,-0.084480,0.992741]]
2025-10-27T18:35:36.620Z,1761590136.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:36.872Z,1761590136.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:37.001Z,1761590137.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340589,0.932666,0.118886],[-0.939996,0.335065,0.064336],[0.020169,-0.133664,0.990821]]
2025-10-27T18:35:37.124Z,1761590137.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:37.376Z,1761590137.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:37.408Z,1761590137.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333311,0.924514,0.184871],[-0.942104,0.334219,0.027169],[-0.036669,-0.183223,0.982387]]
2025-10-27T18:35:37.628Z,1761590137.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:37.812Z,1761590137.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325429,0.927797,0.182450],[-0.944451,0.328305,0.015077],[-0.045911,-0.177222,0.983100]]
2025-10-27T18:35:37.882Z,1761590137.882 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:38.132Z,1761590138.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:38.213Z,1761590138.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327956,0.937621,0.115379],[-0.944137,0.329498,0.005996],[-0.032395,-0.110901,0.993303]]
2025-10-27T18:35:38.384Z,1761590138.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:38.618Z,1761590138.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339799,0.940192,0.023968],[-0.940496,0.339743,0.006518],[-0.002015,-0.024756,0.999691]]
2025-10-27T18:35:38.636Z,1761590138.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:38.888Z,1761590138.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:39.022Z,1761590139.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355568,0.934252,-0.027282],[-0.934512,0.355867,0.006835],[0.016094,0.023065,0.999604]]
2025-10-27T18:35:39.140Z,1761590139.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:39.392Z,1761590139.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:39.436Z,1761590139.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361556,0.931457,-0.040802],[-0.931397,0.362819,0.029365],[0.042156,0.027386,0.998736]]
2025-10-27T18:35:39.644Z,1761590139.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:39.829Z,1761590139.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381111,0.923660,-0.040078],[-0.921388,0.383029,0.065825],[0.076151,0.011841,0.997026]]
2025-10-27T18:35:39.896Z,1761590139.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:40.148Z,1761590140.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:40.238Z,1761590140.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368932,0.928787,0.035268],[-0.924059,0.362443,0.121447],[0.100016,-0.077395,0.991971]]
2025-10-27T18:35:40.400Z,1761590140.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:40.631Z,1761590140.631 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:35:40.640Z,1761590140.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343898,0.928484,0.140186],[-0.933922,0.322687,0.153829],[0.097591,-0.183824,0.978103]]
2025-10-27T18:35:40.652Z,1761590140.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:40.904Z,1761590140.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:41.041Z,1761590141.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348581,0.912036,0.216059],[-0.936515,0.329613,0.119562],[0.037829,-0.244020,0.969032]]
2025-10-27T18:35:41.156Z,1761590141.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:41.408Z,1761590141.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:41.472Z,1761590141.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366424,0.904457,0.218385],[-0.930440,0.357184,0.081865],[-0.003960,-0.233192,0.972423]]
2025-10-27T18:35:41.529Z,1761590141.529 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:35:41.529Z,1761590141.529 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:35:41.529Z,1761590141.529 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateRudder:A] Stopped
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:35:41.530Z,1761590141.530 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:35:41.531Z,1761590141.531 [marl:UpdateCommandMode] Stopped
2025-10-27T18:35:41.535Z,1761590141.535 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:35:41.535Z,1761590141.535 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:35:41.535Z,1761590141.535 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:35:41.535Z,1761590141.535 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:35:41.536Z,1761590141.536 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:35:41.536Z,1761590141.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:35:41.536Z,1761590141.536 [marl:UpdateSpeed] Stopped
2025-10-27T18:35:41.536Z,1761590141.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:35:41.636Z,1761590141.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:35:41.660Z,1761590141.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:41.850Z,1761590141.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374104,0.917922,0.132160],[-0.927325,0.368617,0.064726],[0.010697,-0.146770,0.989113]]
2025-10-27T18:35:41.904Z,1761590141.904 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:35:41.904Z,1761590141.904 [marl:UpdateRudder:B] Stopped
2025-10-27T18:35:41.904Z,1761590141.904 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:35:41.904Z,1761590141.904 [marl:UpdateRudder] Stopped
2025-10-27T18:35:41.904Z,1761590141.904 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:35:41.912Z,1761590141.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:42.164Z,1761590142.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:42.255Z,1761590142.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384551,0.923067,-0.008245],[-0.922609,0.384622,0.029303],[0.030220,-0.003661,0.999537]]
2025-10-27T18:35:42.416Z,1761590142.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:42.658Z,1761590142.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375111,0.922094,-0.095051],[-0.926872,0.374656,-0.023268],[0.014156,0.096828,0.995200]]
2025-10-27T18:35:42.671Z,1761590142.671 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:42.921Z,1761590142.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:43.061Z,1761590143.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347023,0.933332,-0.092016],[-0.936735,0.349732,0.014639],[0.045844,0.081114,0.995650]]
2025-10-27T18:35:43.173Z,1761590143.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:43.424Z,1761590143.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:43.468Z,1761590143.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370291,0.928769,-0.016535],[-0.925695,0.370429,0.076623],[0.077290,-0.013066,0.996923]]
2025-10-27T18:35:43.676Z,1761590143.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:43.930Z,1761590143.930 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:44.180Z,1761590144.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:44.289Z,1761590144.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369448,0.910769,0.184414],[-0.925530,0.342906,0.160652],[0.083080,-0.230034,0.969630]]
2025-10-27T18:35:44.432Z,1761590144.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:44.682Z,1761590144.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355691,0.930968,0.082361],[-0.932535,0.347662,0.097517],[0.062152,-0.111491,0.991820]]
2025-10-27T18:35:44.684Z,1761590144.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:44.936Z,1761590144.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:45.086Z,1761590145.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375206,0.926041,-0.040850],[-0.925483,0.376723,0.039515],[0.051982,0.022980,0.998384]]
2025-10-27T18:35:45.188Z,1761590145.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:45.440Z,1761590145.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:45.492Z,1761590145.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412493,0.904657,-0.106986],[-0.909660,0.415327,0.004672],[0.048661,0.095393,0.994250]]
2025-10-27T18:35:45.692Z,1761590145.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:45.890Z,1761590145.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412787,0.908728,-0.061812],[-0.909923,0.414450,0.016476],[0.040590,0.049443,0.997952]]
2025-10-27T18:35:45.944Z,1761590145.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:46.196Z,1761590146.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:46.297Z,1761590146.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403775,0.912363,0.067520],[-0.914858,0.402733,0.029004],[-0.000730,-0.073482,0.997296]]
2025-10-27T18:35:46.448Z,1761590146.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:46.698Z,1761590146.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400585,0.893493,0.202981],[-0.912898,0.408157,0.004964],[-0.078413,-0.187289,0.979170]]
2025-10-27T18:35:46.700Z,1761590146.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:46.952Z,1761590146.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:47.204Z,1761590147.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:47.456Z,1761590147.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:47.708Z,1761590147.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:47.914Z,1761590147.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401975,0.906463,0.129384],[-0.914991,0.403017,0.019195],[-0.034745,-0.126101,0.991409]]
2025-10-27T18:35:47.960Z,1761590147.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:48.212Z,1761590148.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:48.317Z,1761590148.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389659,0.920341,0.033740],[-0.920463,0.390390,-0.018516],[-0.030213,-0.023841,0.999259]]
2025-10-27T18:35:48.464Z,1761590148.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:48.716Z,1761590148.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:48.721Z,1761590148.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377140,0.926141,-0.005271],[-0.926145,0.377158,0.002800],[0.004581,0.003826,0.999982]]
2025-10-27T18:35:48.968Z,1761590148.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:49.126Z,1761590149.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381408,0.924316,-0.012921],[-0.921164,0.381203,0.078361],[0.077356,-0.017985,0.996841]]
2025-10-27T18:35:49.220Z,1761590149.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:49.472Z,1761590149.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:49.526Z,1761590149.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376887,0.926215,-0.009005],[-0.916317,0.374245,0.142488],[0.135345,-0.045450,0.989756]]
2025-10-27T18:35:49.724Z,1761590149.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:49.940Z,1761590149.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382760,0.923847,0.000829],[-0.910145,0.376929,0.171933],[0.158527,-0.066564,0.985108]]
2025-10-27T18:35:49.984Z,1761590149.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:50.228Z,1761590150.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:50.337Z,1761590150.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421762,0.905561,0.045568],[-0.896540,0.409001,0.170097],[0.135396,-0.112594,0.984373]]
2025-10-27T18:35:50.480Z,1761590150.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:50.732Z,1761590150.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:50.746Z,1761590150.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430743,0.896738,0.101593],[-0.899054,0.416591,0.134735],[0.078499,-0.149374,0.985660]]
2025-10-27T18:35:50.984Z,1761590150.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:51.142Z,1761590151.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410987,0.901893,0.132961],[-0.910841,0.400129,0.101314],[0.038173,-0.162745,0.985929]]
2025-10-27T18:35:51.146Z,1761590151.146 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183547.00,A,3646.62565,N,12151.92524,W,0.175,107.25,271025,,,A*7A
2025-10-27T18:35:51.149Z,1761590151.149 [NAL9602](INFO): GPS fix at 20251027T183547: (36.777094, -121.865421)
2025-10-27T18:35:51.212Z,1761590151.212 [UniversalFixResidualReporter](INFO): Fix residual: 3.1 %DT, over the last 587.6 m. Residual distance 18.4 m at bearing 146.2 degrees. Fix at (36.7771, -121.8654) with 123.0 m made good.
2025-10-27T18:35:51.236Z,1761590151.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:51.236Z,1761590151.236 [marl:NeedComms:C] Stopped
2025-10-27T18:35:51.237Z,1761590151.237 [marl:NeedComms:D] Running Loop=1
2025-10-27T18:35:51.238Z,1761590151.238 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590144.00. Resetting abort timer.
2025-10-27T18:35:51.488Z,1761590151.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:51.549Z,1761590151.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415238,0.903849,0.103118],[-0.908861,0.407273,0.089998],[0.039347,-0.131091,0.990589]]
2025-10-27T18:35:51.741Z,1761590151.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:51.966Z,1761590151.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435810,0.898076,0.059415],[-0.899455,0.432200,0.064681],[0.032409,-0.081629,0.996136]]
2025-10-27T18:35:51.992Z,1761590151.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:52.244Z,1761590152.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:52.365Z,1761590152.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432611,0.901270,0.023670],[-0.901068,0.431332,0.045045],[0.030388,-0.040815,0.998704]]
2025-10-27T18:35:52.496Z,1761590152.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:52.748Z,1761590152.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:52.782Z,1761590152.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415049,0.909796,-0.002594],[-0.907045,0.414012,0.076577],[0.070744,-0.029431,0.997060]]
2025-10-27T18:35:53.000Z,1761590153.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:53.177Z,1761590153.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413164,0.910506,0.016568],[-0.906084,0.409201,0.107548],[0.091144,-0.059447,0.994062]]
2025-10-27T18:35:53.254Z,1761590153.254 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:53.504Z,1761590153.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:53.580Z,1761590153.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420699,0.905771,0.050900],[-0.904124,0.413995,0.105674],[0.074644,-0.090477,0.993097]]
2025-10-27T18:35:53.756Z,1761590153.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:53.981Z,1761590153.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419532,0.905558,0.062909],[-0.902734,0.408946,0.133547],[0.095208,-0.112818,0.989044]]
2025-10-27T18:35:54.008Z,1761590154.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:54.260Z,1761590154.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:54.386Z,1761590154.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408090,0.911988,0.041711],[-0.901704,0.395500,0.174669],[0.142799,-0.108892,0.983743]]
2025-10-27T18:35:54.512Z,1761590154.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:54.764Z,1761590154.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:54.837Z,1761590154.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406335,0.913627,0.013315],[-0.899426,0.397366,0.182027],[0.161014,-0.085940,0.983203]]
2025-10-27T18:35:54.928Z,1761590154.928 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateRudder:A] Stopped
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:35:54.929Z,1761590154.929 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateCommandMode] Stopped
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:35:54.930Z,1761590154.930 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:35:54.931Z,1761590154.931 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:35:54.935Z,1761590154.935 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:35:54.935Z,1761590154.935 [marl:UpdateSpeed] Stopped
2025-10-27T18:35:54.935Z,1761590154.935 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:35:55.016Z,1761590155.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:55.200Z,1761590155.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417906,0.908391,-0.013460],[-0.888443,0.411735,0.202840],[0.189800,-0.072810,0.979119]]
2025-10-27T18:35:55.223Z,1761590155.223 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:35:55.223Z,1761590155.223 [marl:UpdateRudder:B] Stopped
2025-10-27T18:35:55.224Z,1761590155.224 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:35:55.224Z,1761590155.224 [marl:UpdateRudder] Stopped
2025-10-27T18:35:55.224Z,1761590155.224 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:35:55.269Z,1761590155.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:55.520Z,1761590155.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:55.597Z,1761590155.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428250,0.902378,-0.048134],[-0.871482,0.426502,0.242105],[0.238999,-0.061734,0.969055]]
2025-10-27T18:35:55.772Z,1761590155.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:56.001Z,1761590156.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436857,0.897238,-0.064185],[-0.864543,0.438502,0.245523],[0.248438,-0.051767,0.967264]]
2025-10-27T18:35:56.032Z,1761590156.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:56.286Z,1761590156.286 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:56.454Z,1761590156.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433128,0.899485,-0.057681],[-0.872486,0.434467,0.223620],[0.226203,-0.046531,0.972968]]
2025-10-27T18:35:56.552Z,1761590156.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:56.806Z,1761590156.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:56.844Z,1761590156.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428455,0.902321,-0.047353],[-0.862082,0.423921,0.277679],[0.270629,-0.078151,0.959506]]
2025-10-27T18:35:57.056Z,1761590157.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:57.214Z,1761590157.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444244,0.894872,-0.043027],[-0.830050,0.429187,0.356112],[0.337141,-0.122486,0.933452]]
2025-10-27T18:35:57.308Z,1761590157.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:57.560Z,1761590157.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:57.618Z,1761590157.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458142,0.886887,-0.059483],[-0.817153,0.446564,0.364475],[0.349811,-0.118375,0.929311]]
2025-10-27T18:35:57.812Z,1761590157.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:58.064Z,1761590158.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:58.316Z,1761590158.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:58.568Z,1761590158.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:58.822Z,1761590158.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:59.072Z,1761590159.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:59.324Z,1761590159.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:59.579Z,1761590159.579 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:35:59.832Z,1761590159.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:00.084Z,1761590160.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:00.336Z,1761590160.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:00.411Z,1761590160.411 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:36:00.411Z,1761590160.411 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:36:00.463Z,1761590160.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508368,0.854762,-0.104611],[-0.804957,0.514842,0.294928],[0.305952,-0.065725,0.949776]]
2025-10-27T18:36:00.588Z,1761590160.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:00.840Z,1761590160.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:00.852Z,1761590160.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536981,0.840126,-0.076415],[-0.790267,0.532663,0.302899],[0.295176,-0.102263,0.949954]]
2025-10-27T18:36:00.933Z,1761590160.933 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:36:01.092Z,1761590161.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:01.242Z,1761590161.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528067,0.843085,-0.101754],[-0.789710,0.531593,0.306215],[0.312257,-0.081346,0.946509]]
2025-10-27T18:36:01.344Z,1761590161.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:01.596Z,1761590161.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:01.646Z,1761590161.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522662,0.844427,-0.117336],[-0.780620,0.529343,0.332307],[0.342720,-0.082089,0.935844]]
2025-10-27T18:36:01.852Z,1761590161.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:02.050Z,1761590162.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549409,0.830752,-0.089451],[-0.765570,0.543388,0.344431],[0.334743,-0.120752,0.934541]]
2025-10-27T18:36:02.104Z,1761590162.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:02.356Z,1761590162.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:02.513Z,1761590162.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562946,0.824606,-0.055826],[-0.776278,0.550721,0.306755],[0.283697,-0.129350,0.950150]]
2025-10-27T18:36:02.608Z,1761590162.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:02.861Z,1761590162.861 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:03.113Z,1761590163.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:03.340Z,1761590163.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566644,0.819298,-0.087550],[-0.781506,0.568071,0.257960],[0.261081,-0.077750,0.962181]]
2025-10-27T18:36:03.364Z,1761590163.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:03.616Z,1761590163.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:03.749Z,1761590163.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587739,0.803987,-0.090376],[-0.778148,0.592330,0.208879],[0.221468,-0.052440,0.973757]]
2025-10-27T18:36:03.868Z,1761590163.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:04.120Z,1761590164.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:04.146Z,1761590164.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606374,0.789461,-0.095193],[-0.770146,0.612863,0.176845],[0.197952,-0.033922,0.979625]]
2025-10-27T18:36:04.372Z,1761590164.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:04.550Z,1761590164.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617272,0.774540,-0.138069],[-0.754044,0.632504,0.177080],[0.224485,-0.005196,0.974464]]
2025-10-27T18:36:04.624Z,1761590164.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:04.876Z,1761590164.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:04.963Z,1761590164.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611147,0.773201,-0.169289],[-0.750052,0.634047,0.188166],[0.252827,0.011978,0.967437]]
2025-10-27T18:36:05.128Z,1761590165.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:05.358Z,1761590165.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606378,0.783048,-0.138355],[-0.750141,0.621034,0.227168],[0.263807,-0.033964,0.963977]]
2025-10-27T18:36:05.381Z,1761590165.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:05.632Z,1761590165.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:05.766Z,1761590165.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606067,0.790917,-0.084458],[-0.751464,0.604150,0.265150],[0.260737,-0.097232,0.960501]]
2025-10-27T18:36:05.885Z,1761590165.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:06.136Z,1761590166.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:06.388Z,1761590166.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:06.571Z,1761590166.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633536,0.765875,-0.109852],[-0.708074,0.631145,0.316682],[0.311871,-0.122846,0.942149]]
2025-10-27T18:36:06.640Z,1761590166.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:06.893Z,1761590166.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:06.977Z,1761590166.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646750,0.751512,-0.130173],[-0.707080,0.654769,0.267049],[0.285923,-0.080671,0.954851]]
2025-10-27T18:36:07.144Z,1761590167.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:07.384Z,1761590167.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645245,0.755058,-0.116390],[-0.731445,0.654542,0.191217],[0.220562,-0.038249,0.974623]]
2025-10-27T18:36:07.398Z,1761590167.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:07.648Z,1761590167.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:07.782Z,1761590167.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635500,0.767815,-0.081241],[-0.749621,0.638778,0.173297],[0.184955,-0.049230,0.981513]]
2025-10-27T18:36:07.901Z,1761590167.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:08.152Z,1761590168.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:08.185Z,1761590168.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630057,0.776362,-0.017039],[-0.759478,0.620634,0.194956],[0.161931,-0.109892,0.980664]]
2025-10-27T18:36:08.202Z,1761590168.202 [NAL9602](INFO): SBD MO Status=1, MOMSN=3082, MT Status=0, MTMSN=0
2025-10-27T18:36:08.255Z,1761590168.255 [NAL9602](INFO): Sent 94 bytes from file Logs/20251027T165046/Courier0027.lzma
2025-10-27T18:36:08.255Z,1761590168.255 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:36:08.405Z,1761590168.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:08.590Z,1761590168.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639117,0.767743,0.045825],[-0.757281,0.617761,0.211889],[0.134367,-0.170124,0.976219]]
2025-10-27T18:36:08.656Z,1761590168.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:08.908Z,1761590168.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:09.160Z,1761590169.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:09.412Z,1761590169.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:09.463Z,1761590169.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644100,0.764264,0.032197],[-0.761132,0.636129,0.126559],[0.076243,-0.106022,0.991436]]
2025-10-27T18:36:09.664Z,1761590169.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:09.857Z,1761590169.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658395,0.752492,-0.016495],[-0.750782,0.658136,0.056420],[0.053311,-0.024762,0.998271]]
2025-10-27T18:36:09.916Z,1761590169.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:10.168Z,1761590170.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:10.420Z,1761590170.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:10.672Z,1761590170.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:10.924Z,1761590170.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:11.177Z,1761590171.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:11.428Z,1761590171.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:11.680Z,1761590171.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:11.763Z,1761590171.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:36:11.932Z,1761590171.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:12.037Z,1761590172.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672206,0.737272,0.067587],[-0.738636,0.661605,0.129207],[0.050545,-0.136776,0.989312]]
2025-10-27T18:36:12.184Z,1761590172.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:12.436Z,1761590172.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:12.438Z,1761590172.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677893,0.732655,0.060639],[-0.735034,0.673937,0.074395],[0.013639,-0.095004,0.995383]]
2025-10-27T18:36:12.461Z,1761590172.461 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:36:12.461Z,1761590172.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:36:12.462Z,1761590172.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:36:12.464Z,1761590172.464 [marl:UpdateRudder:A] Stopped
2025-10-27T18:36:12.464Z,1761590172.464 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:36:12.464Z,1761590172.464 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:36:12.464Z,1761590172.464 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:36:12.464Z,1761590172.464 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:36:12.466Z,1761590172.466 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:36:12.467Z,1761590172.467 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:36:12.467Z,1761590172.467 [marl:UpdateCommandMode] Stopped
2025-10-27T18:36:12.467Z,1761590172.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:36:12.467Z,1761590172.467 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed] Stopped
2025-10-27T18:36:12.532Z,1761590172.532 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:36:12.688Z,1761590172.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:12.767Z,1761590172.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:36:12.849Z,1761590172.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683315,0.726475,0.072901],[-0.729436,0.674926,0.111346],[0.031687,-0.129261,0.991104]]
2025-10-27T18:36:12.933Z,1761590172.933 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:36:12.934Z,1761590172.934 [marl:UpdateRudder:B] Stopped
2025-10-27T18:36:12.934Z,1761590172.934 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:36:12.934Z,1761590172.934 [marl:UpdateRudder] Stopped
2025-10-27T18:36:12.934Z,1761590172.934 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:36:12.940Z,1761590172.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:13.192Z,1761590173.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:13.242Z,1761590173.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674891,0.731451,0.097472],[-0.737728,0.665815,0.111572],[0.016711,-0.147206,0.988965]]
2025-10-27T18:36:13.444Z,1761590173.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:13.646Z,1761590173.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658104,0.747041,0.093962],[-0.752910,0.653801,0.075306],[-0.005176,-0.120304,0.992724]]
2025-10-27T18:36:13.696Z,1761590173.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:13.948Z,1761590173.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:14.057Z,1761590174.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653772,0.755647,0.039742],[-0.756684,0.652631,0.038743],[0.003339,-0.055401,0.998459]]
2025-10-27T18:36:14.200Z,1761590174.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:14.452Z,1761590174.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:14.458Z,1761590174.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667561,0.744531,-0.005964],[-0.744549,0.667566,-0.001352],[0.002974,0.005343,0.999981]]
2025-10-27T18:36:14.706Z,1761590174.706 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:14.857Z,1761590174.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683262,0.730111,-0.009571],[-0.729863,0.682531,-0.038107],[-0.021289,0.033023,0.999228]]
2025-10-27T18:36:14.956Z,1761590174.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:15.208Z,1761590175.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:15.265Z,1761590175.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678000,0.735023,-0.007539],[-0.735000,0.677775,-0.019913],[-0.009527,0.019042,0.999773]]
2025-10-27T18:36:15.460Z,1761590175.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:15.666Z,1761590175.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661324,0.750055,0.008229],[-0.749549,0.660378,0.045563],[0.028740,-0.036300,0.998928]]
2025-10-27T18:36:15.712Z,1761590175.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:15.964Z,1761590175.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:16.076Z,1761590176.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669849,0.739283,0.069009],[-0.741921,0.662773,0.101412],[0.029235,-0.119130,0.992448]]
2025-10-27T18:36:16.216Z,1761590176.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:16.468Z,1761590176.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:16.477Z,1761590176.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693698,0.708040,0.132147],[-0.719914,0.675855,0.157934],[0.022511,-0.204693,0.978567]]
2025-10-27T18:36:16.720Z,1761590176.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:16.887Z,1761590176.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681444,0.721499,0.122773],[-0.726912,0.647742,0.228099],[0.085047,-0.244682,0.965866]]
2025-10-27T18:36:16.972Z,1761590176.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:17.224Z,1761590177.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:17.282Z,1761590177.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668916,0.741726,0.048932],[-0.730036,0.643123,0.231172],[0.139997,-0.190357,0.971682]]
2025-10-27T18:36:17.476Z,1761590177.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:17.687Z,1761590177.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682121,0.729935,-0.043647],[-0.718583,0.680177,0.144906],[0.135460,-0.067479,0.988482]]
2025-10-27T18:36:17.728Z,1761590177.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:17.980Z,1761590177.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:18.090Z,1761590178.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690856,0.716632,-0.095693],[-0.716394,0.696369,0.043006],[0.097457,0.038843,0.994481]]
2025-10-27T18:36:18.232Z,1761590178.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:18.488Z,1761590178.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:18.495Z,1761590178.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683867,0.724589,-0.085420],[-0.725620,0.687675,0.024038],[0.076159,0.045544,0.996055]]
2025-10-27T18:36:18.740Z,1761590178.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:18.899Z,1761590178.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681571,0.730682,-0.039548],[-0.727092,0.682331,0.075911],[0.082451,-0.022984,0.996330]]
2025-10-27T18:36:18.992Z,1761590178.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:19.244Z,1761590179.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:19.306Z,1761590179.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681803,0.731306,0.018332],[-0.724261,0.671285,0.157553],[0.102913,-0.120698,0.987340]]
2025-10-27T18:36:19.496Z,1761590179.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:19.706Z,1761590179.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700338,0.710114,0.072553],[-0.707996,0.678089,0.197325],[0.090926,-0.189562,0.977650]]
2025-10-27T18:36:19.748Z,1761590179.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:19.000Z,1761590180.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:20.109Z,1761590180.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703297,0.705452,0.087808],[-0.708615,0.685785,0.166023],[0.056904,-0.178985,0.982205]]
2025-10-27T18:36:20.252Z,1761590180.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:20.505Z,1761590180.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:20.516Z,1761590180.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687461,0.724477,0.050296],[-0.724837,0.680231,0.109072],[0.044807,-0.111439,0.992761]]
2025-10-27T18:36:20.521Z,1761590180.521 [NAL9602](INFO): SBD MO Status=1, MOMSN=3083, MT Status=0, MTMSN=0
2025-10-27T18:36:20.575Z,1761590180.575 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0028.lzma
2025-10-27T18:36:20.575Z,1761590180.575 [NAL9602](INFO): Packets left to send: 2
2025-10-27T18:36:20.758Z,1761590180.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:20.918Z,1761590180.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688947,0.724431,0.023469],[-0.723570,0.685512,0.080749],[0.042409,-0.072613,0.996458]]
2025-10-27T18:36:21.008Z,1761590181.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:21.260Z,1761590181.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:21.513Z,1761590181.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:21.764Z,1761590181.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:21.781Z,1761590181.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723908,0.689689,0.016929],[-0.689589,0.722635,0.047609],[0.020602,-0.046138,0.998723]]
2025-10-27T18:36:22.016Z,1761590182.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:22.173Z,1761590182.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721910,0.691987,-0.000604],[-0.691550,0.721485,0.034901],[0.024586,-0.024777,0.999391]]
2025-10-27T18:36:22.268Z,1761590182.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:22.520Z,1761590182.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:22.774Z,1761590182.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:23.024Z,1761590183.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:23.276Z,1761590183.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:23.528Z,1761590183.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:23.780Z,1761590183.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:24.032Z,1761590184.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:24.286Z,1761590184.286 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:24.381Z,1761590184.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706369,0.701829,0.092076],[-0.706951,0.692956,0.141537],[0.035530,-0.165070,0.985642]]
2025-10-27T18:36:24.536Z,1761590184.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:24.770Z,1761590184.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734715,0.678346,-0.006446],[-0.670866,0.727958,0.141481],[0.100666,-0.099624,0.989920]]
2025-10-27T18:36:24.790Z,1761590184.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:25.040Z,1761590185.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:25.172Z,1761590185.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715942,0.696602,-0.046616],[-0.691752,0.716814,0.087501],[0.094369,-0.030399,0.995073]]
2025-10-27T18:36:25.292Z,1761590185.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:25.544Z,1761590185.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:25.570Z,1761590185.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718291,0.694208,-0.046184],[-0.691535,0.719662,0.062172],[0.076397,-0.012720,0.996996]]
2025-10-27T18:36:25.796Z,1761590185.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:25.974Z,1761590185.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742031,0.669923,-0.024349],[-0.668259,0.742089,0.052286],[0.053097,-0.022527,0.998335]]
2025-10-27T18:36:26.048Z,1761590186.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:26.300Z,1761590186.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:26.383Z,1761590186.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741898,0.669751,0.031947],[-0.670293,0.739596,0.060861],[0.017134,-0.066566,0.997635]]
2025-10-27T18:36:26.552Z,1761590186.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:26.806Z,1761590186.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:26.824Z,1761590186.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740224,0.666255,0.090407],[-0.672267,0.735643,0.082985],[-0.011218,-0.122205,0.992441]]
2025-10-27T18:36:27.056Z,1761590187.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:27.186Z,1761590187.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741325,0.665673,0.085539],[-0.671143,0.735671,0.091411],[-0.002079,-0.125174,0.992133]]
2025-10-27T18:36:27.308Z,1761590187.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:27.560Z,1761590187.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:27.590Z,1761590187.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741538,0.670434,0.025275],[-0.670691,0.739807,0.053467],[0.017148,-0.056600,0.998250]]
2025-10-27T18:36:27.812Z,1761590187.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:27.995Z,1761590187.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753928,0.656106,-0.033434],[-0.656665,0.754134,-0.008570],[0.019591,0.028416,0.999404]]
2025-10-27T18:36:28.019Z,1761590188.019 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:36:28.019Z,1761590188.019 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:36:28.019Z,1761590188.019 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:36:28.019Z,1761590188.019 [marl:UpdateRudder:A] Stopped
2025-10-27T18:36:28.019Z,1761590188.019 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode] Stopped
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:36:28.020Z,1761590188.020 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed] Stopped
2025-10-27T18:36:28.021Z,1761590188.021 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:36:28.064Z,1761590188.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:28.319Z,1761590188.319 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:28.403Z,1761590188.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769554,0.636991,-0.045052],[-0.638582,0.767591,-0.054922],[-0.000404,0.071034,0.997474]]
2025-10-27T18:36:28.432Z,1761590188.432 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:36:28.432Z,1761590188.432 [marl:UpdateRudder:B] Stopped
2025-10-27T18:36:28.433Z,1761590188.433 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:36:28.433Z,1761590188.433 [marl:UpdateRudder] Stopped
2025-10-27T18:36:28.433Z,1761590188.433 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:36:28.568Z,1761590188.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:28.822Z,1761590188.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:28.846Z,1761590188.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767453,0.640011,-0.037430],[-0.641105,0.766114,-0.045326],[-0.000334,0.058782,0.998271]]
2025-10-27T18:36:29.072Z,1761590189.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:29.206Z,1761590189.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750199,0.660669,-0.026787],[-0.659224,0.750469,0.047114],[0.051230,-0.017686,0.998530]]
2025-10-27T18:36:29.324Z,1761590189.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:29.576Z,1761590189.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:29.613Z,1761590189.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758885,0.651221,0.002079],[-0.644869,0.751031,0.141762],[0.090757,-0.108922,0.989899]]
2025-10-27T18:36:29.828Z,1761590189.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:30.016Z,1761590190.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770065,0.636374,0.045036],[-0.634208,0.755967,0.162154],[0.069145,-0.153432,0.985737]]
2025-10-27T18:36:30.080Z,1761590190.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:30.332Z,1761590190.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:30.418Z,1761590190.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768363,0.637607,0.055456],[-0.637086,0.753692,0.161461],[0.061152,-0.159391,0.985320]]
2025-10-27T18:36:30.584Z,1761590190.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:30.838Z,1761590190.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:30.860Z,1761590190.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769862,0.637771,0.023658],[-0.630455,0.754224,0.183502],[0.099189,-0.156186,0.982735]]
2025-10-27T18:36:31.088Z,1761590191.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:31.228Z,1761590191.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778408,0.627758,0.001153],[-0.616730,0.764388,0.188031],[0.117156,-0.147076,0.982162]]
2025-10-27T18:36:31.342Z,1761590191.342 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:31.592Z,1761590191.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:31.633Z,1761590191.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788700,0.614775,-0.002274],[-0.606748,0.778988,0.158222],[0.099042,-0.123409,0.987401]]
2025-10-27T18:36:31.845Z,1761590191.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:32.034Z,1761590192.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792985,0.609240,0.001022],[-0.606571,0.789353,0.094835],[0.056970,-0.075823,0.995493]]
2025-10-27T18:36:32.113Z,1761590192.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:32.364Z,1761590192.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:32.438Z,1761590192.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792835,0.609339,0.010907],[-0.608396,0.790309,0.072566],[0.035597,-0.064169,0.997304]]
2025-10-27T18:36:32.617Z,1761590192.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:32.860Z,1761590192.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794557,0.606361,0.031698],[-0.605065,0.786336,0.124789],[0.050742,-0.118331,0.991677]]
2025-10-27T18:36:32.868Z,1761590192.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:33.125Z,1761590193.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:33.248Z,1761590193.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803089,0.593590,0.051942],[-0.591087,0.782615,0.195270],[0.075260,-0.187521,0.979373]]
2025-10-27T18:36:33.372Z,1761590193.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:33.624Z,1761590193.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:33.650Z,1761590193.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800360,0.594541,0.077105],[-0.594619,0.770813,0.228640],[0.076502,-0.228843,0.970453]]
2025-10-27T18:36:33.876Z,1761590193.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:34.054Z,1761590194.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783702,0.614698,0.089201],[-0.619630,0.763704,0.181150],[0.043229,-0.197240,0.979402]]
2025-10-27T18:36:34.129Z,1761590194.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:34.380Z,1761590194.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:34.460Z,1761590194.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787672,0.613094,0.060733],[-0.615969,0.781681,0.097762],[0.012464,-0.114414,0.993355]]
2025-10-27T18:36:34.632Z,1761590194.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:34.869Z,1761590194.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800046,0.599932,-0.002853],[-0.598260,0.798153,0.070971],[0.044855,-0.055073,0.997474]]
2025-10-27T18:36:34.884Z,1761590194.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:35.136Z,1761590195.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:35.266Z,1761590195.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810797,0.582984,-0.052319],[-0.579983,0.812229,0.062472],[0.078915,-0.020308,0.996674]]
2025-10-27T18:36:35.389Z,1761590195.389 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:35.640Z,1761590195.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:35.671Z,1761590195.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805741,0.589246,-0.059764],[-0.586735,0.807900,0.055133],[0.080770,-0.009357,0.996689]]
2025-10-27T18:36:35.892Z,1761590195.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:36.075Z,1761590196.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807512,0.588038,-0.046209],[-0.584951,0.808420,0.065496],[0.075870,-0.025859,0.996782]]
2025-10-27T18:36:36.144Z,1761590196.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:36.396Z,1761590196.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:36.493Z,1761590196.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809251,0.585971,-0.041846],[-0.579450,0.807911,0.107320],[0.096694,-0.062602,0.993343]]
2025-10-27T18:36:36.648Z,1761590196.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:36.900Z,1761590196.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:36.919Z,1761590196.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803239,0.593818,-0.046780],[-0.580617,0.798075,0.161123],[0.133012,-0.102258,0.985825]]
2025-10-27T18:36:37.152Z,1761590197.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:37.404Z,1761590197.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:37.513Z,1761590197.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807024,0.589560,-0.033625],[-0.576173,0.798617,0.173883],[0.129368,-0.120954,0.984192]]
2025-10-27T18:36:37.656Z,1761590197.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:37.908Z,1761590197.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:38.019Z,1761590198.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809900,0.584992,0.042969],[-0.586337,0.805348,0.087315],[0.016474,-0.095911,0.995254]]
2025-10-27T18:36:38.160Z,1761590198.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:38.412Z,1761590198.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:38.664Z,1761590198.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:38.916Z,1761590198.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:39.085Z,1761590199.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836278,0.545899,-0.051322],[-0.545368,0.837822,0.025077],[0.056688,0.007018,0.998367]]
2025-10-27T18:36:39.094Z,1761590199.094 [NAL9602](INFO): SBD MO Status=2, MOMSN=3084, MT Status=2, MTMSN=0
2025-10-27T18:36:39.094Z,1761590199.094 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T18:36:39.172Z,1761590199.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:39.424Z,1761590199.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:39.489Z,1761590199.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837645,0.542123,-0.066728],[-0.543397,0.839475,-0.001126],[0.055406,0.037203,0.997771]]
2025-10-27T18:36:39.676Z,1761590199.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:39.895Z,1761590199.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825426,0.561516,-0.058066],[-0.561904,0.827130,0.010956],[0.054180,0.023584,0.998253]]
2025-10-27T18:36:39.933Z,1761590199.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:40.180Z,1761590200.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:40.298Z,1761590200.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835681,0.547364,-0.045061],[-0.545174,0.836669,0.052628],[0.066508,-0.019414,0.997597]]
2025-10-27T18:36:40.308Z,1761590200.308 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183639.00,A,3646.62961,N,12151.93254,W,0.467,299.31,271025,,,A*7E
2025-10-27T18:36:40.310Z,1761590200.310 [NAL9602](INFO): GPS fix at 20251027T183639: (36.777160, -121.865542)
2025-10-27T18:36:40.372Z,1761590200.372 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590144.00. Resetting abort timer.
2025-10-27T18:36:40.432Z,1761590200.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:40.684Z,1761590200.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:40.701Z,1761590200.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843640,0.536422,-0.022870],[-0.529747,0.838565,0.127185],[0.087403,-0.095183,0.991615]]
2025-10-27T18:36:40.936Z,1761590200.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:41.106Z,1761590201.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825119,0.564949,-0.003490],[-0.549600,0.804102,0.226627],[0.130839,-0.185076,0.973975]]
2025-10-27T18:36:41.192Z,1761590201.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:41.444Z,1761590201.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:41.514Z,1761590201.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821899,0.569608,0.005394],[-0.544636,0.783021,0.300414],[0.166895,-0.249848,0.953794]]
2025-10-27T18:36:41.551Z,1761590201.551 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:36:41.551Z,1761590201.551 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:36:41.551Z,1761590201.551 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateRudder:A] Stopped
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:36:41.552Z,1761590201.552 [marl:UpdateCommandMode] Stopped
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:36:41.553Z,1761590201.553 [marl:UpdateSpeed] Stopped
2025-10-27T18:36:41.554Z,1761590201.554 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:36:41.696Z,1761590201.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:41.948Z,1761590201.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:41.965Z,1761590201.965 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:36:41.965Z,1761590201.965 [marl:UpdateRudder:B] Stopped
2025-10-27T18:36:41.965Z,1761590201.965 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:36:41.965Z,1761590201.965 [marl:UpdateRudder] Stopped
2025-10-27T18:36:41.965Z,1761590201.965 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:36:42.200Z,1761590202.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:42.453Z,1761590202.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:42.704Z,1761590202.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:42.726Z,1761590202.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839375,0.543464,0.009855],[-0.542112,0.835692,0.087943],[0.039558,-0.079160,0.996077]]
2025-10-27T18:36:42.900Z,1761590202.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:36:42.956Z,1761590202.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:43.126Z,1761590203.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829841,0.557625,0.020466],[-0.557904,0.828459,0.048979],[0.010356,-0.052063,0.998590]]
2025-10-27T18:36:43.208Z,1761590203.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:43.364Z,1761590203.364 [CTD_Seabird](ERROR): Failed to parse device response: 0.23,15.062.94
2025-10-27T18:36:43.460Z,1761590203.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:43.530Z,1761590203.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825109,0.564961,0.003911],[-0.564728,0.824525,0.035209],[0.016667,-0.031260,0.999372]]
2025-10-27T18:36:43.712Z,1761590203.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:43.903Z,1761590203.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:36:43.942Z,1761590203.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830466,0.553994,0.058448],[-0.556258,0.830340,0.033362],[-0.030049,-0.060218,0.997733]]
2025-10-27T18:36:43.964Z,1761590203.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:44.216Z,1761590204.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:44.468Z,1761590204.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:44.655Z,1761590204.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843633,0.532189,0.071124],[-0.536610,0.840222,0.077952],[-0.018275,-0.103929,0.994417]]
2025-10-27T18:36:44.721Z,1761590204.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:44.972Z,1761590204.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:45.053Z,1761590205.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854805,0.515908,0.056104],[-0.518338,0.843543,0.140575],[0.025198,-0.149245,0.988479]]
2025-10-27T18:36:45.224Z,1761590205.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:45.476Z,1761590205.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:45.728Z,1761590205.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:45.980Z,1761590205.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:46.232Z,1761590206.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:46.484Z,1761590206.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:46.740Z,1761590206.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:46.988Z,1761590206.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:47.210Z,1761590207.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827512,0.560328,-0.035447],[-0.557760,0.827661,0.062291],[0.064242,-0.031776,0.997428]]
2025-10-27T18:36:47.240Z,1761590207.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:47.492Z,1761590207.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:47.602Z,1761590207.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826558,0.562354,0.023683],[-0.561559,0.821079,0.102374],[0.038125,-0.097917,0.994464]]
2025-10-27T18:36:47.744Z,1761590207.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:47.996Z,1761590207.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:48.008Z,1761590208.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825256,0.563632,0.035674],[-0.562114,0.813643,0.148364],[0.054597,-0.142491,0.988289]]
2025-10-27T18:36:48.248Z,1761590208.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:48.417Z,1761590208.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818717,0.570270,0.067040],[-0.572071,0.800072,0.180609],[0.049359,-0.186219,0.981268]]
2025-10-27T18:36:48.513Z,1761590208.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:48.764Z,1761590208.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:48.869Z,1761590208.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810496,0.575586,0.108612],[-0.585651,0.793002,0.167814],[0.010462,-0.199621,0.979817]]
2025-10-27T18:36:48.905Z,1761590208.905 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -100.42,     +4.00
2025-10-27T18:36:49.016Z,1761590209.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:49.217Z,1761590209.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821673,0.562555,0.091569],[-0.569234,0.818070,0.082060],[-0.028747,-0.119551,0.992412]]
2025-10-27T18:36:49.268Z,1761590209.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:49.520Z,1761590209.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:49.622Z,1761590209.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829180,0.558622,0.020041],[-0.557862,0.829255,-0.033559],[-0.035366,0.016647,0.999236]]
2025-10-27T18:36:49.772Z,1761590209.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:50.024Z,1761590210.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:50.030Z,1761590210.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825644,0.561553,-0.054503],[-0.564166,0.820821,-0.089279],[-0.005398,0.104461,0.994514]]
2025-10-27T18:36:50.276Z,1761590210.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:50.429Z,1761590210.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821323,0.563884,-0.086388],[-0.569923,0.817671,-0.081249],[0.024822,0.115967,0.992943]]
2025-10-27T18:36:50.528Z,1761590210.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:50.782Z,1761590210.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:50.850Z,1761590210.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808520,0.584183,-0.070892],[-0.586321,0.809985,-0.012316],[0.050227,0.051523,0.997408]]
2025-10-27T18:36:51.032Z,1761590211.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:51.242Z,1761590211.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794040,0.607823,0.007259],[-0.604057,0.787673,0.121189],[0.067944,-0.100614,0.992603]]
2025-10-27T18:36:51.284Z,1761590211.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:51.536Z,1761590211.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:51.648Z,1761590211.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799406,0.590413,0.111184],[-0.599140,0.769726,0.220350],[0.044516,-0.242764,0.969064]]
2025-10-27T18:36:51.788Z,1761590211.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:52.044Z,1761590212.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:52.051Z,1761590212.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803792,0.569249,0.172844],[-0.594766,0.762519,0.254594],[0.013131,-0.307442,0.951476]]
2025-10-27T18:36:52.297Z,1761590212.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:52.454Z,1761590212.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801982,0.579637,0.144379],[-0.597181,0.772277,0.216708],[0.014112,-0.260017,0.965501]]
2025-10-27T18:36:52.548Z,1761590212.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:52.803Z,1761590212.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:52.864Z,1761590212.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808887,0.586147,0.046184],[-0.586981,0.800498,0.121066],[0.033993,-0.125038,0.991569]]
2025-10-27T18:36:53.052Z,1761590213.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:53.262Z,1761590213.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817763,0.573347,-0.050376],[-0.573893,0.818919,0.004296],[0.043717,0.025397,0.998721]]
2025-10-27T18:36:53.304Z,1761590213.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:53.556Z,1761590213.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:53.665Z,1761590213.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804108,0.583169,-0.115432],[-0.592242,0.802675,-0.070445],[0.051573,0.125009,0.990814]]
2025-10-27T18:36:53.808Z,1761590213.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:54.061Z,1761590214.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:54.071Z,1761590214.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775404,0.623527,-0.099814],[-0.627369,0.778664,-0.009484],[0.071808,0.069975,0.994961]]
2025-10-27T18:36:54.313Z,1761590214.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:54.477Z,1761590214.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774500,0.632501,0.009562],[-0.629162,0.768668,0.115345],[0.065606,-0.095351,0.993280]]
2025-10-27T18:36:54.564Z,1761590214.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:54.818Z,1761590214.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:55.068Z,1761590215.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:55.282Z,1761590215.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795940,0.592260,0.125330],[-0.604648,0.767617,0.212521],[0.029662,-0.244934,0.969086]]
2025-10-27T18:36:55.321Z,1761590215.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:55.572Z,1761590215.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:55.686Z,1761590215.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795494,0.599418,0.088818],[-0.604757,0.776097,0.178727],[0.038201,-0.195889,0.979882]]
2025-10-27T18:36:55.824Z,1761590215.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:56.076Z,1761590216.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:56.094Z,1761590216.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781453,0.623539,0.023028],[-0.621642,0.774832,0.114879],[0.053788,-0.104087,0.993113]]
2025-10-27T18:36:56.328Z,1761590216.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:56.494Z,1761590216.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771074,0.635335,-0.042358],[-0.633724,0.772188,0.046043],[0.061961,-0.008659,0.998041]]
2025-10-27T18:36:56.580Z,1761590216.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:56.834Z,1761590216.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:56.898Z,1761590216.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785665,0.614321,-0.073076],[-0.616435,0.787360,-0.008478],[0.052329,0.051708,0.997290]]
2025-10-27T18:36:56.958Z,1761590216.958 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:36:56.958Z,1761590216.958 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:36:56.958Z,1761590216.958 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateRudder:A] Stopped
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:36:56.959Z,1761590216.959 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateCommandMode] Stopped
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:36:56.960Z,1761590216.960 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:36:56.961Z,1761590216.961 [marl:UpdateSpeed] Stopped
2025-10-27T18:36:56.961Z,1761590216.961 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:36:57.084Z,1761590217.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:57.312Z,1761590217.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793281,0.604017,-0.076612],[-0.607300,0.793955,-0.028678],[0.043505,0.069276,0.996648]]
2025-10-27T18:36:57.344Z,1761590217.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:57.354Z,1761590217.354 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:36:57.354Z,1761590217.354 [marl:UpdateRudder:B] Stopped
2025-10-27T18:36:57.354Z,1761590217.354 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:36:57.354Z,1761590217.354 [marl:UpdateRudder] Stopped
2025-10-27T18:36:57.355Z,1761590217.355 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:36:57.596Z,1761590217.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:57.707Z,1761590217.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782452,0.621477,-0.039189],[-0.620554,0.783429,0.033921],[0.051783,-0.002223,0.998656]]
2025-10-27T18:36:57.848Z,1761590217.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:58.104Z,1761590218.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:58.111Z,1761590218.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773011,0.633201,0.038862],[-0.632933,0.765632,0.114903],[0.043003,-0.113419,0.992616]]
2025-10-27T18:36:58.356Z,1761590218.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:58.513Z,1761590218.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777861,0.622962,0.082767],[-0.627043,0.760613,0.168180],[0.041816,-0.182720,0.982275]]
2025-10-27T18:36:58.609Z,1761590218.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:58.860Z,1761590218.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:58.925Z,1761590218.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775014,0.625266,0.091626],[-0.630708,0.756261,0.174003],[0.039505,-0.192644,0.980473]]
2025-10-27T18:36:59.112Z,1761590219.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:59.324Z,1761590219.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779505,0.621033,0.081789],[-0.625075,0.762726,0.165923],[0.040661,-0.180463,0.982741]]
2025-10-27T18:36:59.364Z,1761590219.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:59.616Z,1761590219.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:36:59.728Z,1761590219.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798613,0.599873,0.048674],[-0.600234,0.787953,0.137295],[0.044007,-0.138862,0.989334]]
2025-10-27T18:36:59.869Z,1761590219.869 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:00.120Z,1761590220.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:00.131Z,1761590220.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800796,0.598937,0.001005],[-0.597635,0.798942,0.067268],[0.039486,-0.054469,0.997734]]
2025-10-27T18:37:00.372Z,1761590220.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:00.535Z,1761590220.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794248,0.604483,-0.061403],[-0.605102,0.796084,0.010070],[0.054969,0.029157,0.998062]]
2025-10-27T18:37:00.624Z,1761590220.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:00.768Z,1761590220.768 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:37:00.768Z,1761590220.768 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:37:00.876Z,1761590220.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:00.938Z,1761590220.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798295,0.597028,-0.079266],[-0.598993,0.800753,-0.001265],[0.062717,0.048490,0.996853]]
2025-10-27T18:37:01.049Z,1761590221.049 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:37:01.129Z,1761590221.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:01.342Z,1761590221.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792641,0.608591,-0.036573],[-0.607632,0.793468,0.034535],[0.050037,-0.005151,0.998734]]
2025-10-27T18:37:01.380Z,1761590221.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:01.632Z,1761590221.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:01.753Z,1761590221.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789559,0.610463,0.062696],[-0.613619,0.786728,0.067315],[-0.008231,-0.091621,0.995760]]
2025-10-27T18:37:01.885Z,1761590221.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:02.136Z,1761590222.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:02.154Z,1761590222.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793761,0.596093,0.120899],[-0.606426,0.790912,0.081888],[-0.046807,-0.138316,0.989281]]
2025-10-27T18:37:02.388Z,1761590222.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:02.554Z,1761590222.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816216,0.569769,0.095678],[-0.576462,0.814195,0.069125],[-0.038515,-0.111575,0.993009]]
2025-10-27T18:37:02.641Z,1761590222.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:02.892Z,1761590222.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:02.957Z,1761590222.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821596,0.568239,0.045657],[-0.569498,0.821723,0.021069],[-0.025545,-0.043312,0.998735]]
2025-10-27T18:37:03.144Z,1761590223.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:03.361Z,1761590223.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813959,0.580532,-0.021308],[-0.580817,0.813962,-0.010795],[0.011077,0.021163,0.999715]]
2025-10-27T18:37:03.398Z,1761590223.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:03.648Z,1761590223.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:03.767Z,1761590223.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812925,0.581195,-0.036958],[-0.581150,0.813692,0.013035],[0.037649,0.010882,0.999232]]
2025-10-27T18:37:03.900Z,1761590223.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:04.152Z,1761590224.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:04.170Z,1761590224.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802392,0.596021,0.030435],[-0.595946,0.797481,0.094192],[0.031869,-0.093716,0.995089]]
2025-10-27T18:37:04.404Z,1761590224.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:04.574Z,1761590224.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798066,0.594016,0.101174],[-0.602091,0.779412,0.173216],[0.024037,-0.199153,0.979674]]
2025-10-27T18:37:04.656Z,1761590224.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:04.908Z,1761590224.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:04.984Z,1761590224.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788046,0.598486,0.144220],[-0.615617,0.766409,0.183396],[-0.000771,-0.233308,0.972403]]
2025-10-27T18:37:05.160Z,1761590225.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:05.382Z,1761590225.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786442,0.605881,0.120073],[-0.617249,0.778044,0.116836],[-0.022634,-0.166000,0.985866]]
2025-10-27T18:37:05.412Z,1761590225.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:05.664Z,1761590225.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:05.797Z,1761590225.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796667,0.603200,0.038352],[-0.604381,0.794307,0.061648],[0.006723,-0.072292,0.997361]]
2025-10-27T18:37:05.916Z,1761590225.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:06.168Z,1761590226.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:06.189Z,1761590226.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779789,0.625096,-0.034430],[-0.623337,0.780351,0.050043],[0.058149,-0.017561,0.998153]]
2025-10-27T18:37:06.420Z,1761590226.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:06.594Z,1761590226.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777244,0.625522,-0.067924],[-0.625009,0.779994,0.031207],[0.072500,0.018198,0.997202]]
2025-10-27T18:37:06.672Z,1761590226.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:06.924Z,1761590226.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:06.997Z,1761590226.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798934,0.599722,-0.045152],[-0.600078,0.799913,0.006716],[0.040145,0.021729,0.998958]]
2025-10-27T18:37:07.176Z,1761590227.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:07.402Z,1761590227.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791964,0.610506,0.008745],[-0.610411,0.791354,0.034008],[0.013841,-0.032271,0.999383]]
2025-10-27T18:37:07.428Z,1761590227.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:07.680Z,1761590227.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:07.933Z,1761590227.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:08.184Z,1761590228.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:08.212Z,1761590228.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784927,0.618344,0.039233],[-0.616727,0.773659,0.145256],[0.059465,-0.138212,0.988616]]
2025-10-27T18:37:08.436Z,1761590228.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:08.613Z,1761590228.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792780,0.608740,0.030589],[-0.603234,0.776448,0.182310],[0.087228,-0.162984,0.982765]]
2025-10-27T18:37:08.689Z,1761590228.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:08.940Z,1761590228.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:09.019Z,1761590229.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780282,0.624415,0.035593],[-0.620012,0.764797,0.175131],[0.082133,-0.158720,0.983902]]
2025-10-27T18:37:09.192Z,1761590229.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:09.421Z,1761590229.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772377,0.634072,0.037241],[-0.634081,0.766308,0.103503],[0.037090,-0.103557,0.993932]]
2025-10-27T18:37:09.444Z,1761590229.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:09.696Z,1761590229.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:09.825Z,1761590229.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767841,0.639845,0.031925],[-0.640631,0.766589,0.043969],[0.003660,-0.054214,0.998523]]
2025-10-27T18:37:09.948Z,1761590229.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:10.200Z,1761590230.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:10.229Z,1761590230.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773564,0.633718,0.000810],[-0.633504,0.773267,0.027044],[0.016512,-0.021433,0.999634]]
2025-10-27T18:37:10.314Z,1761590230.314 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:37:10.315Z,1761590230.315 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:37:10.315Z,1761590230.315 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:37:10.315Z,1761590230.315 [marl:UpdateRudder:A] Stopped
2025-10-27T18:37:10.315Z,1761590230.315 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:37:10.315Z,1761590230.315 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode] Stopped
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:37:10.316Z,1761590230.316 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:37:10.317Z,1761590230.317 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:37:10.317Z,1761590230.317 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:37:10.317Z,1761590230.317 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:37:10.317Z,1761590230.317 [marl:UpdateSpeed] Stopped
2025-10-27T18:37:10.317Z,1761590230.317 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:37:10.452Z,1761590230.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:10.633Z,1761590230.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783215,0.617452,-0.072988],[-0.618145,0.785914,0.015392],[0.066866,0.033062,0.997214]]
2025-10-27T18:37:10.665Z,1761590230.665 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:37:10.665Z,1761590230.665 [marl:UpdateRudder:B] Stopped
2025-10-27T18:37:10.665Z,1761590230.665 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:37:10.665Z,1761590230.665 [marl:UpdateRudder] Stopped
2025-10-27T18:37:10.665Z,1761590230.665 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:37:10.704Z,1761590230.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:10.956Z,1761590230.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:11.044Z,1761590231.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798356,0.594206,-0.097707],[-0.596447,0.802617,0.007599],[0.082936,0.052210,0.995186]]
2025-10-27T18:37:11.208Z,1761590231.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:11.442Z,1761590231.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794233,0.604888,-0.057477],[-0.603767,0.796294,0.037181],[0.068259,0.005172,0.997654]]
2025-10-27T18:37:11.460Z,1761590231.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:11.712Z,1761590231.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:11.846Z,1761590231.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769717,0.638377,0.003121],[-0.634900,0.764996,0.108085],[0.066612,-0.085176,0.994137]]
2025-10-27T18:37:11.966Z,1761590231.966 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:12.216Z,1761590232.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:12.250Z,1761590232.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758407,0.648419,0.066122],[-0.647619,0.738228,0.188704],[0.073546,-0.185936,0.979805]]
2025-10-27T18:37:12.265Z,1761590232.265 [NAL9602](INFO): SBD MO Status=1, MOMSN=3084, MT Status=0, MTMSN=0
2025-10-27T18:37:12.327Z,1761590232.327 [NAL9602](INFO): Sent 332 bytes from file Logs/20251027T165046/Express0028.lzma
2025-10-27T18:37:12.327Z,1761590232.327 [NAL9602](INFO): Packets left to send: 1
2025-10-27T18:37:12.468Z,1761590232.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:12.656Z,1761590232.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756748,0.647793,0.087736],[-0.648425,0.726815,0.226461],[0.082932,-0.228264,0.970061]]
2025-10-27T18:37:12.720Z,1761590232.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:12.972Z,1761590232.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:13.225Z,1761590233.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:13.476Z,1761590233.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:13.677Z,1761590233.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763693,0.644128,0.043272],[-0.645239,0.763750,0.018778],[-0.020953,-0.042262,0.998887]]
2025-10-27T18:37:13.728Z,1761590233.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:13.980Z,1761590233.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:14.031Z,1761590234.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:37:14.072Z,1761590234.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761841,0.647749,-0.004366],[-0.647669,0.761597,-0.022237],[-0.011079,0.019768,0.999743]]
2025-10-27T18:37:14.232Z,1761590234.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:14.484Z,1761590234.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:14.736Z,1761590234.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:14.988Z,1761590234.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:15.035Z,1761590235.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:37:15.240Z,1761590235.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:15.496Z,1761590235.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:15.744Z,1761590235.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:15.996Z,1761590235.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:16.243Z,1761590236.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727578,0.676010,0.116797],[-0.683335,0.699080,0.210570],[0.060697,-0.233018,0.970576]]
2025-10-27T18:37:16.248Z,1761590236.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:16.500Z,1761590236.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:16.638Z,1761590236.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731254,0.661879,0.164877],[-0.682079,0.707403,0.185337],[0.006036,-0.247988,0.968744]]
2025-10-27T18:37:16.753Z,1761590236.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:17.004Z,1761590237.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:17.041Z,1761590237.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735893,0.661091,0.146359],[-0.675252,0.732489,0.086577],[-0.049971,-0.162540,0.985436]]
2025-10-27T18:37:17.257Z,1761590237.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:17.446Z,1761590237.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724288,0.689388,-0.012310],[-0.689482,0.724035,-0.019708],[-0.004673,0.022762,0.999730]]
2025-10-27T18:37:17.508Z,1761590237.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:17.760Z,1761590237.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:17.851Z,1761590237.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711461,0.680616,-0.174884],[-0.697772,0.713716,-0.061021],[0.083286,0.165444,0.982696]]
2025-10-27T18:37:18.012Z,1761590238.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:18.262Z,1761590238.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710882,0.675008,-0.197514],[-0.696735,0.714208,-0.066836],[0.095951,0.185128,0.978019]]
2025-10-27T18:37:18.264Z,1761590238.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:18.516Z,1761590238.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:18.658Z,1761590238.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708048,0.699464,-0.097050],[-0.702522,0.711653,0.003679],[0.071639,0.065575,0.995273]]
2025-10-27T18:37:18.773Z,1761590238.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:19.020Z,1761590239.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:19.065Z,1761590239.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702193,0.710658,0.043478],[-0.709288,0.692914,0.129543],[0.061934,-0.121802,0.990620]]
2025-10-27T18:37:19.272Z,1761590239.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:19.466Z,1761590239.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696047,0.707210,0.123986],[-0.715275,0.667974,0.205410],[0.062448,-0.231659,0.970791]]
2025-10-27T18:37:19.524Z,1761590239.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:19.777Z,1761590239.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:19.870Z,1761590239.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694525,0.713298,0.094026],[-0.715782,0.671829,0.190529],[0.072735,-0.199630,0.977168]]
2025-10-27T18:37:20.028Z,1761590240.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:20.280Z,1761590240.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:20.282Z,1761590240.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694848,0.719128,-0.006346],[-0.713880,0.690790,0.114826],[0.086958,-0.075256,0.993365]]
2025-10-27T18:37:20.532Z,1761590240.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:20.680Z,1761590240.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692381,0.719171,-0.058332],[-0.718141,0.694700,0.040810],[0.069873,0.013635,0.997463]]
2025-10-27T18:37:20.786Z,1761590240.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:21.036Z,1761590241.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:21.084Z,1761590241.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673805,0.736393,-0.060929],[-0.735588,0.676301,0.039076],[0.069982,0.018489,0.997377]]
2025-10-27T18:37:21.097Z,1761590241.097 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322253976,35.0, +14.4, 04.8,  0
2025-10-27T18:37:21.288Z,1761590241.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:21.486Z,1761590241.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648814,0.760163,-0.034526],[-0.754876,0.648695,0.096729],[0.095927,-0.036696,0.994712]]
2025-10-27T18:37:21.540Z,1761590241.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:21.792Z,1761590241.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:21.889Z,1761590241.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648261,0.760542,0.036520],[-0.757953,0.639998,0.126135],[0.072558,-0.109449,0.991341]]
2025-10-27T18:37:22.044Z,1761590242.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:22.294Z,1761590242.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650797,0.753918,0.089840],[-0.757544,0.636840,0.143391],[0.050891,-0.161377,0.985580]]
2025-10-27T18:37:22.296Z,1761590242.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:22.548Z,1761590242.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:22.699Z,1761590242.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635835,0.769798,0.055908],[-0.766184,0.620787,0.166091],[0.093150,-0.148442,0.984524]]
2025-10-27T18:37:22.802Z,1761590242.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:23.052Z,1761590243.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:23.104Z,1761590243.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615812,0.787673,0.018616],[-0.782587,0.608757,0.130279],[0.091284,-0.094796,0.991303]]
2025-10-27T18:37:23.305Z,1761590243.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:23.506Z,1761590243.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611456,0.791072,0.018106],[-0.790946,0.610374,0.043003],[0.022967,-0.040616,0.998911]]
2025-10-27T18:37:23.556Z,1761590243.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:23.808Z,1761590243.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:23.910Z,1761590243.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620717,0.783853,0.016849],[-0.783952,0.620820,-0.001135],[-0.011350,-0.012504,0.999857]]
2025-10-27T18:37:24.060Z,1761590244.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:24.312Z,1761590244.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:24.315Z,1761590244.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606408,0.794963,-0.017379],[-0.794074,0.606579,0.038847],[0.041424,-0.009756,0.999094]]
2025-10-27T18:37:24.564Z,1761590244.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:24.820Z,1761590244.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:25.068Z,1761590245.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:25.122Z,1761590245.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609567,0.790700,0.056760],[-0.791453,0.602952,0.100255],[0.045048,-0.106034,0.993342]]
2025-10-27T18:37:25.320Z,1761590245.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:25.526Z,1761590245.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587374,0.798835,0.129825],[-0.809314,0.580048,0.092494],[-0.001417,-0.159397,0.987213]]
2025-10-27T18:37:25.572Z,1761590245.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:25.824Z,1761590245.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:25.931Z,1761590245.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577472,0.805836,0.130974],[-0.816399,0.569126,0.097922],[0.004369,-0.163474,0.986538]]
2025-10-27T18:37:25.955Z,1761590245.955 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:37:25.955Z,1761590245.955 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateRudder:A] Stopped
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:37:25.956Z,1761590245.956 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateCommandMode] Stopped
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:37:25.957Z,1761590245.957 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:37:25.958Z,1761590245.958 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:37:25.958Z,1761590245.958 [marl:UpdateSpeed] Stopped
2025-10-27T18:37:25.958Z,1761590245.958 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:37:26.076Z,1761590246.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:26.334Z,1761590246.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584694,0.805646,0.095224],[-0.811252,0.580418,0.070605],[0.001613,-0.118533,0.992949]]
2025-10-27T18:37:26.344Z,1761590246.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:26.392Z,1761590246.392 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:37:26.393Z,1761590246.393 [marl:UpdateRudder:B] Stopped
2025-10-27T18:37:26.393Z,1761590246.393 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:37:26.393Z,1761590246.393 [marl:UpdateRudder] Stopped
2025-10-27T18:37:26.393Z,1761590246.393 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:37:26.596Z,1761590246.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:26.750Z,1761590246.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574846,0.817716,0.029879],[-0.818164,0.573830,0.036427],[0.012641,-0.045386,0.998890]]
2025-10-27T18:37:26.848Z,1761590246.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:27.100Z,1761590247.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:27.144Z,1761590247.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571251,0.820256,-0.029189],[-0.819936,0.571914,0.024893],[0.037112,0.009713,0.999264]]
2025-10-27T18:37:27.149Z,1761590247.149 [NAL9602](INFO): SBD MO Status=1, MOMSN=3085, MT Status=0, MTMSN=0
2025-10-27T18:37:27.199Z,1761590247.199 [NAL9602](INFO): Sent 179 bytes from file Logs/20251027T165046/Express0028.lzma
2025-10-27T18:37:27.199Z,1761590247.199 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:37:27.209Z,1761590247.209 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.67, 762.29,   0.00, 849.58
2025-10-27T18:37:27.352Z,1761590247.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:27.604Z,1761590247.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:27.856Z,1761590247.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:28.108Z,1761590248.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:28.360Z,1761590248.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:28.398Z,1761590248.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543046,0.831989,0.113559],[-0.838990,0.532026,0.114215],[0.034610,-0.157298,0.986944]]
2025-10-27T18:37:28.612Z,1761590248.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:28.830Z,1761590248.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528337,0.838061,0.136064],[-0.848991,0.519860,0.094655],[0.008592,-0.165527,0.986168]]
2025-10-27T18:37:28.864Z,1761590248.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:29.116Z,1761590249.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:29.201Z,1761590249.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501421,0.857018,0.118731],[-0.865065,0.499050,0.051101],[-0.015459,-0.128333,0.991611]]
2025-10-27T18:37:29.372Z,1761590249.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:29.600Z,1761590249.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521715,0.851162,0.057772],[-0.853120,0.520521,0.035265],[-0.000055,-0.067685,0.997707]]
2025-10-27T18:37:29.624Z,1761590249.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:29.876Z,1761590249.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:30.003Z,1761590250.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543665,0.838656,-0.032922],[-0.838008,0.544587,0.034188],[0.046601,0.009002,0.998873]]
2025-10-27T18:37:30.128Z,1761590250.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:30.380Z,1761590250.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:30.406Z,1761590250.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521347,0.846278,-0.109594],[-0.847259,0.528653,0.051756],[0.101737,0.065871,0.992628]]
2025-10-27T18:37:30.632Z,1761590250.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:30.841Z,1761590250.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481235,0.873432,-0.074364],[-0.870523,0.486146,0.076499],[0.102969,0.027922,0.994293]]
2025-10-27T18:37:30.884Z,1761590250.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:31.136Z,1761590251.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:31.218Z,1761590251.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463710,0.885322,0.034318],[-0.884047,0.459786,0.084013],[0.058599,-0.069296,0.995874]]
2025-10-27T18:37:31.388Z,1761590251.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:31.617Z,1761590251.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480543,0.871703,0.095981],[-0.876686,0.474710,0.077923],[0.022362,-0.121591,0.992328]]
2025-10-27T18:37:31.640Z,1761590251.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:31.892Z,1761590251.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:32.021Z,1761590252.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486239,0.868402,0.097210],[-0.873639,0.480814,0.074650],[0.018086,-0.121224,0.992460]]
2025-10-27T18:37:32.144Z,1761590252.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:32.396Z,1761590252.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:32.426Z,1761590252.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471614,0.878725,0.073635],[-0.881305,0.466890,0.072899],[0.029679,-0.099276,0.994617]]
2025-10-27T18:37:32.648Z,1761590252.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:32.845Z,1761590252.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467670,0.880824,0.073716],[-0.883857,0.465163,0.049202],[0.009048,-0.088164,0.996065]]
2025-10-27T18:37:32.900Z,1761590252.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:33.152Z,1761590253.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:33.253Z,1761590253.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451149,0.889106,0.077173],[-0.892433,0.449958,0.033174],[-0.005229,-0.083838,0.996466]]
2025-10-27T18:37:33.404Z,1761590253.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:33.638Z,1761590253.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429138,0.898875,0.088681],[-0.902878,0.424119,0.070247],[0.025532,-0.110213,0.993580]]
2025-10-27T18:37:33.656Z,1761590253.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:33.908Z,1761590253.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:34.042Z,1761590254.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420122,0.899536,0.119713],[-0.907084,0.412438,0.084227],[0.026391,-0.143975,0.989229]]
2025-10-27T18:37:34.160Z,1761590254.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:34.412Z,1761590254.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:34.448Z,1761590254.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404608,0.906006,0.124277],[-0.914395,0.398853,0.069265],[0.013187,-0.141664,0.989827]]
2025-10-27T18:37:34.664Z,1761590254.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:34.853Z,1761590254.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384163,0.917305,0.104741],[-0.922972,0.378701,0.068617],[0.023277,-0.123033,0.992130]]
2025-10-27T18:37:34.916Z,1761590254.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:35.168Z,1761590255.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:35.266Z,1761590255.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365583,0.928492,0.065213],[-0.930422,0.362605,0.053218],[0.025766,-0.080132,0.996451]]
2025-10-27T18:37:35.420Z,1761590255.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:35.657Z,1761590255.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345376,0.937596,0.040366],[-0.938109,0.343743,0.042324],[0.025807,-0.052486,0.998288]]
2025-10-27T18:37:35.672Z,1761590255.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:35.924Z,1761590255.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:36.061Z,1761590256.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349823,0.935176,0.055407],[-0.934806,0.344589,0.086006],[0.061338,-0.081882,0.994753]]
2025-10-27T18:37:36.176Z,1761590256.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:36.428Z,1761590256.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:36.468Z,1761590256.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364464,0.928761,0.067587],[-0.929809,0.358962,0.081254],[0.051205,-0.092458,0.994399]]
2025-10-27T18:37:36.680Z,1761590256.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:36.869Z,1761590256.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353366,0.933365,0.062941],[-0.935390,0.351568,0.038030],[0.013368,-0.072313,0.997292]]
2025-10-27T18:37:36.932Z,1761590256.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:37.184Z,1761590257.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:37.274Z,1761590257.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355667,0.932317,0.065461],[-0.934573,0.354137,0.034054],[0.008568,-0.073290,0.997274]]
2025-10-27T18:37:37.436Z,1761590257.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:37.678Z,1761590257.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374531,0.925934,0.048707],[-0.927188,0.374402,0.012101],[-0.007031,-0.049693,0.998740]]
2025-10-27T18:37:37.688Z,1761590257.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:37.940Z,1761590257.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:38.084Z,1761590258.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381051,0.924520,0.007939],[-0.924369,0.381132,-0.016749],[-0.018510,-0.000956,0.999828]]
2025-10-27T18:37:38.192Z,1761590258.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:38.444Z,1761590258.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:38.486Z,1761590258.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374750,0.926976,-0.016640],[-0.926091,0.375120,0.040507],[0.043792,0.000230,0.999041]]
2025-10-27T18:37:38.494Z,1761590258.494 [NAL9602](INFO): SBD MO Status=0, MOMSN=3086, MT Status=0, MTMSN=0
2025-10-27T18:37:38.645Z,1761590258.645 [marl:NeedComms:D] Stopped
2025-10-27T18:37:38.645Z,1761590258.645 [marl:NeedComms:E] Running Loop=1
2025-10-27T18:37:38.696Z,1761590258.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:38.890Z,1761590258.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352963,0.935325,0.024188],[-0.931229,0.348676,0.106013],[0.090723,-0.059943,0.994070]]
2025-10-27T18:37:38.948Z,1761590258.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:39.200Z,1761590259.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:39.300Z,1761590259.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317754,0.939737,0.126197],[-0.946284,0.305902,0.104742],[0.059826,-0.152701,0.986460]]
2025-10-27T18:37:39.452Z,1761590259.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:39.698Z,1761590259.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287310,0.938860,0.189724],[-0.957138,0.273843,0.094324],[0.036602,-0.208692,0.977296]]
2025-10-27T18:37:39.704Z,1761590259.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:39.717Z,1761590259.717 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183739.00,A,3646.63429,N,12151.93742,W,0.428,354.99,271025,,,A*74
2025-10-27T18:37:39.725Z,1761590259.725 [NAL9602](INFO): GPS fix at 20251027T183739: (36.777238, -121.865624)
2025-10-27T18:37:39.820Z,1761590259.820 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:37:39.820Z,1761590259.820 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:37:39.820Z,1761590259.820 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateRudder:A] Stopped
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:37:39.821Z,1761590259.821 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateCommandMode] Stopped
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:37:39.822Z,1761590259.822 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:37:39.823Z,1761590259.823 [marl:UpdateSpeed] Stopped
2025-10-27T18:37:39.831Z,1761590259.831 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:37:39.832Z,1761590259.832 [marl:NeedComms:E] Stopped
2025-10-27T18:37:39.833Z,1761590259.833 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-27T18:37:39.833Z,1761590259.833 [marl:NeedComms] Stopped
2025-10-27T18:37:39.833Z,1761590259.833 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T18:37:39.833Z,1761590259.833 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T18:37:39.833Z,1761590259.833 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T18:37:39.834Z,1761590259.834 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:39.956Z,1761590259.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:40.102Z,1761590260.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281261,0.943728,0.173982],[-0.958498,0.267465,0.098713],[0.046625,-0.194526,0.979789]]
2025-10-27T18:37:40.169Z,1761590260.169 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:37:40.169Z,1761590260.169 [marl:UpdateRudder:B] Stopped
2025-10-27T18:37:40.169Z,1761590260.169 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:37:40.169Z,1761590260.169 [marl:UpdateRudder] Stopped
2025-10-27T18:37:40.169Z,1761590260.169 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:37:40.209Z,1761590260.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:40.460Z,1761590260.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:40.720Z,1761590260.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:40.910Z,1761590260.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272828,0.961993,0.011587],[-0.957051,0.270159,0.105206],[0.098077,-0.039792,0.994383]]
2025-10-27T18:37:40.980Z,1761590260.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:41.233Z,1761590261.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:41.314Z,1761590261.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264513,0.960560,-0.085778],[-0.954194,0.273576,0.121118],[0.139808,0.049811,0.988925]]
2025-10-27T18:37:41.484Z,1761590261.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:41.737Z,1761590261.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:41.776Z,1761590261.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266302,0.960232,-0.083895],[-0.955422,0.274472,0.108779],[0.127480,0.051187,0.990519]]
2025-10-27T18:37:41.989Z,1761590261.989 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:42.151Z,1761590262.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249279,0.967023,0.052212],[-0.965885,0.244355,0.085767],[0.070180,-0.071811,0.994946]]
2025-10-27T18:37:42.240Z,1761590262.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:42.492Z,1761590262.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:42.555Z,1761590262.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214432,0.964596,0.153537],[-0.975105,0.202324,0.090748],[0.056471,-0.169174,0.983967]]
2025-10-27T18:37:42.744Z,1761590262.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:42.958Z,1761590262.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218375,0.963060,0.157567],[-0.973534,0.203843,0.103338],[0.067402,-0.175963,0.982087]]
2025-10-27T18:37:42.964Z,1761590262.964 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183742.00,A,3646.63415,N,12151.93739,W,1.380,285.89,271025,,,A*73
2025-10-27T18:37:42.966Z,1761590262.966 [NAL9602](INFO): GPS fix at 20251027T183742: (36.777236, -121.865623)
2025-10-27T18:37:42.996Z,1761590262.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:43.042Z,1761590263.042 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:43.248Z,1761590263.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:43.362Z,1761590263.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238601,0.965471,0.104576],[-0.970047,0.231896,0.072343],[0.045594,-0.118705,0.991882]]
2025-10-27T18:37:43.500Z,1761590263.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:43.752Z,1761590263.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:43.860Z,1761590263.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245891,0.967849,0.052972],[-0.969230,0.244861,0.025231],[0.011449,-0.057547,0.998277]]
2025-10-27T18:37:44.004Z,1761590264.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:44.072Z,1761590264.072 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002834
2025-10-27T18:37:44.256Z,1761590264.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:44.278Z,1761590264.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236067,0.971622,-0.014966],[-0.971525,0.236309,0.017261],[0.020308,0.010465,0.999739]]
2025-10-27T18:37:44.508Z,1761590264.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:44.678Z,1761590264.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204120,0.978946,0.000454],[-0.976566,0.203592,0.069783],[0.068221,-0.014688,0.997562]]
2025-10-27T18:37:44.760Z,1761590264.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:45.012Z,1761590265.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:45.071Z,1761590265.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:37:45.083Z,1761590265.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196819,0.978474,0.062054],[-0.977551,0.190990,0.088980],[0.075213,-0.078174,0.994098]]
2025-10-27T18:37:45.264Z,1761590265.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:45.486Z,1761590265.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202603,0.972484,0.115009],[-0.978967,0.198265,0.048100],[0.023974,-0.122335,0.992199]]
2025-10-27T18:37:45.524Z,1761590265.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:45.776Z,1761590265.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:45.892Z,1761590265.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184494,0.970254,0.156747],[-0.982821,0.182933,0.024455],[-0.004946,-0.158566,0.987336]]
2025-10-27T18:37:45.898Z,1761590265.898 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183745.00,A,3646.63457,N,12151.93869,W,1.575,294.41,271025,,,A*70
2025-10-27T18:37:45.901Z,1761590265.901 [NAL9602](INFO): GPS fix at 20251027T183745: (36.777243, -121.865645)
2025-10-27T18:37:45.923Z,1761590265.923 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:46.028Z,1761590266.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:46.280Z,1761590266.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:46.300Z,1761590266.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175585,0.965624,0.191677],[-0.984064,0.177704,0.006215],[-0.028060,-0.189713,0.981438]]
2025-10-27T18:37:46.532Z,1761590266.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:46.704Z,1761590266.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163344,0.970303,0.178409],[-0.985169,0.170053,-0.022878],[-0.052537,-0.172026,0.983690]]
2025-10-27T18:37:46.786Z,1761590266.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:47.036Z,1761590267.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:47.288Z,1761590267.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:47.540Z,1761590267.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:47.585Z,1761590267.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130917,0.985624,0.106797],[-0.991184,0.127914,0.034531],[0.020373,-0.110376,0.993681]]
2025-10-27T18:37:47.792Z,1761590267.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:48.046Z,1761590268.046 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:48.061Z,1761590268.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134951,0.988227,0.072086],[-0.972216,0.118018,0.202158],[0.191270,-0.097364,0.976696]]
2025-10-27T18:37:48.300Z,1761590268.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:48.446Z,1761590268.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161627,0.985954,0.042098],[-0.964644,0.148847,0.217498],[0.208177,-0.075763,0.975152]]
2025-10-27T18:37:48.552Z,1761590268.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:48.809Z,1761590268.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:48.878Z,1761590268.878 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183748.00,A,3646.63462,N,12151.93843,W,1.419,87.75,271025,,,A*4F
2025-10-27T18:37:48.884Z,1761590268.884 [NAL9602](INFO): GPS fix at 20251027T183748: (36.777244, -121.865640)
2025-10-27T18:37:48.992Z,1761590268.992 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:49.057Z,1761590269.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:49.256Z,1761590269.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113025,0.988332,0.102102],[-0.992657,0.107865,0.054740],[0.043088,-0.107539,0.993267]]
2025-10-27T18:37:49.308Z,1761590269.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:49.560Z,1761590269.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:49.706Z,1761590269.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115295,0.979609,0.164537],[-0.990472,0.100815,0.093822],[0.075321,-0.173786,0.981899]]
2025-10-27T18:37:49.812Z,1761590269.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:50.064Z,1761590270.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:50.089Z,1761590270.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129852,0.974496,0.183019],[-0.986272,0.107953,0.124957],[0.102012,-0.196733,0.975136]]
2025-10-27T18:37:50.318Z,1761590270.318 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:50.490Z,1761590270.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147140,0.976326,0.158546],[-0.986339,0.132828,0.097430],[0.074064,-0.170716,0.982533]]
2025-10-27T18:37:50.568Z,1761590270.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:50.822Z,1761590270.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:51.072Z,1761590271.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:51.298Z,1761590271.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132290,0.985325,0.107862],[-0.990930,0.128877,0.038050],[0.023591,-0.111918,0.993437]]
2025-10-27T18:37:51.324Z,1761590271.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:51.577Z,1761590271.577 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:51.736Z,1761590271.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127263,0.986715,0.100985],[-0.990673,0.121451,0.061780],[0.048695,-0.107905,0.992968]]
2025-10-27T18:37:51.828Z,1761590271.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:52.080Z,1761590272.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:52.106Z,1761590272.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134251,0.986058,0.098314],[-0.988842,0.126841,0.078125],[0.064566,-0.107705,0.992084]]
2025-10-27T18:37:52.114Z,1761590272.114 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183751.00,A,3646.63483,N,12151.93875,W,1.691,309.10,271025,,,A*79
2025-10-27T18:37:52.116Z,1761590272.116 [NAL9602](INFO): GPS fix at 20251027T183751: (36.777247, -121.865646)
2025-10-27T18:37:52.196Z,1761590272.196 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:52.332Z,1761590272.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:52.531Z,1761590272.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126395,0.987162,0.097648],[-0.986584,0.114844,0.116031],[0.103327,-0.111004,0.988434]]
2025-10-27T18:37:52.584Z,1761590272.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:52.838Z,1761590272.838 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:53.092Z,1761590273.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:53.344Z,1761590273.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:53.581Z,1761590273.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116800,0.984613,0.129981],[-0.987598,0.101321,0.119936],[0.104921,-0.142378,0.984236]]
2025-10-27T18:37:53.596Z,1761590273.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:53.725Z,1761590273.725 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:37:53.725Z,1761590273.725 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:37:53.725Z,1761590273.725 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:37:53.725Z,1761590273.726 [marl:UpdateRudder:A] Stopped
2025-10-27T18:37:53.726Z,1761590273.726 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:37:53.726Z,1761590273.726 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:37:53.726Z,1761590273.726 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:37:53.726Z,1761590273.726 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:37:53.727Z,1761590273.727 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:37:53.731Z,1761590273.731 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:37:53.731Z,1761590273.731 [marl:UpdateCommandMode] Stopped
2025-10-27T18:37:53.732Z,1761590273.732 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:37:53.732Z,1761590273.732 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:37:53.732Z,1761590273.732 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:37:53.732Z,1761590273.732 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:37:53.732Z,1761590273.732 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:37:53.733Z,1761590273.733 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:37:53.733Z,1761590273.733 [marl:UpdateSpeed] Stopped
2025-10-27T18:37:53.733Z,1761590273.733 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:37:53.848Z,1761590273.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:53.966Z,1761590273.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103205,0.984839,0.139429],[-0.993721,0.096000,0.057471],[0.043215,-0.144485,0.988563]]
2025-10-27T18:37:54.018Z,1761590274.018 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:37:54.018Z,1761590274.018 [marl:UpdateRudder:B] Stopped
2025-10-27T18:37:54.018Z,1761590274.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:37:54.018Z,1761590274.018 [marl:UpdateRudder] Stopped
2025-10-27T18:37:54.018Z,1761590274.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:37:54.100Z,1761590274.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:54.352Z,1761590274.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:54.361Z,1761590274.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089943,0.986037,0.140145],[-0.995388,0.084284,0.045814],[0.033363,-0.143619,0.989071]]
2025-10-27T18:37:54.604Z,1761590274.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:54.786Z,1761590274.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083017,0.991190,0.103202],[-0.995362,0.077420,0.057109],[0.048616,-0.107464,0.993020]]
2025-10-27T18:37:54.832Z,1761590274.832 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183754.00,A,3646.63506,N,12151.94075,W,1.905,280.75,271025,,,A*7E
2025-10-27T18:37:54.840Z,1761590274.840 [NAL9602](INFO): GPS fix at 20251027T183754: (36.777251, -121.865679)
2025-10-27T18:37:54.856Z,1761590274.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:54.892Z,1761590274.892 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:55.108Z,1761590275.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:55.361Z,1761590275.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:55.576Z,1761590275.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052773,0.987538,0.148269],[-0.994804,0.039044,0.094023],[0.087063,-0.152460,0.984467]]
2025-10-27T18:37:55.613Z,1761590275.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:55.864Z,1761590275.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:55.998Z,1761590275.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047340,0.985399,0.163545],[-0.991802,0.026915,0.124918],[0.118693,-0.168117,0.978595]]
2025-10-27T18:37:56.116Z,1761590276.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:56.373Z,1761590276.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:56.400Z,1761590276.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057063,0.986850,0.151230],[-0.988837,0.034983,0.144833],[0.137638,-0.157807,0.977831]]
2025-10-27T18:37:56.624Z,1761590276.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:56.861Z,1761590276.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025252,0.995699,0.089143],[-0.986015,0.010113,0.166352],[0.164735,-0.092097,0.982029]]
2025-10-27T18:37:56.876Z,1761590276.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:56.987Z,1761590276.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:37:57.131Z,1761590277.131 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:57.264Z,1761590277.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015905,0.994182,0.106532],[-0.982281,-0.004363,0.187366],[0.186740,-0.107625,0.976496]]
2025-10-27T18:37:57.380Z,1761590277.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:57.632Z,1761590277.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:57.665Z,1761590277.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023648,0.990611,0.134649],[-0.975276,-0.006743,0.220889],[0.219723,-0.136544,0.965959]]
2025-10-27T18:37:57.886Z,1761590277.886 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:58.078Z,1761590278.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022709,0.988018,0.152656],[-0.967558,-0.016711,0.252094],[0.251625,-0.153429,0.955586]]
2025-10-27T18:37:58.103Z,1761590278.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183757.00,A,3646.63524,N,12151.94248,W,0.972,275.94,271025,,,A*75
2025-10-27T18:37:58.106Z,1761590278.106 [NAL9602](INFO): GPS fix at 20251027T183757: (36.777254, -121.865708)
2025-10-27T18:37:58.129Z,1761590278.129 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:37:58.139Z,1761590278.139 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:58.388Z,1761590278.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:58.474Z,1761590278.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015434,0.989871,0.141128],[-0.965892,-0.021728,0.258033],[0.258486,-0.140297,0.955773]]
2025-10-27T18:37:58.640Z,1761590278.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:58.879Z,1761590278.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002140,0.993746,0.111642],[-0.959006,-0.029598,0.281835],[0.283377,-0.107668,0.952946]]
2025-10-27T18:37:58.892Z,1761590278.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:59.145Z,1761590279.145 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:59.293Z,1761590279.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008472,0.993575,0.112861],[-0.933031,-0.048453,0.356519],[0.359697,-0.102282,0.927446]]
2025-10-27T18:37:59.397Z,1761590279.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:59.648Z,1761590279.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:37:59.713Z,1761590279.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033217,0.984560,0.171869],[-0.917694,-0.098163,0.384969],[0.395896,-0.144936,0.906785]]
2025-10-27T18:37:59.900Z,1761590279.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:00.152Z,1761590280.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:00.156Z,1761590280.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058356,0.970555,0.233702],[-0.923884,-0.141193,0.355672],[0.378196,-0.195158,0.904920]]
2025-10-27T18:38:00.404Z,1761590280.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:00.518Z,1761590280.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051479,0.965713,0.254455],[-0.938645,-0.133793,0.317876],[0.341022,-0.222479,0.913349]]
2025-10-27T18:38:00.657Z,1761590280.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:00.908Z,1761590280.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:00.938Z,1761590280.938 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183800.00,A,3646.63528,N,12151.94328,W,1.069,268.61,271025,,,A*77
2025-10-27T18:38:00.956Z,1761590280.956 [NAL9602](INFO): GPS fix at 20251027T183800: (36.777255, -121.865721)
2025-10-27T18:38:01.063Z,1761590281.063 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:38:01.160Z,1761590281.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:01.373Z,1761590281.373 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:38:01.373Z,1761590281.373 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:38:01.393Z,1761590281.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023773,0.976190,0.215611],[-0.932663,-0.099313,0.346810],[0.359966,-0.192848,0.912817]]
2025-10-27T18:38:01.412Z,1761590281.412 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:38:01.412Z,1761590281.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:01.498Z,1761590281.498 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:38:01.664Z,1761590281.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:01.782Z,1761590281.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033331,0.980802,0.192134],[-0.923407,-0.103769,0.369527],[0.382371,-0.165102,0.909139]]
2025-10-27T18:38:01.917Z,1761590281.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:02.170Z,1761590282.170 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:02.222Z,1761590282.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040353,0.975355,0.216918],[-0.925061,-0.118526,0.360852],[0.377670,-0.186101,0.907046]]
2025-10-27T18:38:02.421Z,1761590282.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:02.606Z,1761590282.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045981,0.966099,0.254043],[-0.930572,-0.133892,0.340747],[0.363209,-0.220737,0.905182]]
2025-10-27T18:38:02.673Z,1761590282.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:02.925Z,1761590282.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:03.176Z,1761590283.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:03.428Z,1761590283.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:03.486Z,1761590283.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034562,0.960595,0.275795],[-0.930874,-0.131370,0.340905],[0.363702,-0.244948,0.898733]]
2025-10-27T18:38:03.688Z,1761590283.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:03.880Z,1761590283.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033141,0.964447,0.262189],[-0.930679,-0.125409,0.343670],[0.364332,-0.232624,0.901747]]
2025-10-27T18:38:03.886Z,1761590283.886 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183803.00,A,3646.63625,N,12151.94642,W,5.734,282.03,271025,,,A*78
2025-10-27T18:38:03.888Z,1761590283.888 [NAL9602](INFO): GPS fix at 20251027T183803: (36.777271, -121.865774)
2025-10-27T18:38:03.936Z,1761590283.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:03.962Z,1761590283.962 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761590272.00. Resetting abort timer.
2025-10-27T18:38:04.190Z,1761590284.190 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:04.282Z,1761590284.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032827,0.971180,0.236074],[-0.930646,-0.115830,0.347104],[0.364445,-0.208307,0.907628]]
2025-10-27T18:38:04.441Z,1761590284.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:04.693Z,1761590284.693 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:03.9440

2025-10-27T18:38:04.694Z,1761590284.694 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:38:04.694Z,1761590284.694 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:04.700Z,1761590284.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036326,0.974601,0.220984],[-0.931758,-0.112969,0.345058],[0.361259,-0.193369,0.912196]]
2025-10-27T18:38:04.944Z,1761590284.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:05.202Z,1761590285.202 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:05.452Z,1761590285.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:05.497Z,1761590285.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057037,0.972298,0.226679],[-0.925102,-0.136846,0.354202],[0.375410,-0.189499,0.907280]]
2025-10-27T18:38:05.704Z,1761590285.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:05.898Z,1761590285.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054491,0.969041,0.240814],[-0.920901,-0.141995,0.363012],[0.385968,-0.201985,0.900128]]
2025-10-27T18:38:05.956Z,1761590285.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:06.208Z,1761590286.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:06.303Z,1761590286.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048000,0.967936,0.246568],[-0.921504,-0.138158,0.362964],[0.385391,-0.209791,0.898588]]
2025-10-27T18:38:06.460Z,1761590286.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:06.710Z,1761590286.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047098,0.968409,0.244879],[-0.924811,-0.134922,0.355698],[0.377501,-0.209714,0.901950]]
2025-10-27T18:38:06.712Z,1761590286.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:06.964Z,1761590286.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:07.212Z,1761590287.212 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:38:07.212Z,1761590287.212 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:38:07.212Z,1761590287.212 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:38:07.212Z,1761590287.212 [marl:UpdateRudder:A] Stopped
2025-10-27T18:38:07.212Z,1761590287.212 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode] Stopped
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:38:07.213Z,1761590287.213 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed] Stopped
2025-10-27T18:38:07.214Z,1761590287.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:38:07.216Z,1761590287.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:07.468Z,1761590287.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:07.524Z,1761590287.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054524,0.971568,0.230396],[-0.922293,-0.137422,0.361234],[0.382625,-0.192796,0.903564]]
2025-10-27T18:38:07.643Z,1761590287.643 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:38:07.643Z,1761590287.643 [marl:UpdateRudder:B] Stopped
2025-10-27T18:38:07.643Z,1761590287.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:38:07.643Z,1761590287.643 [marl:UpdateRudder] Stopped
2025-10-27T18:38:07.643Z,1761590287.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:38:07.720Z,1761590287.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:07.928Z,1761590287.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057862,0.970609,0.233603],[-0.914797,-0.145244,0.376895],[0.399747,-0.191891,0.896315]]
2025-10-27T18:38:07.972Z,1761590287.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:08.224Z,1761590288.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:08.330Z,1761590288.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059864,0.966150,0.250938],[-0.909269,-0.156508,0.385661],[0.411880,-0.205083,0.887860]]
2025-10-27T18:38:08.476Z,1761590288.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:08.730Z,1761590288.730 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:08.750Z,1761590288.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062697,0.960591,0.270803],[-0.909111,-0.166927,0.381645],[0.411810,-0.222262,0.883749]]
2025-10-27T18:38:08.980Z,1761590288.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:09.232Z,1761590289.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:09.484Z,1761590289.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:09.614Z,1761590289.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070191,0.954158,0.290956],[-0.919472,-0.174995,0.352062],[0.386838,-0.242814,0.889605]]
2025-10-27T18:38:09.738Z,1761590289.738 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:09.988Z,1761590289.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:10.022Z,1761590290.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063331,0.953300,0.295311],[-0.925312,-0.166945,0.340481],[0.373881,-0.251692,0.892672]]
2025-10-27T18:38:10.240Z,1761590290.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:10.492Z,1761590290.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:10.514Z,1761590290.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041251,0.958562,0.281883],[-0.935298,-0.136283,0.326565],[0.351449,-0.250173,0.902163]]
2025-10-27T18:38:10.744Z,1761590290.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:10.996Z,1761590290.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:11.248Z,1761590291.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:11.305Z,1761590291.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053417,0.972290,0.227594],[-0.940973,-0.125300,0.314436],[0.334241,-0.197364,0.921591]]
2025-10-27T18:38:11.500Z,1761590291.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:11.709Z,1761590291.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070705,0.974377,0.213517],[-0.941920,-0.135670,0.307213],[0.328310,-0.179395,0.927378]]
2025-10-27T18:38:11.752Z,1761590291.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:12.004Z,1761590292.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:12.114Z,1761590292.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088343,0.971411,0.220353],[-0.942480,-0.153113,0.297134],[0.322378,-0.181428,0.929062]]
2025-10-27T18:38:12.256Z,1761590292.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:12.509Z,1761590292.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:12.522Z,1761590292.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104334,0.965721,0.237690],[-0.943447,-0.171725,0.283582],[0.314678,-0.194661,0.929024]]
2025-10-27T18:38:12.760Z,1761590292.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:13.012Z,1761590293.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:13.264Z,1761590293.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:13.326Z,1761590293.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124312,0.953450,0.274735],[-0.947369,-0.196375,0.252841],[0.295023,-0.228844,0.927681]]
2025-10-27T18:38:13.520Z,1761590293.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:13.734Z,1761590293.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125133,0.950491,0.284445],[-0.950341,-0.197170,0.240784],[0.284947,-0.240189,0.927963]]
2025-10-27T18:38:13.768Z,1761590293.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:14.020Z,1761590294.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:14.136Z,1761590294.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121998,0.949939,0.287632],[-0.953719,-0.192444,0.231055],[0.274841,-0.246132,0.929452]]
2025-10-27T18:38:14.272Z,1761590294.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:14.524Z,1761590294.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:14.545Z,1761590294.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117634,0.950967,0.286049],[-0.957350,-0.185145,0.221817],[0.263902,-0.247755,0.932187]]
2025-10-27T18:38:14.777Z,1761590294.777 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:38:14.777Z,1761590294.777 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:38:14.778Z,1761590294.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:14.942Z,1761590294.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113382,0.952905,0.281275],[-0.961248,-0.176811,0.211521],[0.251292,-0.246392,0.936025]]
2025-10-27T18:38:15.028Z,1761590295.028 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:38:15.028Z,1761590295.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:15.280Z,1761590295.280 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:38:15.280Z,1761590295.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:15.346Z,1761590295.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109415,0.956188,0.271538],[-0.965410,-0.167270,0.200011],[0.236668,-0.240261,0.941415]]
2025-10-27T18:38:15.532Z,1761590295.532 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:38:15.532Z,1761590295.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:15.764Z,1761590295.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109268,0.959640,0.259136],[-0.969506,-0.160419,0.185264],[0.219358,-0.230991,0.947906]]
2025-10-27T18:38:15.784Z,1761590295.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:16.036Z,1761590296.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:16.169Z,1761590296.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114775,0.962870,0.244351],[-0.973020,-0.158527,0.167637],[0.200148,-0.218518,0.955087]]
2025-10-27T18:38:16.288Z,1761590296.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:16.540Z,1761590296.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:16.593Z,1761590296.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128017,0.963941,0.233301],[-0.974613,-0.165840,0.150419],[0.183686,-0.208122,0.960700]]
2025-10-27T18:38:16.794Z,1761590296.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:17.044Z,1761590297.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:17.296Z,1761590297.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:17.381Z,1761590297.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149468,0.961578,0.230277],[-0.975953,-0.180846,0.121697],[0.158666,-0.206550,0.965485]]
2025-10-27T18:38:17.548Z,1761590297.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:17.783Z,1761590297.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152040,0.960053,0.234909],[-0.977463,-0.181272,0.108200],[0.146460,-0.213164,0.965976]]
2025-10-27T18:38:17.800Z,1761590297.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:18.054Z,1761590298.054 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:18.188Z,1761590298.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152491,0.959435,0.237129],[-0.979410,-0.178824,0.093696],[0.132300,-0.217959,0.966949]]
2025-10-27T18:38:18.305Z,1761590298.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:18.556Z,1761590298.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:18.596Z,1761590298.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152837,0.960719,0.231647],[-0.981323,-0.175245,0.079341],[0.116819,-0.215194,0.969559]]
2025-10-27T18:38:18.812Z,1761590298.812 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:18.0440

2025-10-27T18:38:18.813Z,1761590298.813 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:38:18.814Z,1761590298.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:19.060Z,1761590299.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:19.313Z,1761590299.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:19.443Z,1761590299.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155998,0.965422,0.208866],[-0.983408,-0.171622,0.058783],[0.092597,-0.196231,0.976176]]
2025-10-27T18:38:19.564Z,1761590299.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:19.816Z,1761590299.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:19.838Z,1761590299.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159514,0.967108,0.198136],[-0.983348,-0.173362,0.054516],[0.087072,-0.186141,0.978657]]
2025-10-27T18:38:20.068Z,1761590300.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:20.242Z,1761590300.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161489,0.968649,0.188787],[-0.983404,-0.173979,0.051464],[0.082695,-0.177343,0.980669]]
2025-10-27T18:38:20.268Z,1761590300.268 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:38:20.268Z,1761590300.268 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:38:20.269Z,1761590300.269 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:38:20.269Z,1761590300.269 [marl:UpdateRudder:A] Stopped
2025-10-27T18:38:20.269Z,1761590300.269 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:38:20.269Z,1761590300.269 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:38:20.269Z,1761590300.269 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateCommandMode] Stopped
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:38:20.270Z,1761590300.270 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:38:20.271Z,1761590300.271 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:38:20.271Z,1761590300.271 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:38:20.271Z,1761590300.271 [marl:UpdateSpeed] Stopped
2025-10-27T18:38:20.271Z,1761590300.271 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:38:20.320Z,1761590300.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:20.572Z,1761590300.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:20.666Z,1761590300.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161130,0.969403,0.185187],[-0.983909,-0.172461,0.046696],[0.077205,-0.174683,0.981593]]
2025-10-27T18:38:20.719Z,1761590300.719 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:38:20.719Z,1761590300.719 [marl:UpdateRudder:B] Stopped
2025-10-27T18:38:20.720Z,1761590300.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:38:20.720Z,1761590300.720 [marl:UpdateRudder] Stopped
2025-10-27T18:38:20.720Z,1761590300.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:38:20.827Z,1761590300.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:21.076Z,1761590301.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:21.329Z,1761590301.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:21.462Z,1761590301.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162731,0.967817,0.191961],[-0.984771,-0.171382,0.029243],[0.061201,-0.184279,0.980967]]
2025-10-27T18:38:21.580Z,1761590301.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:21.832Z,1761590301.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:21.871Z,1761590301.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162965,0.966400,0.198783],[-0.985380,-0.169566,0.016531],[0.049682,-0.193182,0.979904]]
2025-10-27T18:38:22.084Z,1761590302.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:22.336Z,1761590302.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:22.452Z,1761590302.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163251,0.965061,0.204955],[-0.986261,-0.164954,-0.008872],[0.025246,-0.203588,0.978731]]
2025-10-27T18:38:22.588Z,1761590302.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:22.842Z,1761590302.842 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:22.859Z,1761590302.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167538,0.965806,0.197864],[-0.985781,-0.166746,-0.020777],[0.012926,-0.198531,0.980009]]
2025-10-27T18:38:23.093Z,1761590303.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:23.344Z,1761590303.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:23.596Z,1761590303.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:23.675Z,1761590303.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189831,0.963842,0.187009],[-0.981768,-0.184457,-0.045897],[-0.009742,-0.192312,0.981285]]
2025-10-27T18:38:23.848Z,1761590303.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:24.100Z,1761590304.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:24.200Z,1761590304.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207471,0.957093,0.202307],[-0.978131,-0.199857,-0.057595],[-0.014692,-0.209833,0.977627]]
2025-10-27T18:38:24.352Z,1761590304.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:24.605Z,1761590304.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:24.698Z,1761590304.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226293,0.945821,0.232839],[-0.973973,-0.216526,-0.067038],[-0.012990,-0.241949,0.970202]]
2025-10-27T18:38:24.856Z,1761590304.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:25.108Z,1761590305.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:25.360Z,1761590305.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:25.612Z,1761590305.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:25.864Z,1761590305.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:26.116Z,1761590306.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:26.368Z,1761590306.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:26.597Z,1761590306.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278129,0.892174,0.355908],[-0.960437,-0.252768,-0.116917],[-0.014348,-0.374345,0.927178]]
2025-10-27T18:38:26.620Z,1761590306.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:26.872Z,1761590306.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:27.043Z,1761590307.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287572,0.892292,0.348020],[-0.957596,-0.261174,-0.121643],[-0.017647,-0.368243,0.929562]]
2025-10-27T18:38:27.126Z,1761590307.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:27.376Z,1761590307.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:27.459Z,1761590307.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298952,0.893009,0.336397],[-0.954083,-0.272766,-0.123792],[-0.018790,-0.357958,0.933549]]
2025-10-27T18:38:27.628Z,1761590307.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:27.880Z,1761590307.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:28.001Z,1761590308.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317259,0.892124,0.321655],[-0.948145,-0.291541,-0.126588],[-0.019156,-0.345137,0.938357]]
2025-10-27T18:38:28.134Z,1761590308.134 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:28.183Z,1761590308.183 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:38:28.384Z,1761590308.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:28.407Z,1761590308.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338504,0.888937,0.308555],[-0.940703,-0.311961,-0.133258],[-0.022201,-0.335368,0.941826]]
2025-10-27T18:38:28.637Z,1761590308.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:28.858Z,1761590308.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385072,0.870890,0.305400],[-0.922482,-0.353417,-0.155319],[-0.027333,-0.341535,0.939471]]
2025-10-27T18:38:28.888Z,1761590308.888 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:38:28.888Z,1761590308.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:29.141Z,1761590309.141 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:38:29.141Z,1761590309.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:29.261Z,1761590309.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408993,0.856246,0.315544],[-0.912193,-0.374119,-0.167149],[-0.025069,-0.356200,0.934074]]
2025-10-27T18:38:29.393Z,1761590309.393 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:38:29.393Z,1761590309.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:29.650Z,1761590309.650 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:29.669Z,1761590309.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430157,0.839545,0.331856],[-0.902522,-0.391610,-0.179150],[-0.020446,-0.376570,0.926162]]
2025-10-27T18:38:29.900Z,1761590309.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:30.065Z,1761590310.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446476,0.824858,0.346797],[-0.894619,-0.403796,-0.191327],[-0.017782,-0.395674,0.918219]]
2025-10-27T18:38:30.155Z,1761590310.155 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:30.404Z,1761590310.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:30.466Z,1761590310.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454778,0.816293,0.356151],[-0.890332,-0.406802,-0.204503],[-0.022052,-0.410096,0.911776]]
2025-10-27T18:38:30.658Z,1761590310.658 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:30.870Z,1761590310.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458915,0.813796,0.356557],[-0.888007,-0.407017,-0.213965],[-0.028999,-0.414817,0.909443]]
2025-10-27T18:38:30.908Z,1761590310.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:31.160Z,1761590311.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:31.277Z,1761590311.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468001,0.814453,0.342988],[-0.883048,-0.415761,-0.217644],[-0.034660,-0.404733,0.913778]]
2025-10-27T18:38:31.412Z,1761590311.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:31.669Z,1761590311.669 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:31.681Z,1761590311.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479946,0.815719,0.322883],[-0.876516,-0.430330,-0.215720],[-0.037020,-0.386546,0.921527]]
2025-10-27T18:38:31.920Z,1761590311.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:32.082Z,1761590312.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493435,0.814580,0.304930],[-0.869087,-0.447722,-0.210318],[-0.034797,-0.368789,0.928862]]
2025-10-27T18:38:32.177Z,1761590312.177 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:32.428Z,1761590312.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:32.485Z,1761590312.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505602,0.810767,0.294997],[-0.862211,-0.462548,-0.206500],[-0.030973,-0.358756,0.932917]]
2025-10-27T18:38:32.680Z,1761590312.680 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:31.9439

2025-10-27T18:38:32.681Z,1761590312.681 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:38:32.681Z,1761590312.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:32.890Z,1761590312.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515626,0.804844,0.293863],[-0.856402,-0.473485,-0.205883],[-0.026564,-0.357823,0.933412]]
2025-10-27T18:38:32.932Z,1761590312.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:33.184Z,1761590313.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:33.296Z,1761590313.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523916,0.797092,0.300260],[-0.851443,-0.480336,-0.210528],[-0.023584,-0.365953,0.930334]]
2025-10-27T18:38:33.436Z,1761590313.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:33.688Z,1761590313.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:33.699Z,1761590313.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531946,0.789808,0.305348],[-0.846442,-0.485804,-0.218013],[-0.023850,-0.374430,0.926948]]
2025-10-27T18:38:33.940Z,1761590313.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:34.102Z,1761590314.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540751,0.784387,0.303852],[-0.840707,-0.491809,-0.226573],[-0.028284,-0.377970,0.925386]]
2025-10-27T18:38:34.192Z,1761590314.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:34.444Z,1761590314.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:34.506Z,1761590314.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551729,0.780778,0.293227],[-0.833307,-0.501489,-0.232613],[-0.034569,-0.372687,0.927313]]
2025-10-27T18:38:34.531Z,1761590314.531 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:38:34.531Z,1761590314.531 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:38:34.531Z,1761590314.531 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:38:34.531Z,1761590314.531 [marl:UpdateRudder:A] Stopped
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode] Stopped
2025-10-27T18:38:34.532Z,1761590314.532 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed] Stopped
2025-10-27T18:38:34.533Z,1761590314.533 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:38:34.697Z,1761590314.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:34.911Z,1761590314.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565245,0.776937,0.277249],[-0.823918,-0.515131,-0.236219],[-0.040708,-0.361953,0.931307]]
2025-10-27T18:38:34.948Z,1761590314.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:34.971Z,1761590314.971 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:38:34.971Z,1761590314.971 [marl:UpdateRudder:B] Stopped
2025-10-27T18:38:34.971Z,1761590314.971 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:38:34.971Z,1761590314.971 [marl:UpdateRudder] Stopped
2025-10-27T18:38:34.971Z,1761590314.971 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:38:35.200Z,1761590315.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:35.313Z,1761590315.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580458,0.771181,0.261436],[-0.813006,-0.530835,-0.239240],[-0.045718,-0.351418,0.935102]]
2025-10-27T18:38:35.452Z,1761590315.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:35.704Z,1761590315.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:35.719Z,1761590315.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597616,0.762296,0.248514],[-0.800228,-0.547791,-0.244051],[-0.049905,-0.344716,0.937379]]
2025-10-27T18:38:35.956Z,1761590315.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:36.181Z,1761590316.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615588,0.751102,0.238531],[-0.786250,-0.564809,-0.250601],[-0.053503,-0.341812,0.938244]]
2025-10-27T18:38:36.208Z,1761590316.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:36.460Z,1761590316.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:36.662Z,1761590316.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634974,0.737419,0.230263],[-0.770457,-0.582644,-0.258692],[-0.056603,-0.341670,0.938114]]
2025-10-27T18:38:36.712Z,1761590316.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:36.964Z,1761590316.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:37.216Z,1761590317.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:37.332Z,1761590317.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675131,0.702551,0.224989],[-0.735558,-0.617885,-0.277800],[-0.056152,-0.353044,0.933920]]
2025-10-27T18:38:37.469Z,1761590317.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:37.720Z,1761590317.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:37.751Z,1761590317.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695029,0.681059,0.230422],[-0.717191,-0.634124,-0.289006],[-0.050714,-0.366124,0.929183]]
2025-10-27T18:38:37.972Z,1761590317.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:38.162Z,1761590318.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713307,0.658137,0.240933],[-0.699546,-0.647606,-0.302063],[-0.042769,-0.384007,0.922339]]
2025-10-27T18:38:38.224Z,1761590318.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:38.476Z,1761590318.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:38.560Z,1761590318.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728627,0.636344,0.253318],[-0.684035,-0.657387,-0.316131],[-0.034639,-0.403620,0.914271]]
2025-10-27T18:38:38.729Z,1761590318.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:38.980Z,1761590318.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:38.996Z,1761590318.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740305,0.618353,0.263795],[-0.671656,-0.663528,-0.329558],[-0.028748,-0.421153,0.906534]]
2025-10-27T18:38:39.232Z,1761590319.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:39.400Z,1761590319.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747576,0.606821,0.269997],[-0.663670,-0.666628,-0.339336],[-0.025929,-0.432868,0.901084]]
2025-10-27T18:38:39.484Z,1761590319.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:39.737Z,1761590319.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:39.904Z,1761590319.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750796,0.601897,0.272075],[-0.660081,-0.668431,-0.342772],[-0.024450,-0.436944,0.899157]]
2025-10-27T18:38:39.988Z,1761590319.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:40.240Z,1761590320.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:40.372Z,1761590320.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751678,0.601621,0.270246],[-0.659143,-0.671233,-0.339081],[-0.022600,-0.433011,0.901105]]
2025-10-27T18:38:40.493Z,1761590320.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:40.745Z,1761590320.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:40.798Z,1761590320.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751822,0.603512,0.265588],[-0.659072,-0.675790,-0.330048],[-0.019706,-0.423179,0.905832]]
2025-10-27T18:38:40.996Z,1761590320.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:41.180Z,1761590321.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752319,0.605833,0.258812],[-0.658618,-0.682434,-0.317026],[-0.015443,-0.408963,0.912420]]
2025-10-27T18:38:41.248Z,1761590321.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:41.500Z,1761590321.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:41.601Z,1761590321.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754129,0.606661,0.251498],[-0.656641,-0.690378,-0.303646],[-0.010582,-0.394132,0.918993]]
2025-10-27T18:38:41.752Z,1761590321.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:41.992Z,1761590321.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757922,0.605325,0.243177],[-0.652316,-0.699738,-0.291292],[-0.006166,-0.379405,0.925210]]
2025-10-27T18:38:42.004Z,1761590322.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:42.256Z,1761590322.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:42.390Z,1761590322.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764403,0.600714,0.234160],[-0.644734,-0.710723,-0.281411],[-0.002624,-0.366082,0.930579]]
2025-10-27T18:38:42.508Z,1761590322.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:42.760Z,1761590322.760 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:38:42.761Z,1761590322.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:43.012Z,1761590323.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:38:43.013Z,1761590323.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:43.264Z,1761590323.264 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:38:43.265Z,1761590323.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:43.440Z,1761590323.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801425,0.558659,0.213584],[-0.597967,-0.755835,-0.266739],[0.012418,-0.341488,0.939804]]
2025-10-27T18:38:43.516Z,1761590323.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:43.768Z,1761590323.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:43.920Z,1761590323.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815849,0.537752,0.212636],[-0.577945,-0.770509,-0.268878],[0.019248,-0.342256,0.939410]]
2025-10-27T18:38:44.021Z,1761590324.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:44.272Z,1761590324.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:44.322Z,1761590324.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828900,0.516583,0.214630],[-0.558845,-0.781740,-0.276722],[0.024835,-0.349320,0.936674]]
2025-10-27T18:38:44.524Z,1761590324.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:44.732Z,1761590324.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841058,0.495578,0.216851],[-0.540186,-0.790679,-0.288144],[0.028662,-0.359486,0.932710]]
2025-10-27T18:38:44.777Z,1761590324.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:45.028Z,1761590325.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:45.176Z,1761590325.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852480,0.475232,0.217788],[-0.521811,-0.798656,-0.299771],[0.031477,-0.369193,0.928820]]
2025-10-27T18:38:45.280Z,1761590325.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:45.532Z,1761590325.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:45.578Z,1761590325.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862091,0.456746,0.219505],[-0.505578,-0.804709,-0.311182],[0.034507,-0.379244,0.924653]]
2025-10-27T18:38:45.784Z,1761590325.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:45.984Z,1761590325.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869284,0.441354,0.222601],[-0.492804,-0.808944,-0.320553],[0.038594,-0.388350,0.920703]]
2025-10-27T18:38:46.036Z,1761590326.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:46.288Z,1761590326.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:46.392Z,1761590326.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874262,0.428831,0.227530],[-0.483520,-0.811012,-0.329345],[0.043296,-0.397949,0.916385]]
2025-10-27T18:38:46.546Z,1761590326.546 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:45.7938

2025-10-27T18:38:46.546Z,1761590326.546 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:38:46.546Z,1761590326.546 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:46.794Z,1761590326.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:46.840Z,1761590326.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878930,0.417894,0.229884],[-0.474595,-0.814138,-0.334573],[0.047341,-0.403168,0.913900]]
2025-10-27T18:38:47.044Z,1761590327.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:47.232Z,1761590327.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885178,0.406123,0.226990],[-0.462522,-0.820927,-0.334892],[0.050335,-0.401427,0.914507]]
2025-10-27T18:38:47.298Z,1761590327.298 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:47.549Z,1761590327.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:47.646Z,1761590327.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893624,0.391632,0.219227],[-0.445774,-0.831255,-0.332114],[0.052168,-0.394511,0.917409]]
2025-10-27T18:38:47.804Z,1761590327.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:48.056Z,1761590328.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:48.057Z,1761590328.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903000,0.375187,0.209346],[-0.426352,-0.842687,-0.328791],[0.053056,-0.386153,0.920908]]
2025-10-27T18:38:48.308Z,1761590328.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:48.527Z,1761590328.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921027,0.338526,0.192638],[-0.385723,-0.861436,-0.330373],[0.054105,-0.378587,0.923983]]
2025-10-27T18:38:48.560Z,1761590328.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:48.587Z,1761590328.587 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateRudder:A] Stopped
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:38:48.588Z,1761590328.588 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateCommandMode] Stopped
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:38:48.589Z,1761590328.589 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:38:48.590Z,1761590328.590 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:38:48.590Z,1761590328.590 [marl:UpdateSpeed] Stopped
2025-10-27T18:38:48.590Z,1761590328.590 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:38:48.817Z,1761590328.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:48.945Z,1761590328.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929047,0.318528,0.188179],[-0.365622,-0.868185,-0.335524],[0.056500,-0.380520,0.923045]]
2025-10-27T18:38:49.012Z,1761590329.012 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:38:49.012Z,1761590329.012 [marl:UpdateRudder:B] Stopped
2025-10-27T18:38:49.012Z,1761590329.012 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:38:49.012Z,1761590329.012 [marl:UpdateRudder] Stopped
2025-10-27T18:38:49.012Z,1761590329.012 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:38:49.064Z,1761590329.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:49.319Z,1761590329.319 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:49.445Z,1761590329.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935828,0.298760,0.186997],[-0.347070,-0.873536,-0.341289],[0.061385,-0.384289,0.921170]]
2025-10-27T18:38:49.568Z,1761590329.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:49.820Z,1761590329.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:49.849Z,1761590329.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940547,0.281942,0.189422],[-0.332748,-0.876779,-0.347184],[0.068196,-0.389572,0.918468]]
2025-10-27T18:38:50.072Z,1761590330.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:50.252Z,1761590330.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943512,0.268849,0.193664],[-0.322609,-0.878679,-0.351918],[0.075556,-0.394516,0.915777]]
2025-10-27T18:38:50.325Z,1761590330.325 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:50.576Z,1761590330.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:50.650Z,1761590330.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945600,0.258932,0.196962],[-0.315037,-0.879883,-0.355749],[0.081188,-0.398446,0.913591]]
2025-10-27T18:38:50.830Z,1761590330.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:51.055Z,1761590331.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947706,0.251643,0.196287],[-0.308046,-0.882059,-0.356482],[0.083431,-0.398305,0.913451]]
2025-10-27T18:38:51.080Z,1761590331.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:51.332Z,1761590331.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:51.460Z,1761590331.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950083,0.246253,0.191578],[-0.300962,-0.885226,-0.354678],[0.082249,-0.394631,0.915151]]
2025-10-27T18:38:51.584Z,1761590331.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:51.836Z,1761590331.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:51.942Z,1761590331.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953288,0.239203,0.184455],[-0.291169,-0.890200,-0.350379],[0.080390,-0.387719,0.918265]]
2025-10-27T18:38:52.088Z,1761590332.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:52.340Z,1761590332.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:52.350Z,1761590332.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958485,0.224144,0.176255],[-0.273381,-0.898065,-0.344589],[0.081051,-0.378468,0.922059]]
2025-10-27T18:38:52.592Z,1761590332.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:52.844Z,1761590332.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:53.097Z,1761590333.097 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:53.183Z,1761590333.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967531,0.190525,0.166082],[-0.237778,-0.908930,-0.342502],[0.085702,-0.370872,0.924721]]
2025-10-27T18:38:53.348Z,1761590333.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:53.581Z,1761590333.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970518,0.176290,0.164365],[-0.224204,-0.910606,-0.347173],[0.088468,-0.373789,0.923285]]
2025-10-27T18:38:53.601Z,1761590333.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:53.852Z,1761590333.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:54.106Z,1761590334.106 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:54.356Z,1761590334.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:54.404Z,1761590334.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974266,0.156644,0.162072],[-0.205934,-0.910916,-0.357525],[0.091630,-0.381701,0.919733]]
2025-10-27T18:38:54.610Z,1761590334.610 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:54.860Z,1761590334.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:55.112Z,1761590335.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:55.266Z,1761590335.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977970,0.141015,0.153911],[-0.188049,-0.915240,-0.356334],[0.090617,-0.377427,0.921595]]
2025-10-27T18:38:55.364Z,1761590335.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:55.617Z,1761590335.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:55.778Z,1761590335.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983926,0.112422,0.138751],[-0.154684,-0.924794,-0.347604],[0.089238,-0.363479,0.927319]]
2025-10-27T18:38:55.868Z,1761590335.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:56.120Z,1761590336.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:56.264Z,1761590336.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987072,0.093212,0.130388],[-0.133637,-0.927760,-0.348430],[0.088491,-0.361350,0.928222]]
2025-10-27T18:38:56.296Z,1761590336.296 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.312141
2025-10-27T18:38:56.373Z,1761590336.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:56.626Z,1761590336.626 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:38:56.627Z,1761590336.627 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:56.662Z,1761590336.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989836,0.072122,0.122570],[-0.111282,-0.929445,-0.351778],[0.088551,-0.361842,0.928024]]
2025-10-27T18:38:56.878Z,1761590336.878 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:38:56.879Z,1761590336.879 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:57.066Z,1761590337.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991970,0.050022,0.116164],[-0.088769,-0.929595,-0.357732],[0.090091,-0.365171,0.926571]]
2025-10-27T18:38:57.128Z,1761590337.128 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:38:57.128Z,1761590337.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:57.299Z,1761590337.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:38:57.380Z,1761590337.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:57.494Z,1761590337.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993380,0.029743,0.110955],[-0.068649,-0.928154,-0.365811],[0.092103,-0.371006,0.924052]]
2025-10-27T18:38:57.632Z,1761590337.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:57.889Z,1761590337.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:57.899Z,1761590337.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994233,0.012049,0.106560],[-0.051602,-0.924821,-0.376887],[0.094008,-0.380212,0.920109]]
2025-10-27T18:38:58.136Z,1761590338.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:58.305Z,1761590338.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994684,-0.004142,0.102894],[-0.036038,-0.922005,-0.385497],[0.096465,-0.387156,0.916954]]
2025-10-27T18:38:58.388Z,1761590338.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:58.641Z,1761590338.641 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:58.706Z,1761590338.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994908,-0.019106,0.098955],[-0.021090,-0.920659,-0.389799],[0.098551,-0.389901,0.915568]]
2025-10-27T18:38:58.892Z,1761590338.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:59.120Z,1761590339.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994987,-0.034420,0.093898],[-0.004888,-0.921045,-0.389424],[0.099889,-0.387931,0.916260]]
2025-10-27T18:38:59.144Z,1761590339.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:59.398Z,1761590339.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:59.517Z,1761590339.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994844,-0.049091,0.088742],[0.011078,-0.922401,-0.386075],[0.100809,-0.383102,0.918189]]
2025-10-27T18:38:59.648Z,1761590339.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:59.900Z,1761590339.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:38:59.918Z,1761590339.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994521,-0.063588,0.082977],[0.027025,-0.923137,-0.383519],[0.100987,-0.379175,0.919798]]
2025-10-27T18:39:00.156Z,1761590340.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:00.323Z,1761590340.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994037,-0.077698,0.076503],[0.042684,-0.922890,-0.382691],[0.100338,-0.377144,0.920703]]
2025-10-27T18:39:00.405Z,1761590340.405 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:59.6438

2025-10-27T18:39:00.405Z,1761590340.405 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:39:00.406Z,1761590340.406 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:00.656Z,1761590340.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:00.729Z,1761590340.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993434,-0.091666,0.068449],[0.058475,-0.921113,-0.384879],[0.098330,-0.378349,0.920425]]
2025-10-27T18:39:00.909Z,1761590340.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:01.160Z,1761590341.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:01.412Z,1761590341.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:01.511Z,1761590341.511 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:39:01.511Z,1761590341.511 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:39:01.559Z,1761590341.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991723,-0.120377,0.044667],[0.093369,-0.914926,-0.392674],[0.088136,-0.385253,0.918592]]
2025-10-27T18:39:01.648Z,1761590341.648 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:39:01.664Z,1761590341.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:01.916Z,1761590341.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:01.965Z,1761590341.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990756,-0.131590,0.032969],[0.108185,-0.913053,-0.393230],[0.081848,-0.386029,0.918849]]
2025-10-27T18:39:02.000Z,1761590342.000 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateRudder:A] Stopped
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:39:02.001Z,1761590342.001 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateCommandMode] Stopped
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:39:02.002Z,1761590342.002 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:39:02.003Z,1761590342.003 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:39:02.003Z,1761590342.003 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:39:02.003Z,1761590342.003 [marl:UpdateSpeed] Stopped
2025-10-27T18:39:02.003Z,1761590342.003 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:39:02.168Z,1761590342.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:02.354Z,1761590342.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989824,-0.140242,0.024114],[0.119711,-0.912271,-0.391702],[0.076932,-0.384829,0.919776]]
2025-10-27T18:39:02.397Z,1761590342.397 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:39:02.397Z,1761590342.397 [marl:UpdateRudder:B] Stopped
2025-10-27T18:39:02.398Z,1761590342.398 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:39:02.398Z,1761590342.398 [marl:UpdateRudder] Stopped
2025-10-27T18:39:02.398Z,1761590342.398 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:39:02.420Z,1761590342.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:02.672Z,1761590342.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:02.766Z,1761590342.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988694,-0.148851,0.018100],[0.130318,-0.912690,-0.387317],[0.074172,-0.380580,0.921769]]
2025-10-27T18:39:02.924Z,1761590342.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:03.176Z,1761590343.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:03.230Z,1761590343.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987284,-0.158190,0.015714],[0.140359,-0.913849,-0.381025],[0.074634,-0.373974,0.924431]]
2025-10-27T18:39:03.428Z,1761590343.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:03.636Z,1761590343.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985470,-0.169069,0.016284],[0.150722,-0.914659,-0.375076],[0.078308,-0.367171,0.926851]]
2025-10-27T18:39:03.681Z,1761590343.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:03.932Z,1761590343.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:04.038Z,1761590344.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982585,-0.185115,0.016122],[0.166142,-0.914095,-0.369902],[0.083211,-0.360781,0.928931]]
2025-10-27T18:39:04.184Z,1761590344.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:04.375Z,1761590344.375 [Radio_Surface](INFO): Powering down
2025-10-27T18:39:04.436Z,1761590344.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:04.443Z,1761590344.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978516,-0.205838,0.011747],[0.187334,-0.911454,-0.366274],[0.086100,-0.356205,0.930433]]
2025-10-27T18:39:04.688Z,1761590344.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:04.849Z,1761590344.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974412,-0.224726,0.004472],[0.207461,-0.906853,-0.366849],[0.086496,-0.356534,0.930270]]
2025-10-27T18:39:04.941Z,1761590344.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:05.192Z,1761590345.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:05.252Z,1761590345.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970218,-0.242164,-0.005870],[0.227106,-0.900927,-0.369802],[0.084264,-0.360122,0.929092]]
2025-10-27T18:39:05.445Z,1761590345.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:05.654Z,1761590345.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965619,-0.259312,-0.018383],[0.247274,-0.894360,-0.372794],[0.080229,-0.364522,0.927732]]
2025-10-27T18:39:05.696Z,1761590345.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:05.952Z,1761590345.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:06.058Z,1761590346.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960574,-0.276190,-0.031896],[0.267526,-0.886967,-0.376456],[0.075682,-0.370147,0.925885]]
2025-10-27T18:39:06.201Z,1761590346.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:06.452Z,1761590346.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:06.480Z,1761590346.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955830,-0.290638,-0.043811],[0.284962,-0.879817,-0.380419],[0.072018,-0.376100,0.923776]]
2025-10-27T18:39:06.704Z,1761590346.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:06.929Z,1761590346.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948580,-0.311348,-0.057077],[0.308493,-0.868933,-0.387024],[0.070903,-0.384731,0.920301]]
2025-10-27T18:39:06.967Z,1761590346.967 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:07.216Z,1761590347.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:07.368Z,1761590347.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945188,-0.320892,-0.060397],[0.318420,-0.864861,-0.388102],[0.072303,-0.386061,0.919635]]
2025-10-27T18:39:07.468Z,1761590347.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:07.721Z,1761590347.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:07.771Z,1761590347.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941825,-0.330091,-0.063296],[0.327995,-0.861535,-0.387528],[0.073387,-0.385744,0.919683]]
2025-10-27T18:39:07.972Z,1761590347.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:08.173Z,1761590348.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937308,-0.341817,-0.067935],[0.340727,-0.857869,-0.384664],[0.073205,-0.383696,0.920553]]
2025-10-27T18:39:08.224Z,1761590348.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:08.476Z,1761590348.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:08.581Z,1761590348.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931179,-0.356833,-0.074666],[0.357478,-0.853555,-0.379016],[0.071513,-0.379623,0.922373]]
2025-10-27T18:39:08.730Z,1761590348.730 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:08.980Z,1761590348.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:09.000Z,1761590349.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924657,-0.371716,-0.082682],[0.374528,-0.848484,-0.373904],[0.068832,-0.376700,0.923775]]
2025-10-27T18:39:09.232Z,1761590349.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:09.384Z,1761590349.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918092,-0.385799,-0.090915],[0.390856,-0.843077,-0.369394],[0.065864,-0.374672,0.924815]]
2025-10-27T18:39:09.484Z,1761590349.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:09.736Z,1761590349.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:09.786Z,1761590349.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911330,-0.399681,-0.098658],[0.406725,-0.837068,-0.365913],[0.063665,-0.373593,0.925405]]
2025-10-27T18:39:09.988Z,1761590349.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:10.191Z,1761590350.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904639,-0.413119,-0.104695],[0.421518,-0.831096,-0.362770],[0.062855,-0.372307,0.925979]]
2025-10-27T18:39:10.240Z,1761590350.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:10.493Z,1761590350.493 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:39:10.493Z,1761590350.493 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:39:10.494Z,1761590350.494 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:10.608Z,1761590350.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898076,-0.425960,-0.109623],[0.435231,-0.824638,-0.361312],[0.063505,-0.372197,0.925979]]
2025-10-27T18:39:10.744Z,1761590350.744 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:39:10.744Z,1761590350.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:10.996Z,1761590350.996 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:39:10.996Z,1761590350.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:10.999Z,1761590350.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890724,-0.439820,-0.114758],[0.449847,-0.816758,-0.361309],[0.065181,-0.373450,0.925357]]
2025-10-27T18:39:11.248Z,1761590351.248 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:39:11.248Z,1761590351.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:11.402Z,1761590351.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882335,-0.455170,-0.119607],[0.465767,-0.808147,-0.360500],[0.067429,-0.373790,0.925059]]
2025-10-27T18:39:11.501Z,1761590351.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:11.752Z,1761590351.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:11.808Z,1761590351.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872829,-0.471920,-0.124346],[0.482970,-0.798691,-0.358932],[0.070073,-0.373342,0.925044]]
2025-10-27T18:39:12.004Z,1761590352.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:12.256Z,1761590352.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:12.508Z,1761590352.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:12.617Z,1761590352.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853066,-0.503909,-0.135480],[0.516710,-0.779580,-0.353930],[0.072731,-0.371930,0.925407]]
2025-10-27T18:39:12.760Z,1761590352.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:13.012Z,1761590353.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:13.020Z,1761590353.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843565,-0.517497,-0.143510],[0.532247,-0.770077,-0.351702],[0.071491,-0.373066,0.925046]]
2025-10-27T18:39:13.264Z,1761590353.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:13.437Z,1761590353.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834412,-0.529529,-0.152828],[0.546925,-0.761325,-0.348219],[0.068040,-0.374144,0.924871]]
2025-10-27T18:39:13.516Z,1761590353.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:13.768Z,1761590353.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:13.840Z,1761590353.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825703,-0.540135,-0.162691],[0.560566,-0.753404,-0.343725],[0.063086,-0.375014,0.924870]]
2025-10-27T18:39:14.020Z,1761590354.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:14.242Z,1761590354.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817411,-0.549749,-0.172090],[0.573138,-0.746108,-0.338875],[0.057899,-0.375631,0.924959]]
2025-10-27T18:39:14.272Z,1761590354.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:14.526Z,1761590354.526 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:13.7938

2025-10-27T18:39:14.527Z,1761590354.527 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:39:14.527Z,1761590354.527 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:14.645Z,1761590354.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810045,-0.558210,-0.179521],[0.583906,-0.739889,-0.334093],[0.053668,-0.375454,0.925286]]
2025-10-27T18:39:14.778Z,1761590354.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:15.028Z,1761590355.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:15.054Z,1761590355.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803623,-0.565530,-0.185381],[0.592935,-0.734026,-0.331110],[0.051178,-0.376007,0.925202]]
2025-10-27T18:39:15.139Z,1761590355.139 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:39:15.139Z,1761590355.139 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:39:15.139Z,1761590355.139 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateRudder:A] Stopped
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:39:15.140Z,1761590355.140 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateCommandMode] Stopped
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed] Stopped
2025-10-27T18:39:15.141Z,1761590355.141 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:39:15.280Z,1761590355.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:15.466Z,1761590355.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797778,-0.572671,-0.188675],[0.600867,-0.729100,-0.327676],[0.050088,-0.374781,0.925759]]
2025-10-27T18:39:15.518Z,1761590355.518 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:39:15.518Z,1761590355.518 [marl:UpdateRudder:B] Stopped
2025-10-27T18:39:15.518Z,1761590355.518 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:39:15.519Z,1761590355.519 [marl:UpdateRudder] Stopped
2025-10-27T18:39:15.519Z,1761590355.519 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:39:15.532Z,1761590355.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:15.784Z,1761590355.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:16.037Z,1761590356.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:16.288Z,1761590356.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:16.314Z,1761590356.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785146,-0.587628,-0.195549],[0.617310,-0.717212,-0.323320],[0.049742,-0.374567,0.925865]]
2025-10-27T18:39:16.540Z,1761590356.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:16.718Z,1761590356.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777150,-0.596589,-0.200300],[0.627395,-0.709643,-0.320595],[0.049122,-0.374818,0.925796]]
2025-10-27T18:39:16.794Z,1761590356.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:17.044Z,1761590357.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:17.299Z,1761590357.299 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:17.313Z,1761590357.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758037,-0.616920,-0.211635],[0.650303,-0.690111,-0.317574],[0.049866,-0.378359,0.924315]]
2025-10-27T18:39:17.548Z,1761590357.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:17.801Z,1761590357.801 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:17.860Z,1761590357.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746972,-0.628715,-0.216216],[0.662728,-0.678115,-0.317729],[0.053142,-0.380628,0.923200]]
2025-10-27T18:39:18.052Z,1761590358.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:18.304Z,1761590358.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:18.336Z,1761590358.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734368,-0.641751,-0.221041],[0.676193,-0.663472,-0.320262],[0.058874,-0.384656,0.921180]]
2025-10-27T18:39:18.556Z,1761590358.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:18.748Z,1761590358.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720009,-0.656556,-0.224769],[0.690779,-0.647068,-0.322689],[0.066423,-0.387605,0.919430]]
2025-10-27T18:39:18.810Z,1761590358.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:19.060Z,1761590359.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:19.170Z,1761590359.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706033,-0.670678,-0.227396],[0.704176,-0.630770,-0.325984],[0.075195,-0.390283,0.917619]]
2025-10-27T18:39:19.313Z,1761590359.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:19.564Z,1761590359.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:19.585Z,1761590359.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693519,-0.683049,-0.229077],[0.715507,-0.615885,-0.329749],[0.084150,-0.392594,0.915854]]
2025-10-27T18:39:19.816Z,1761590359.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:19.973Z,1761590359.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682573,-0.693751,-0.229792],[0.725094,-0.603603,-0.331515],[0.091286,-0.392904,0.915037]]
2025-10-27T18:39:20.070Z,1761590360.070 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:20.320Z,1761590360.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:20.378Z,1761590360.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672442,-0.703280,-0.230692],[0.734021,-0.593630,-0.329873],[0.095047,-0.391154,0.915404]]
2025-10-27T18:39:20.573Z,1761590360.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:20.826Z,1761590360.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:20.854Z,1761590360.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662514,-0.711775,-0.233348],[0.743076,-0.585260,-0.324515],[0.094412,-0.388391,0.916645]]
2025-10-27T18:39:21.076Z,1761590361.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:21.258Z,1761590361.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651778,-0.720317,-0.237338],[0.753094,-0.577715,-0.314793],[0.089637,-0.383913,0.919008]]
2025-10-27T18:39:21.329Z,1761590361.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:21.581Z,1761590361.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:21.832Z,1761590361.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:22.085Z,1761590362.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:22.165Z,1761590362.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613060,-0.746611,-0.258319],[0.787637,-0.552144,-0.273431],[0.061517,-0.371092,0.926556]]
2025-10-27T18:39:22.336Z,1761590362.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:22.573Z,1761590362.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600529,-0.753952,-0.266311],[0.797886,-0.543216,-0.261332],[0.052367,-0.369423,0.927785]]
2025-10-27T18:39:22.588Z,1761590362.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:22.840Z,1761590362.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:23.093Z,1761590363.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:23.100Z,1761590363.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589911,-0.759654,-0.273735],[0.806209,-0.535191,-0.252185],[0.045072,-0.369455,0.928155]]
2025-10-27T18:39:23.344Z,1761590363.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:23.518Z,1761590363.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580154,-0.764646,-0.280603],[0.813543,-0.527235,-0.245298],[0.039623,-0.370593,0.927950]]
2025-10-27T18:39:23.596Z,1761590363.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:23.848Z,1761590363.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:24.100Z,1761590364.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:24.352Z,1761590364.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:24.390Z,1761590364.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559585,-0.774145,-0.295912],[0.828084,-0.507707,-0.237720],[0.033793,-0.378064,0.925162]]
2025-10-27T18:39:24.604Z,1761590364.604 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:39:24.604Z,1761590364.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:24.837Z,1761590364.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548728,-0.779293,-0.302654],[0.835301,-0.496265,-0.236629],[0.034206,-0.382652,0.923259]]
2025-10-27T18:39:24.856Z,1761590364.856 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:39:24.856Z,1761590364.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:25.109Z,1761590365.109 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:39:25.109Z,1761590365.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:25.199Z,1761590365.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537436,-0.785177,-0.307667],[0.842473,-0.483702,-0.237216],[0.037437,-0.386690,0.921450]]
2025-10-27T18:39:25.360Z,1761590365.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:25.612Z,1761590365.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:25.867Z,1761590365.867 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:26.006Z,1761590366.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511182,-0.800506,-0.312863],[0.857875,-0.453045,-0.242488],[0.052372,-0.392353,0.918323]]
2025-10-27T18:39:26.117Z,1761590366.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:26.368Z,1761590366.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:26.410Z,1761590366.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496033,-0.810272,-0.312107],[0.865986,-0.435400,-0.245959],[0.063402,-0.392284,0.917656]]
2025-10-27T18:39:26.622Z,1761590366.622 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:26.872Z,1761590366.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:27.124Z,1761590367.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:27.244Z,1761590367.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462552,-0.831877,-0.306638],[0.882325,-0.398023,-0.251159],[0.086884,-0.386729,0.918092]]
2025-10-27T18:39:27.376Z,1761590367.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:27.425Z,1761590367.425 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:39:27.628Z,1761590367.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:27.880Z,1761590367.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:28.065Z,1761590368.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428519,-0.850803,-0.304147],[0.897709,-0.362753,-0.250057],[0.102419,-0.380190,0.919221]]
2025-10-27T18:39:28.132Z,1761590368.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:28.385Z,1761590368.385 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:27.6437

2025-10-27T18:39:28.386Z,1761590368.386 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:39:28.386Z,1761590368.386 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:28.427Z,1761590368.427 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T18:39:28.427Z,1761590368.427 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:39:28.636Z,1761590368.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:28.888Z,1761590368.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:28.966Z,1761590368.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374115,-0.872012,-0.315649],[0.922486,-0.314988,-0.223165],[0.095177,-0.374671,0.922260]]
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateRudder:A] Stopped
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:39:29.110Z,1761590369.110 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:39:29.111Z,1761590369.111 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:39:29.115Z,1761590369.115 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:39:29.115Z,1761590369.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:39:29.115Z,1761590369.115 [marl:UpdateCommandMode] Stopped
2025-10-27T18:39:29.115Z,1761590369.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:39:29.115Z,1761590369.115 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed] Stopped
2025-10-27T18:39:29.116Z,1761590369.116 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:39:29.140Z,1761590369.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:29.392Z,1761590369.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:29.588Z,1761590369.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354759,-0.876964,-0.324160],[0.931146,-0.300124,-0.207104],[0.084334,-0.375313,0.923054]]
2025-10-27T18:39:29.644Z,1761590369.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:29.649Z,1761590369.649 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:39:29.649Z,1761590369.649 [marl:UpdateRudder:B] Stopped
2025-10-27T18:39:29.649Z,1761590369.649 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:39:29.649Z,1761590369.649 [marl:UpdateRudder] Stopped
2025-10-27T18:39:29.649Z,1761590369.649 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:39:29.896Z,1761590369.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:30.104Z,1761590370.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335269,-0.881207,-0.333271],[0.939455,-0.286103,-0.188599],[0.070845,-0.376325,0.923775]]
2025-10-27T18:39:30.148Z,1761590370.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:30.401Z,1761590370.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:30.498Z,1761590370.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315723,-0.884690,-0.342990],[0.947179,-0.272402,-0.169260],[0.056312,-0.378312,0.923964]]
2025-10-27T18:39:30.652Z,1761590370.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:30.902Z,1761590370.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296719,-0.888249,-0.350674],[0.954020,-0.259384,-0.150219],[0.042473,-0.379123,0.924371]]
2025-10-27T18:39:30.904Z,1761590370.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:31.156Z,1761590371.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:31.319Z,1761590371.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268891,-0.893497,-0.359666],[0.962822,-0.239308,-0.125321],[0.025903,-0.379993,0.924627]]
2025-10-27T18:39:31.408Z,1761590371.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:31.660Z,1761590371.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:31.815Z,1761590371.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260847,-0.895512,-0.360579],[0.965072,-0.232456,-0.120831],[0.024387,-0.379504,0.924869]]
2025-10-27T18:39:31.913Z,1761590371.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:32.164Z,1761590372.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:32.218Z,1761590372.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251496,-0.897818,-0.361486],[0.967560,-0.223954,-0.116927],[0.024023,-0.379167,0.925017]]
2025-10-27T18:39:32.416Z,1761590372.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:32.668Z,1761590372.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:32.670Z,1761590372.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240439,-0.900356,-0.362695],[0.970351,-0.213460,-0.113372],[0.024654,-0.379201,0.924986]]
2025-10-27T18:39:32.920Z,1761590372.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:33.095Z,1761590373.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227684,-0.902655,-0.365204],[0.973389,-0.200985,-0.110088],[0.025971,-0.380551,0.924395]]
2025-10-27T18:39:33.172Z,1761590373.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:33.424Z,1761590373.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:33.500Z,1761590373.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213676,-0.905035,-0.367771],[0.976509,-0.187167,-0.106760],[0.027787,-0.381943,0.923768]]
2025-10-27T18:39:33.676Z,1761590373.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:33.914Z,1761590373.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198484,-0.907354,-0.370558],[0.979648,-0.172127,-0.103260],[0.029910,-0.383512,0.923051]]
2025-10-27T18:39:33.928Z,1761590373.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:34.180Z,1761590374.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:34.314Z,1761590374.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183056,-0.910406,-0.371014],[0.982563,-0.156928,-0.099715],[0.032559,-0.382798,0.923258]]
2025-10-27T18:39:34.432Z,1761590374.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:34.684Z,1761590374.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:34.717Z,1761590374.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166688,-0.913791,-0.370407],[0.985369,-0.140840,-0.095977],[0.035535,-0.380986,0.923898]]
2025-10-27T18:39:34.936Z,1761590374.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:35.188Z,1761590375.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:35.238Z,1761590375.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148483,-0.916663,-0.371054],[0.988173,-0.122998,-0.091576],[0.038305,-0.380263,0.924085]]
2025-10-27T18:39:35.440Z,1761590375.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:35.641Z,1761590375.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127693,-0.919482,-0.371816],[0.991005,-0.103147,-0.085264],[0.040047,-0.379359,0.924383]]
2025-10-27T18:39:35.692Z,1761590375.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:35.945Z,1761590375.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:36.041Z,1761590376.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105092,-0.921950,-0.372779],[0.993643,-0.082136,-0.076986],[0.040359,-0.378500,0.924721]]
2025-10-27T18:39:36.196Z,1761590376.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:36.446Z,1761590376.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082147,-0.922918,-0.376131],[0.995852,-0.061195,-0.067339],[0.039131,-0.380102,0.924116]]
2025-10-27T18:39:36.448Z,1761590376.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:36.700Z,1761590376.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:36.860Z,1761590376.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060079,-0.923809,-0.378110],[0.997513,-0.041574,-0.056923],[0.036866,-0.380590,0.924009]]
2025-10-27T18:39:36.952Z,1761590376.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:37.204Z,1761590377.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:37.268Z,1761590377.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039698,-0.923909,-0.380546],[0.998635,-0.023751,-0.046511],[0.033933,-0.381873,0.923592]]
2025-10-27T18:39:37.456Z,1761590377.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:37.658Z,1761590377.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021925,-0.924121,-0.381470],[0.999275,-0.008375,-0.037145],[0.031131,-0.382008,0.923634]]
2025-10-27T18:39:37.708Z,1761590377.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:37.960Z,1761590377.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:38.074Z,1761590378.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006358,-0.924096,-0.382108],[0.999565,0.005133,-0.029046],[0.028803,-0.382126,0.923661]]
2025-10-27T18:39:38.212Z,1761590378.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:38.464Z,1761590378.464 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:39:38.464Z,1761590378.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:38.469Z,1761590378.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007122,-0.924015,-0.382289],[0.999587,0.017217,-0.022994],[0.027829,-0.381968,0.923756]]
2025-10-27T18:39:38.717Z,1761590378.717 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:39:38.717Z,1761590378.717 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:38.952Z,1761590378.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032308,-0.922237,-0.385273],[0.999003,0.041679,-0.015993],[0.030807,-0.384372,0.922664]]
2025-10-27T18:39:38.968Z,1761590378.968 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:39:38.968Z,1761590378.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:39.220Z,1761590379.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:39.384Z,1761590379.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046021,-0.920891,-0.387094],[0.998352,0.055704,-0.013825],[0.034294,-0.385820,0.921937]]
2025-10-27T18:39:39.472Z,1761590379.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:39.725Z,1761590379.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:39.839Z,1761590379.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061002,-0.919658,-0.387953],[0.997374,0.071368,-0.012353],[0.039048,-0.386181,0.921596]]
2025-10-27T18:39:39.976Z,1761590379.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:40.228Z,1761590380.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:40.245Z,1761590380.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077398,-0.918763,-0.387148],[0.996029,0.088393,-0.010646],[0.044002,-0.384787,0.921956]]
2025-10-27T18:39:40.480Z,1761590380.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:40.646Z,1761590380.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095681,-0.917663,-0.385669],[0.994251,0.106815,-0.007492],[0.048071,-0.382735,0.922607]]
2025-10-27T18:39:40.733Z,1761590380.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:40.985Z,1761590380.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:41.064Z,1761590381.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115129,-0.915905,-0.384529],[0.992044,0.125864,-0.002775],[0.050940,-0.381150,0.923109]]
2025-10-27T18:39:41.236Z,1761590381.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:41.462Z,1761590381.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135574,-0.913811,-0.382844],[0.989378,0.145326,0.003482],[0.052456,-0.379249,0.923806]]
2025-10-27T18:39:41.488Z,1761590381.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:41.740Z,1761590381.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:41.917Z,1761590381.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155880,-0.910643,-0.382663],[0.986351,0.164299,0.010804],[0.053032,-0.379124,0.923825]]
2025-10-27T18:39:41.992Z,1761590381.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:42.245Z,1761590382.245 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:41.4937

2025-10-27T18:39:42.245Z,1761590382.245 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:39:42.245Z,1761590382.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:42.270Z,1761590382.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175813,-0.906690,-0.383409],[0.982996,0.182662,0.018794],[0.052994,-0.380194,0.923387]]
2025-10-27T18:39:42.496Z,1761590382.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:42.748Z,1761590382.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:42.849Z,1761590382.849 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:39:42.850Z,1761590382.850 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:39:42.850Z,1761590382.850 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:39:42.850Z,1761590382.850 [marl:UpdateRudder:A] Stopped
2025-10-27T18:39:42.850Z,1761590382.850 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:39:42.850Z,1761590382.850 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:39:42.851Z,1761590382.851 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:39:42.851Z,1761590382.851 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:39:42.855Z,1761590382.855 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:39:42.855Z,1761590382.855 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:39:42.855Z,1761590382.855 [marl:UpdateCommandMode] Stopped
2025-10-27T18:39:42.855Z,1761590382.855 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed] Stopped
2025-10-27T18:39:42.856Z,1761590382.856 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:39:42.000Z,1761590383.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:43.173Z,1761590383.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209831,-0.898253,-0.386152],[0.976189,0.214691,0.031045],[0.055017,-0.383471,0.921913]]
2025-10-27T18:39:43.252Z,1761590383.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:43.258Z,1761590383.258 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:39:43.258Z,1761590383.258 [marl:UpdateRudder:B] Stopped
2025-10-27T18:39:43.258Z,1761590383.258 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:39:43.258Z,1761590383.258 [marl:UpdateRudder] Stopped
2025-10-27T18:39:43.258Z,1761590383.258 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:39:43.504Z,1761590383.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:43.756Z,1761590383.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:43.981Z,1761590383.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239035,-0.888829,-0.390954],[0.969192,0.243030,0.040052],[0.059414,-0.388483,0.919538]]
2025-10-27T18:39:44.008Z,1761590384.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:44.260Z,1761590384.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:44.512Z,1761590384.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:44.764Z,1761590384.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:44.838Z,1761590384.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264366,-0.880912,-0.392561],[0.962280,0.268053,0.046523],[0.064245,-0.390053,0.918548]]
2025-10-27T18:39:45.016Z,1761590385.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:45.269Z,1761590385.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:45.369Z,1761590385.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275595,-0.886579,-0.371517],[0.959136,0.279376,0.044800],[0.064074,-0.368682,0.927345]]
2025-10-27T18:39:45.520Z,1761590385.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:45.768Z,1761590385.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274111,-0.895110,-0.351626],[0.959694,0.278191,0.039962],[0.062049,-0.348407,0.935287]]
2025-10-27T18:39:45.772Z,1761590385.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:46.024Z,1761590386.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:46.174Z,1761590386.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269491,-0.904215,-0.331314],[0.961170,0.273776,0.034632],[0.059391,-0.327782,0.942885]]
2025-10-27T18:39:46.277Z,1761590386.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:46.532Z,1761590386.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:46.578Z,1761590386.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262633,-0.913521,-0.310649],[0.963238,0.267087,0.028934],[0.056539,-0.306828,0.950084]]
2025-10-27T18:39:46.782Z,1761590386.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:46.978Z,1761590386.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254753,-0.922343,-0.290489],[0.965517,0.259276,0.023500],[0.053642,-0.286459,0.956590]]
2025-10-27T18:39:47.035Z,1761590387.035 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:47.284Z,1761590387.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:47.537Z,1761590387.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:47.786Z,1761590387.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237581,-0.937025,-0.256007],[0.970065,0.242517,0.012595],[0.050284,-0.251336,0.966593]]
2025-10-27T18:39:47.788Z,1761590387.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:48.041Z,1761590388.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:48.192Z,1761590388.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229741,-0.942538,-0.242571],[0.971899,0.235318,0.006138],[0.051296,-0.237165,0.970114]]
2025-10-27T18:39:48.292Z,1761590388.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:48.545Z,1761590388.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:48.594Z,1761590388.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222937,-0.946378,-0.233809],[0.973282,0.229608,-0.001346],[0.054959,-0.227262,0.972282]]
2025-10-27T18:39:48.806Z,1761590388.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:48.998Z,1761590388.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218138,-0.948906,-0.228021],[0.973992,0.226354,-0.010192],[0.061285,-0.219868,0.973603]]
2025-10-27T18:39:49.057Z,1761590389.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:49.308Z,1761590389.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:49.470Z,1761590389.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216898,-0.949695,-0.225907],[0.973695,0.227020,-0.019511],[0.069815,-0.215732,0.973954]]
2025-10-27T18:39:49.561Z,1761590389.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:49.812Z,1761590389.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:49.876Z,1761590389.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219480,-0.948754,-0.227366],[0.972407,0.231623,-0.027841],[0.079077,-0.214982,0.973411]]
2025-10-27T18:39:50.068Z,1761590390.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:50.280Z,1761590390.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224155,-0.946830,-0.230797],[0.970523,0.238393,-0.035398],[0.088536,-0.216060,0.972358]]
2025-10-27T18:39:50.316Z,1761590390.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:50.568Z,1761590390.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:50.681Z,1761590390.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229897,-0.944379,-0.235150],[0.968348,0.246104,-0.041654],[0.097208,-0.218131,0.971066]]
2025-10-27T18:39:50.823Z,1761590390.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:51.072Z,1761590391.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:51.087Z,1761590391.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236273,-0.941081,-0.241953],[0.966082,0.254218,-0.045385],[0.104220,-0.223023,0.969226]]
2025-10-27T18:39:51.324Z,1761590391.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:51.489Z,1761590391.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243251,-0.937180,-0.250046],[0.963826,0.262497,-0.046213],[0.108946,-0.229759,0.967131]]
2025-10-27T18:39:51.576Z,1761590391.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:51.828Z,1761590391.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:51.902Z,1761590391.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250607,-0.933250,-0.257371],[0.961719,0.270446,-0.044218],[0.110872,-0.236438,0.965300]]
2025-10-27T18:39:52.080Z,1761590392.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:52.297Z,1761590392.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257910,-0.929382,-0.264068],[0.959896,0.277573,-0.039402],[0.109918,-0.243316,0.963699]]
2025-10-27T18:39:52.332Z,1761590392.332 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:39:52.333Z,1761590392.333 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:52.584Z,1761590392.584 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:39:52.584Z,1761590392.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:52.702Z,1761590392.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264312,-0.926438,-0.268051],[0.958462,0.283216,-0.033758],[0.107191,-0.247994,0.962813]]
2025-10-27T18:39:52.836Z,1761590392.836 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:39:52.837Z,1761590392.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:53.088Z,1761590393.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:53.106Z,1761590393.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265724,-0.925210,-0.270884],[0.958255,0.284245,-0.030845],[0.105536,-0.251380,0.962118]]
2025-10-27T18:39:53.340Z,1761590393.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:53.511Z,1761590393.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260875,-0.925926,-0.273141],[0.959295,0.280338,-0.034108],[0.108153,-0.253125,0.961369]]
2025-10-27T18:39:53.592Z,1761590393.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:53.844Z,1761590393.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:53.917Z,1761590393.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254137,-0.927319,-0.274761],[0.960509,0.275269,-0.040622],[0.113303,-0.253587,0.960654]]
2025-10-27T18:39:54.096Z,1761590394.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:54.318Z,1761590394.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247847,-0.928751,-0.275668],[0.961319,0.271059,-0.048923],[0.120160,-0.252879,0.960007]]
2025-10-27T18:39:54.348Z,1761590394.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:54.600Z,1761590394.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:54.724Z,1761590394.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244495,-0.929461,-0.276267],[0.961191,0.269870,-0.057290],[0.127805,-0.251539,0.959372]]
2025-10-27T18:39:54.852Z,1761590394.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:55.104Z,1761590395.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:55.128Z,1761590395.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244285,-0.929061,-0.277795],[0.960166,0.271824,-0.064748],[0.135666,-0.250913,0.958456]]
2025-10-27T18:39:55.356Z,1761590395.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:55.542Z,1761590395.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245786,-0.928648,-0.277851],[0.958646,0.275308,-0.072136],[0.143484,-0.248631,0.957912]]
2025-10-27T18:39:55.609Z,1761590395.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:55.860Z,1761590395.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:55.934Z,1761590395.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248523,-0.928073,-0.277339],[0.956867,0.279706,-0.078548],[0.150471,-0.245856,0.957556]]
2025-10-27T18:39:56.112Z,1761590396.112 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:55.3936

2025-10-27T18:39:56.112Z,1761590396.112 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:39:56.113Z,1761590396.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:56.338Z,1761590396.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252164,-0.927333,-0.276526],[0.955068,0.284493,-0.083124],[0.155753,-0.243140,0.957405]]
2025-10-27T18:39:56.364Z,1761590396.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:56.364Z,1761590396.364 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:39:56.364Z,1761590396.364 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateRudder:A] Stopped
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:39:56.365Z,1761590396.365 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateCommandMode] Stopped
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:39:56.366Z,1761590396.366 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:39:56.367Z,1761590396.367 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:39:56.367Z,1761590396.367 [marl:UpdateSpeed] Stopped
2025-10-27T18:39:56.367Z,1761590396.367 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:39:56.616Z,1761590396.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:56.750Z,1761590396.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256296,-0.926208,-0.276497],[0.953483,0.289216,-0.084993],[0.158689,-0.241852,0.957249]]
2025-10-27T18:39:56.856Z,1761590396.856 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:39:56.856Z,1761590396.856 [marl:UpdateRudder:B] Stopped
2025-10-27T18:39:56.856Z,1761590396.856 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:39:56.857Z,1761590396.857 [marl:UpdateRudder] Stopped
2025-10-27T18:39:56.857Z,1761590396.857 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:39:56.868Z,1761590396.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:57.120Z,1761590397.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:57.145Z,1761590397.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259678,-0.924966,-0.277499],[0.952539,0.292608,-0.083960],[0.158858,-0.242527,0.957050]]
2025-10-27T18:39:57.372Z,1761590397.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:57.556Z,1761590397.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261203,-0.924083,-0.279004],[0.952521,0.293595,-0.080661],[0.156452,-0.244688,0.956896]]
2025-10-27T18:39:57.624Z,1761590397.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:57.876Z,1761590397.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:57.956Z,1761590397.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259538,-0.924847,-0.278026],[0.953633,0.290865,-0.077336],[0.152392,-0.245063,0.957455]]
2025-10-27T18:39:58.128Z,1761590398.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:58.380Z,1761590398.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:58.496Z,1761590398.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255127,-0.926076,-0.278016],[0.955687,0.285195,-0.072982],[0.146875,-0.247077,0.957800]]
2025-10-27T18:39:58.547Z,1761590398.547 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:39:58.632Z,1761590398.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:58.884Z,1761590398.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:58.900Z,1761590398.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249184,-0.927920,-0.277259],[0.958188,0.277801,-0.068572],[0.140652,-0.248579,0.958345]]
2025-10-27T18:39:59.136Z,1761590399.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:59.304Z,1761590399.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242146,-0.930214,-0.275804],[0.960843,0.269376,-0.064946],[0.134708,-0.249278,0.959017]]
2025-10-27T18:39:59.388Z,1761590399.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:59.551Z,1761590399.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:39:59.640Z,1761590399.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:39:59.707Z,1761590399.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235746,-0.931731,-0.276225],[0.962963,0.262240,-0.062710],[0.130866,-0.251211,0.959045]]
2025-10-27T18:39:59.892Z,1761590399.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:00.110Z,1761590400.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232205,-0.930784,-0.282350],[0.963716,0.259452,-0.062737],[0.131650,-0.257537,0.957258]]
2025-10-27T18:40:00.146Z,1761590400.146 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:00.396Z,1761590400.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:00.520Z,1761590400.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232421,-0.926380,-0.296311],[0.962778,0.262354,-0.065033],[0.137984,-0.270167,0.952875]]
2025-10-27T18:40:00.648Z,1761590400.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:00.902Z,1761590400.902 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:00.977Z,1761590400.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241441,-0.908178,-0.341934],[0.956328,0.282498,-0.075049],[0.164754,-0.308881,0.936722]]
2025-10-27T18:40:01.152Z,1761590401.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:01.408Z,1761590401.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:01.534Z,1761590401.534 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:40:01.534Z,1761590401.534 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:40:01.558Z,1761590401.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249457,-0.896769,-0.365481],[0.951020,0.298021,-0.082131],[0.182573,-0.327091,0.927188]]
2025-10-27T18:40:01.656Z,1761590401.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:01.908Z,1761590401.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:02.033Z,1761590402.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260527,-0.884759,-0.386428],[0.944281,0.316898,-0.088935],[0.201145,-0.341727,0.918022]]
2025-10-27T18:40:02.076Z,1761590402.076 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:40:02.160Z,1761590402.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:02.414Z,1761590402.414 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:02.518Z,1761590402.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274995,-0.872088,-0.404772],[0.936304,0.338563,-0.093330],[0.218433,-0.353325,0.909642]]
2025-10-27T18:40:02.664Z,1761590402.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:02.914Z,1761590402.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293079,-0.857994,-0.421842],[0.927187,0.362722,-0.093576],[0.233299,-0.363701,0.901828]]
2025-10-27T18:40:02.916Z,1761590402.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:03.168Z,1761590403.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:03.336Z,1761590403.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314069,-0.843289,-0.436147],[0.916995,0.388443,-0.090728],[0.245928,-0.371450,0.895290]]
2025-10-27T18:40:03.420Z,1761590403.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:03.673Z,1761590403.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:03.798Z,1761590403.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359352,-0.812185,-0.459589],[0.894974,0.439454,-0.076822],[0.264362,-0.383714,0.884803]]
2025-10-27T18:40:03.925Z,1761590403.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:04.176Z,1761590404.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:04.321Z,1761590404.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382261,-0.795111,-0.470823],[0.883650,0.463556,-0.065403],[0.270256,-0.391042,0.879800]]
2025-10-27T18:40:04.428Z,1761590404.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:04.680Z,1761590404.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:04.796Z,1761590404.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404637,-0.777620,-0.481223],[0.872606,0.485736,-0.051181],[0.273547,-0.399208,0.875103]]
2025-10-27T18:40:04.932Z,1761590404.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:05.184Z,1761590405.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:05.343Z,1761590405.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426462,-0.761090,-0.488745],[0.862171,0.505423,-0.034761],[0.273479,-0.406558,0.871734]]
2025-10-27T18:40:05.436Z,1761590405.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:05.688Z,1761590405.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:05.941Z,1761590405.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:06.192Z,1761590406.192 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:40:06.192Z,1761590406.192 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:40:06.192Z,1761590406.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:06.237Z,1761590406.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478579,-0.721540,-0.500342],[0.838940,0.543925,0.018059],[0.259118,-0.428399,0.865640]]
2025-10-27T18:40:06.444Z,1761590406.444 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:40:06.444Z,1761590406.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:06.656Z,1761590406.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491135,-0.712367,-0.501317],[0.833869,0.550907,0.034098],[0.251889,-0.434780,0.864591]]
2025-10-27T18:40:06.696Z,1761590406.696 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:40:06.696Z,1761590406.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:06.951Z,1761590406.951 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:40:06.953Z,1761590406.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:07.041Z,1761590407.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501659,-0.706364,-0.499387],[0.829833,0.556017,0.047142],[0.244369,-0.438057,0.865095]]
2025-10-27T18:40:07.200Z,1761590407.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:07.438Z,1761590407.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510394,-0.702998,-0.495268],[0.826581,0.559917,0.057063],[0.237194,-0.438504,0.866864]]
2025-10-27T18:40:07.452Z,1761590407.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:07.704Z,1761590407.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:07.842Z,1761590407.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517459,-0.702455,-0.488665],[0.823747,0.563534,0.062207],[0.231682,-0.434726,0.870251]]
2025-10-27T18:40:07.956Z,1761590407.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:08.208Z,1761590408.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:08.251Z,1761590408.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523295,-0.703741,-0.480532],[0.820922,0.567583,0.062748],[0.228583,-0.427315,0.874730]]
2025-10-27T18:40:08.463Z,1761590408.463 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:08.649Z,1761590408.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528715,-0.705237,-0.472336],[0.817536,0.572748,0.059958],[0.228245,-0.417852,0.879377]]
2025-10-27T18:40:08.712Z,1761590408.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:08.964Z,1761590408.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:09.053Z,1761590409.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534060,-0.706365,-0.464573],[0.813332,0.579267,0.054232],[0.230804,-0.406815,0.883873]]
2025-10-27T18:40:09.216Z,1761590409.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:09.458Z,1761590409.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540335,-0.705662,-0.458344],[0.807750,0.587602,0.047578],[0.235750,-0.395935,0.887501]]
2025-10-27T18:40:09.468Z,1761590409.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:09.720Z,1761590409.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:09.861Z,1761590409.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548656,-0.702793,-0.452835],[0.800256,0.598246,0.041124],[0.242005,-0.384947,0.890646]]
2025-10-27T18:40:09.972Z,1761590409.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:10.224Z,1761590410.224 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:40:09.4935

2025-10-27T18:40:10.225Z,1761590410.225 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:40:10.225Z,1761590410.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:10.476Z,1761590410.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:10.669Z,1761590410.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577275,-0.682750,-0.447891],[0.776813,0.628222,0.043573],[0.251625,-0.373081,0.893026]]
2025-10-27T18:40:10.695Z,1761590410.695 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:40:10.695Z,1761590410.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:40:10.695Z,1761590410.695 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:40:10.695Z,1761590410.695 [marl:UpdateRudder:A] Stopped
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode] Stopped
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:40:10.696Z,1761590410.696 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed] Stopped
2025-10-27T18:40:10.697Z,1761590410.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:40:10.730Z,1761590410.730 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:10.980Z,1761590410.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:11.080Z,1761590411.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596271,-0.667584,-0.445862],[0.761841,0.645666,0.052098],[0.253098,-0.370740,0.893584]]
2025-10-27T18:40:11.122Z,1761590411.122 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:40:11.122Z,1761590411.122 [marl:UpdateRudder:B] Stopped
2025-10-27T18:40:11.122Z,1761590411.122 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:40:11.122Z,1761590411.122 [marl:UpdateRudder] Stopped
2025-10-27T18:40:11.123Z,1761590411.123 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:40:11.232Z,1761590411.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:11.478Z,1761590411.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615834,-0.651134,-0.443591],[0.746331,0.662527,0.063621],[0.252465,-0.370246,0.893968]]
2025-10-27T18:40:11.484Z,1761590411.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:11.737Z,1761590411.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:11.881Z,1761590411.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634605,-0.634257,-0.441581],[0.731256,0.677683,0.077525],[0.250081,-0.372107,0.893866]]
2025-10-27T18:40:11.988Z,1761590411.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:12.240Z,1761590412.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:12.312Z,1761590412.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651729,-0.618970,-0.438322],[0.717387,0.690659,0.091359],[0.246182,-0.373987,0.894163]]
2025-10-27T18:40:12.493Z,1761590412.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:12.713Z,1761590412.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666284,-0.605840,-0.434767],[0.705586,0.700846,0.104700],[0.241273,-0.376526,0.894436]]
2025-10-27T18:40:12.745Z,1761590412.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:12.999Z,1761590412.999 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:13.248Z,1761590413.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:13.300Z,1761590413.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679147,-0.594360,-0.430693],[0.695308,0.708951,0.118052],[0.235174,-0.379639,0.894744]]
2025-10-27T18:40:13.502Z,1761590413.502 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:13.754Z,1761590413.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:13.841Z,1761590413.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701206,-0.573615,-0.423410],[0.677921,0.720319,0.146848],[0.220756,-0.390009,0.893957]]
2025-10-27T18:40:14.004Z,1761590414.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:14.242Z,1761590414.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710306,-0.565141,-0.419621],[0.670604,0.724481,0.159431],[0.213906,-0.394644,0.893588]]
2025-10-27T18:40:14.256Z,1761590414.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:14.508Z,1761590414.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:14.642Z,1761590414.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718063,-0.558057,-0.415882],[0.664128,0.728115,0.169654],[0.208133,-0.398022,0.893454]]
2025-10-27T18:40:14.760Z,1761590414.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:15.012Z,1761590415.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:15.264Z,1761590415.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:15.450Z,1761590415.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730503,-0.549483,-0.405505],[0.652814,0.736207,0.178419],[0.200497,-0.395055,0.896511]]
2025-10-27T18:40:15.516Z,1761590415.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:15.769Z,1761590415.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:15.854Z,1761590415.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736723,-0.545485,-0.399607],[0.646485,0.741449,0.179754],[0.198235,-0.390768,0.898890]]
2025-10-27T18:40:16.020Z,1761590416.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:16.261Z,1761590416.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745069,-0.539481,-0.392214],[0.637510,0.748886,0.180970],[0.196093,-0.384876,0.901897]]
2025-10-27T18:40:16.272Z,1761590416.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:16.524Z,1761590416.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:16.678Z,1761590416.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756075,-0.529950,-0.384062],[0.625170,0.758446,0.184182],[0.193683,-0.379360,0.904750]]
2025-10-27T18:40:16.778Z,1761590416.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:17.028Z,1761590417.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:17.066Z,1761590417.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768685,-0.518683,-0.374288],[0.610480,0.769565,0.187307],[0.190885,-0.372475,0.908199]]
2025-10-27T18:40:17.280Z,1761590417.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:17.470Z,1761590417.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782177,-0.506134,-0.363356],[0.594080,0.781624,0.190088],[0.187798,-0.364545,0.912052]]
2025-10-27T18:40:17.532Z,1761590417.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:17.784Z,1761590417.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:17.874Z,1761590417.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796178,-0.490990,-0.353595],[0.576353,0.793297,0.196207],[0.184170,-0.360011,0.914589]]
2025-10-27T18:40:18.038Z,1761590418.038 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:18.288Z,1761590418.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:18.292Z,1761590418.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809953,-0.475155,-0.343807],[0.558160,0.804495,0.203089],[0.180092,-0.356392,0.916816]]
2025-10-27T18:40:18.540Z,1761590418.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:18.685Z,1761590418.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823664,-0.458056,-0.334310],[0.539205,0.815163,0.211581],[0.175601,-0.354533,0.918406]]
2025-10-27T18:40:18.794Z,1761590418.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:19.044Z,1761590419.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:19.089Z,1761590419.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836047,-0.441581,-0.325626],[0.521312,0.824378,0.220535],[0.171054,-0.354130,0.919420]]
2025-10-27T18:40:19.296Z,1761590419.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:19.506Z,1761590419.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847235,-0.425690,-0.317776],[0.504469,0.832175,0.230210],[0.166447,-0.355350,0.919794]]
2025-10-27T18:40:19.548Z,1761590419.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:19.800Z,1761590419.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:19.900Z,1761590419.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856861,-0.411109,-0.311093],[0.489417,0.838321,0.240187],[0.162053,-0.358061,0.919528]]
2025-10-27T18:40:20.052Z,1761590420.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:20.301Z,1761590420.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864897,-0.398502,-0.305202],[0.476522,0.842937,0.249769],[0.157733,-0.361460,0.918949]]
2025-10-27T18:40:20.304Z,1761590420.304 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:40:20.304Z,1761590420.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:20.556Z,1761590420.556 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:40:20.557Z,1761590420.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:20.705Z,1761590420.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872148,-0.386498,-0.299961],[0.464596,0.846426,0.260217],[0.153321,-0.366309,0.917775]]
2025-10-27T18:40:20.810Z,1761590420.810 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:40:20.812Z,1761590420.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:21.060Z,1761590421.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:21.168Z,1761590421.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878891,-0.375699,-0.293941],[0.453152,0.850055,0.268439],[0.149014,-0.369129,0.917354]]
2025-10-27T18:40:21.312Z,1761590421.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:21.562Z,1761590421.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885231,-0.364984,-0.288361],[0.442006,0.853157,0.277045],[0.144900,-0.372706,0.916566]]
2025-10-27T18:40:21.564Z,1761590421.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:21.816Z,1761590421.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:22.068Z,1761590422.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:22.320Z,1761590422.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:22.398Z,1761590422.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896750,-0.345582,-0.276428],[0.420682,0.859570,0.290112],[0.137352,-0.376446,0.916200]]
2025-10-27T18:40:22.572Z,1761590422.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:22.826Z,1761590422.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:22.839Z,1761590422.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902087,-0.336776,-0.269854],[0.410318,0.863070,0.294533],[0.133711,-0.376420,0.916749]]
2025-10-27T18:40:23.076Z,1761590423.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:23.227Z,1761590423.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907703,-0.327060,-0.262882],[0.398843,0.867137,0.298325],[0.130385,-0.375639,0.917548]]
2025-10-27T18:40:23.329Z,1761590423.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:23.580Z,1761590423.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:23.630Z,1761590423.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914269,-0.314393,-0.255477],[0.384689,0.871465,0.304241],[0.126988,-0.376438,0.917697]]
2025-10-27T18:40:23.832Z,1761590423.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:24.034Z,1761590424.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921381,-0.300321,-0.246707],[0.368450,0.876962,0.308517],[0.123698,-0.375161,0.918669]]
2025-10-27T18:40:24.058Z,1761590424.058 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:40:24.059Z,1761590424.059 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:40:24.059Z,1761590424.059 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:40:24.059Z,1761590424.059 [marl:UpdateRudder:A] Stopped
2025-10-27T18:40:24.059Z,1761590424.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode] Stopped
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:40:24.060Z,1761590424.060 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed] Stopped
2025-10-27T18:40:24.061Z,1761590424.061 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:40:24.084Z,1761590424.084 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:40:23.3435

2025-10-27T18:40:24.085Z,1761590424.085 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:40:24.085Z,1761590424.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:24.336Z,1761590424.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:24.439Z,1761590424.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928578,-0.285389,-0.237266],[0.351102,0.882698,0.312364],[0.120289,-0.373358,0.919855]]
2025-10-27T18:40:24.513Z,1761590424.513 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:40:24.513Z,1761590424.513 [marl:UpdateRudder:B] Stopped
2025-10-27T18:40:24.514Z,1761590424.514 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:40:24.514Z,1761590424.514 [marl:UpdateRudder] Stopped
2025-10-27T18:40:24.514Z,1761590424.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:40:24.588Z,1761590424.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:24.840Z,1761590424.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:24.850Z,1761590424.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935562,-0.269669,-0.228042],[0.333092,0.888362,0.316012],[0.117365,-0.371607,0.920942]]
2025-10-27T18:40:25.092Z,1761590425.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:25.250Z,1761590425.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942296,-0.253520,-0.218645],[0.314679,0.893629,0.320007],[0.114259,-0.370345,0.921840]]
2025-10-27T18:40:25.344Z,1761590425.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:25.596Z,1761590425.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:25.654Z,1761590425.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948719,-0.236821,-0.209401],[0.295797,0.898716,0.323749],[0.111521,-0.369087,0.922680]]
2025-10-27T18:40:25.848Z,1761590425.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:26.059Z,1761590426.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954713,-0.219877,-0.200445],[0.276847,0.903290,0.327753],[0.108994,-0.368403,0.923255]]
2025-10-27T18:40:26.113Z,1761590426.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:26.364Z,1761590426.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:26.472Z,1761590426.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960443,-0.202562,-0.191098],[0.257498,0.907291,0.332443],[0.106041,-0.368500,0.923560]]
2025-10-27T18:40:26.616Z,1761590426.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:26.865Z,1761590426.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965778,-0.185136,-0.181653],[0.238049,0.910775,0.337375],[0.102984,-0.369072,0.923678]]
2025-10-27T18:40:26.868Z,1761590426.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:27.120Z,1761590427.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:27.375Z,1761590427.375 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:27.624Z,1761590427.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:27.682Z,1761590427.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975261,-0.149959,-0.162413],[0.198662,0.916800,0.346426],[0.096950,-0.370121,0.923911]]
2025-10-27T18:40:27.876Z,1761590427.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:28.088Z,1761590428.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979339,-0.132479,-0.152790],[0.178972,0.919557,0.349834],[0.094154,-0.369951,0.924268]]
2025-10-27T18:40:28.128Z,1761590428.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:28.380Z,1761590428.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:28.633Z,1761590428.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:28.884Z,1761590428.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:28.891Z,1761590428.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985901,-0.100192,-0.134019],[0.142053,0.924430,0.353906],[0.088432,-0.367954,0.925629]]
2025-10-27T18:40:29.139Z,1761590429.139 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:29.294Z,1761590429.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988403,-0.085854,-0.125253],[0.125412,0.926597,0.354528],[0.085621,-0.366125,0.926618]]
2025-10-27T18:40:29.389Z,1761590429.389 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:29.642Z,1761590429.642 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:29.671Z,1761590429.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:40:29.714Z,1761590429.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990478,-0.072325,-0.117142],[0.109879,0.927952,0.356133],[0.082945,-0.365614,0.927064]]
2025-10-27T18:40:29.892Z,1761590429.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:30.104Z,1761590430.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992195,-0.059706,-0.109472],[0.095350,0.929028,0.357513],[0.080357,-0.365161,0.927470]]
2025-10-27T18:40:30.144Z,1761590430.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:30.396Z,1761590430.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:30.505Z,1761590430.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993611,-0.048006,-0.102144],[0.081847,0.929644,0.359255],[0.077711,-0.365320,0.927633]]
2025-10-27T18:40:30.648Z,1761590430.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:30.675Z,1761590430.675 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:40:30.900Z,1761590430.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:30.914Z,1761590430.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994770,-0.037261,-0.095102],[0.069370,0.929870,0.361290],[0.074971,-0.365997,0.927591]]
2025-10-27T18:40:31.152Z,1761590431.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:31.404Z,1761590431.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:31.657Z,1761590431.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:31.765Z,1761590431.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996521,-0.017106,-0.081573],[0.045809,0.930044,0.364581],[0.069630,-0.367050,0.927592]]
2025-10-27T18:40:31.909Z,1761590431.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:32.160Z,1761590432.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:32.176Z,1761590432.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997140,-0.006690,-0.075279],[0.033936,0.929643,0.366895],[0.067528,-0.368400,0.927211]]
2025-10-27T18:40:32.412Z,1761590432.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:32.664Z,1761590432.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:32.916Z,1761590432.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:32.991Z,1761590432.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997979,0.032772,-0.054448],[-0.009851,0.926195,0.376917],[0.062782,-0.375619,0.924645]]
2025-10-27T18:40:33.168Z,1761590433.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:33.420Z,1761590433.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:33.672Z,1761590433.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:33.790Z,1761590433.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997262,0.062466,-0.039569],[-0.042782,0.923885,0.380271],[0.060311,-0.377537,0.924028]]
2025-10-27T18:40:33.925Z,1761590433.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:34.176Z,1761590434.176 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:40:34.176Z,1761590434.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:34.200Z,1761590434.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996446,0.077953,-0.031909],[-0.059963,0.922537,0.381222],[0.059154,-0.377954,0.923933]]
2025-10-27T18:40:34.428Z,1761590434.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:40:34.428Z,1761590434.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:34.597Z,1761590434.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995321,0.093634,-0.023841],[-0.077476,0.920854,0.382133],[0.057735,-0.378498,0.923800]]
2025-10-27T18:40:34.680Z,1761590434.680 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:40:34.681Z,1761590434.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:34.932Z,1761590434.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:34.998Z,1761590434.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993865,0.109546,-0.015244],[-0.095308,0.918197,0.384488],[0.056116,-0.380677,0.923004]]
2025-10-27T18:40:35.184Z,1761590435.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:35.402Z,1761590435.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991989,0.126164,-0.006275],[-0.114043,0.915836,0.385018],[0.054323,-0.381218,0.922888]]
2025-10-27T18:40:35.453Z,1761590435.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:35.704Z,1761590435.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:35.806Z,1761590435.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989730,0.142922,0.002628],[-0.132989,0.913888,0.383566],[0.052419,-0.379976,0.923510]]
2025-10-27T18:40:35.957Z,1761590435.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:36.208Z,1761590436.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:36.214Z,1761590436.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987077,0.159807,0.011876],[-0.152151,0.911371,0.382430],[0.050292,-0.379295,0.923908]]
2025-10-27T18:40:36.460Z,1761590436.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:36.613Z,1761590436.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984004,0.176915,0.020902],[-0.171478,0.908836,0.380280],[0.048280,-0.377781,0.924635]]
2025-10-27T18:40:36.712Z,1761590436.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:36.965Z,1761590436.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:37.023Z,1761590437.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980658,0.193517,0.029340],[-0.190182,0.906673,0.376530],[0.046264,-0.374828,0.925940]]
2025-10-27T18:40:37.085Z,1761590437.085 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:40:37.085Z,1761590437.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:40:37.085Z,1761590437.085 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:40:37.085Z,1761590437.085 [marl:UpdateRudder:A] Stopped
2025-10-27T18:40:37.085Z,1761590437.085 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode] Stopped
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:40:37.086Z,1761590437.086 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:40:37.087Z,1761590437.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:40:37.087Z,1761590437.087 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:40:37.087Z,1761590437.087 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:40:37.087Z,1761590437.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:40:37.087Z,1761590437.087 [marl:UpdateSpeed] Stopped
2025-10-27T18:40:37.088Z,1761590437.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:40:37.216Z,1761590437.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:37.427Z,1761590437.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977121,0.209437,0.037013],[-0.207941,0.904217,0.373032],[0.044659,-0.372194,0.927080]]
2025-10-27T18:40:37.468Z,1761590437.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:37.497Z,1761590437.497 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:40:37.497Z,1761590437.497 [marl:UpdateRudder:B] Stopped
2025-10-27T18:40:37.498Z,1761590437.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:40:37.498Z,1761590437.498 [marl:UpdateRudder] Stopped
2025-10-27T18:40:37.498Z,1761590437.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:40:37.721Z,1761590437.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:37.833Z,1761590437.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973679,0.223684,0.043761],[-0.223814,0.902034,0.369110],[0.043090,-0.369189,0.928355]]
2025-10-27T18:40:37.973Z,1761590437.973 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:40:37.1934

2025-10-27T18:40:37.973Z,1761590437.973 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:40:37.974Z,1761590437.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:38.224Z,1761590438.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:38.236Z,1761590438.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970434,0.236199,0.049680],[-0.237710,0.899573,0.366418],[0.041857,-0.367394,0.929123]]
2025-10-27T18:40:38.476Z,1761590438.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:38.637Z,1761590438.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967231,0.247775,0.055428],[-0.250702,0.897485,0.362864],[0.040163,-0.364869,0.930192]]
2025-10-27T18:40:38.728Z,1761590438.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:38.980Z,1761590438.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:39.043Z,1761590439.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964665,0.256478,0.060331],[-0.260798,0.896899,0.357151],[0.037491,-0.360265,0.932096]]
2025-10-27T18:40:39.232Z,1761590439.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:39.461Z,1761590439.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962939,0.262107,0.063633],[-0.267633,0.899222,0.346081],[0.033490,-0.350285,0.936044]]
2025-10-27T18:40:39.484Z,1761590439.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:39.736Z,1761590439.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:39.988Z,1761590439.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:40.240Z,1761590440.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:40.256Z,1761590440.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961868,0.265020,0.067640],[-0.272645,0.909314,0.314346],[0.021801,-0.320801,0.946896]]
2025-10-27T18:40:40.492Z,1761590440.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:40.658Z,1761590440.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961400,0.265955,0.070560],[-0.274745,0.913838,0.299025],[0.015047,-0.306869,0.951633]]
2025-10-27T18:40:40.744Z,1761590440.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:40.996Z,1761590440.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:41.063Z,1761590441.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960553,0.267924,0.074531],[-0.277985,0.917421,0.284716],[0.007906,-0.294204,0.955710]]
2025-10-27T18:40:41.248Z,1761590441.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:41.469Z,1761590441.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959329,0.271129,0.078598],[-0.282291,0.920736,0.269363],[0.000665,-0.280595,0.959826]]
2025-10-27T18:40:41.500Z,1761590441.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:41.752Z,1761590441.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:41.869Z,1761590441.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957943,0.274716,0.082921],[-0.286885,0.923354,0.255177],[-0.006465,-0.268234,0.963332]]
2025-10-27T18:40:42.004Z,1761590442.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:42.256Z,1761590442.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:42.277Z,1761590442.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956433,0.278675,0.087037],[-0.291650,0.925536,0.241503],[-0.013255,-0.256366,0.966489]]
2025-10-27T18:40:42.508Z,1761590442.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:42.679Z,1761590442.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954880,0.282789,0.090740],[-0.296359,0.927203,0.229056],[-0.019360,-0.245613,0.969175]]
2025-10-27T18:40:42.760Z,1761590442.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:43.012Z,1761590443.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:43.082Z,1761590443.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953289,0.287029,0.094096],[-0.301037,0.928393,0.217858],[-0.024827,-0.236008,0.971434]]
2025-10-27T18:40:43.264Z,1761590443.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:43.486Z,1761590443.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951928,0.290472,0.097257],[-0.304859,0.929348,0.208264],[-0.029891,-0.227902,0.973225]]
2025-10-27T18:40:43.516Z,1761590443.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:43.768Z,1761590443.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:43.890Z,1761590443.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951043,0.292157,0.100804],[-0.307047,0.930337,0.200487],[-0.035208,-0.221623,0.974497]]
2025-10-27T18:40:44.020Z,1761590444.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:44.272Z,1761590444.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:44.296Z,1761590444.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950548,0.292354,0.104822],[-0.307895,0.931310,0.194585],[-0.040734,-0.217237,0.975269]]
2025-10-27T18:40:44.524Z,1761590444.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:44.698Z,1761590444.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950397,0.291188,0.109336],[-0.307576,0.932142,0.191070],[-0.046279,-0.215222,0.975468]]
2025-10-27T18:40:44.778Z,1761590444.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:45.028Z,1761590445.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:45.101Z,1761590445.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950435,0.289482,0.113458],[-0.306602,0.933220,0.187339],[-0.051650,-0.212840,0.975721]]
2025-10-27T18:40:45.280Z,1761590445.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:45.509Z,1761590445.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950587,0.286744,0.119003],[-0.305115,0.933675,0.187497],[-0.057347,-0.214542,0.975030]]
2025-10-27T18:40:45.532Z,1761590445.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:45.784Z,1761590445.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:45.910Z,1761590445.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950651,0.284291,0.124259],[-0.303845,0.934090,0.187493],[-0.062767,-0.215996,0.974375]]
2025-10-27T18:40:46.037Z,1761590446.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:46.288Z,1761590446.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:46.314Z,1761590446.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950799,0.281223,0.129977],[-0.302252,0.934116,0.189924],[-0.068002,-0.219866,0.973157]]
2025-10-27T18:40:46.540Z,1761590446.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:46.718Z,1761590446.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950887,0.278538,0.135017],[-0.300898,0.934113,0.192075],[-0.072621,-0.223268,0.972048]]
2025-10-27T18:40:46.796Z,1761590446.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:47.044Z,1761590447.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:47.122Z,1761590447.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951169,0.275467,0.139268],[-0.299011,0.934279,0.194206],[-0.076618,-0.226366,0.971024]]
2025-10-27T18:40:47.296Z,1761590447.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:47.521Z,1761590447.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951670,0.272068,0.142487],[-0.296576,0.934634,0.196220],[-0.079788,-0.228995,0.970152]]
2025-10-27T18:40:47.548Z,1761590447.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:47.800Z,1761590447.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:47.939Z,1761590447.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952397,0.268701,0.144015],[-0.293689,0.935383,0.196990],[-0.081778,-0.229908,0.969770]]
2025-10-27T18:40:48.052Z,1761590448.052 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:40:48.052Z,1761590448.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:48.304Z,1761590448.304 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:40:48.304Z,1761590448.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:48.556Z,1761590448.556 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:40:48.556Z,1761590448.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:48.742Z,1761590448.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953524,0.263697,0.145793],[-0.289651,0.935500,0.202343],[-0.083032,-0.235168,0.968402]]
2025-10-27T18:40:48.809Z,1761590448.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:49.060Z,1761590449.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:49.137Z,1761590449.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953598,0.262946,0.146664],[-0.289456,0.934710,0.206232],[-0.082861,-0.239115,0.967449]]
2025-10-27T18:40:49.312Z,1761590449.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:49.541Z,1761590449.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953305,0.262870,0.148691],[-0.290376,0.933129,0.212019],[-0.083014,-0.245295,0.965888]]
2025-10-27T18:40:49.564Z,1761590449.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:49.816Z,1761590449.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:49.952Z,1761590449.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952335,0.264643,0.151732],[-0.293419,0.930725,0.218305],[-0.083448,-0.252420,0.964013]]
2025-10-27T18:40:49.976Z,1761590449.976 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:40:49.976Z,1761590449.976 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:40:49.976Z,1761590449.976 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateRudder:A] Stopped
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:40:49.977Z,1761590449.977 [marl:UpdateCommandMode] Stopped
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed] Stopped
2025-10-27T18:40:49.978Z,1761590449.978 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:40:50.068Z,1761590450.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:50.320Z,1761590450.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:50.356Z,1761590450.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950478,0.268764,0.156069],[-0.299015,0.927726,0.223413],[-0.084743,-0.259016,0.962148]]
2025-10-27T18:40:50.380Z,1761590450.380 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:40:50.380Z,1761590450.380 [marl:UpdateRudder:B] Stopped
2025-10-27T18:40:50.381Z,1761590450.381 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:40:50.381Z,1761590450.381 [marl:UpdateRudder] Stopped
2025-10-27T18:40:50.381Z,1761590450.381 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:40:50.573Z,1761590450.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:50.766Z,1761590450.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948374,0.273213,0.161067],[-0.305026,0.924833,0.227251],[-0.086872,-0.264648,0.960424]]
2025-10-27T18:40:50.826Z,1761590450.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:51.076Z,1761590451.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:51.158Z,1761590451.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946270,0.277810,0.165516],[-0.310712,0.922931,0.227280],[-0.089619,-0.266496,0.959661]]
2025-10-27T18:40:51.328Z,1761590451.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:51.561Z,1761590451.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944241,0.282562,0.169018],[-0.315809,0.922442,0.222185],[-0.093128,-0.263173,0.960243]]
2025-10-27T18:40:51.580Z,1761590451.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:51.832Z,1761590451.832 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:40:51.0947

2025-10-27T18:40:51.832Z,1761590451.832 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:40:51.833Z,1761590451.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:51.967Z,1761590451.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942807,0.286053,0.171136],[-0.318957,0.923335,0.213820],[-0.096853,-0.256176,0.961766]]
2025-10-27T18:40:52.084Z,1761590452.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:52.336Z,1761590452.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:52.373Z,1761590452.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941558,0.290036,0.171311],[-0.321610,0.925266,0.201122],[-0.100176,-0.244463,0.964470]]
2025-10-27T18:40:52.588Z,1761590452.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:52.805Z,1761590452.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940877,0.293478,0.169179],[-0.322775,0.928251,0.184841],[-0.102794,-0.228519,0.968097]]
2025-10-27T18:40:52.840Z,1761590452.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:53.092Z,1761590453.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:53.185Z,1761590453.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940484,0.296684,0.165738],[-0.323595,0.930786,0.170069],[-0.103810,-0.213579,0.971395]]
2025-10-27T18:40:53.346Z,1761590453.346 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:53.596Z,1761590453.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:53.848Z,1761590453.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:53.989Z,1761590453.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940880,0.301549,0.154315],[-0.323597,0.934820,0.146274],[-0.100148,-0.187562,0.977134]]
2025-10-27T18:40:54.100Z,1761590454.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:54.352Z,1761590454.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:54.397Z,1761590454.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942072,0.301807,0.146332],[-0.321759,0.936388,0.140175],[-0.094718,-0.179138,0.979254]]
2025-10-27T18:40:54.605Z,1761590454.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:54.836Z,1761590454.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943718,0.300541,0.138097],[-0.318891,0.937578,0.138762],[-0.087773,-0.174991,0.980650]]
2025-10-27T18:40:54.856Z,1761590454.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:55.108Z,1761590455.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:55.360Z,1761590455.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:55.605Z,1761590455.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946939,0.295841,0.125635],[-0.313478,0.936399,0.157762],[-0.070972,-0.188775,0.979452]]
2025-10-27T18:40:55.612Z,1761590455.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:55.864Z,1761590455.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:56.009Z,1761590456.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947977,0.293731,0.122727],[-0.312120,0.933442,0.176827],[-0.062618,-0.205934,0.976560]]
2025-10-27T18:40:56.118Z,1761590456.118 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:56.368Z,1761590456.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:56.431Z,1761590456.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948641,0.291999,0.121728],[-0.311480,0.929400,0.197980],[-0.055324,-0.225728,0.972618]]
2025-10-27T18:40:56.620Z,1761590456.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:56.841Z,1761590456.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949079,0.289912,0.123288],[-0.311091,0.924194,0.221559],[-0.049709,-0.248631,0.967322]]
2025-10-27T18:40:56.872Z,1761590456.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:57.124Z,1761590457.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:57.222Z,1761590457.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949212,0.288125,0.126411],[-0.311273,0.918525,0.243762],[-0.045878,-0.270731,0.961561]]
2025-10-27T18:40:57.376Z,1761590457.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:57.625Z,1761590457.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948950,0.287664,0.129394],[-0.312425,0.913646,0.260079],[-0.043405,-0.287228,0.956878]]
2025-10-27T18:40:57.628Z,1761590457.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:57.880Z,1761590457.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:58.030Z,1761590458.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947695,0.290561,0.132089],[-0.316430,0.909477,0.269673],[-0.041776,-0.297365,0.953849]]
2025-10-27T18:40:58.132Z,1761590458.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:58.384Z,1761590458.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:58.454Z,1761590458.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946282,0.294663,0.133130],[-0.320780,0.907245,0.272041],[-0.040621,-0.300133,0.953032]]
2025-10-27T18:40:58.636Z,1761590458.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:58.850Z,1761590458.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944879,0.299597,0.132081],[-0.325000,0.907154,0.267296],[-0.039737,-0.295489,0.954519]]
2025-10-27T18:40:58.889Z,1761590458.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:59.140Z,1761590459.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:59.250Z,1761590459.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943988,0.303986,0.128372],[-0.327695,0.909310,0.256461],[-0.038769,-0.284163,0.957992]]
2025-10-27T18:40:59.394Z,1761590459.394 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:59.644Z,1761590459.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:40:59.655Z,1761590459.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943253,0.308554,0.122751],[-0.329977,0.912389,0.242201],[-0.037265,-0.268962,0.962430]]
2025-10-27T18:40:59.896Z,1761590459.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:00.057Z,1761590460.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942701,0.313190,0.115005],[-0.331812,0.916092,0.225116],[-0.034851,-0.250377,0.967521]]
2025-10-27T18:41:00.149Z,1761590460.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:00.401Z,1761590460.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:00.466Z,1761590460.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942225,0.317733,0.106102],[-0.333505,0.919467,0.208219],[-0.031400,-0.231575,0.972310]]
2025-10-27T18:41:00.652Z,1761590460.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:00.797Z,1761590460.797 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:41:00.866Z,1761590460.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941607,0.322512,0.096757],[-0.335648,0.921881,0.193588],[-0.026764,-0.214760,0.976300]]
2025-10-27T18:41:00.904Z,1761590460.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:01.156Z,1761590461.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:01.270Z,1761590461.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941050,0.326759,0.087484],[-0.337607,0.923417,0.182544],[-0.021137,-0.201318,0.979298]]
2025-10-27T18:41:01.411Z,1761590461.411 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:01.660Z,1761590461.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:01.800Z,1761590461.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:41:01.904Z,1761590461.904 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:41:01.905Z,1761590461.905 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:41:01.912Z,1761590461.912 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:41:01.913Z,1761590461.913 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:41:01.913Z,1761590461.913 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:02.079Z,1761590462.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942029,0.327770,0.071758],[-0.335375,0.926363,0.171392],[-0.010297,-0.185522,0.982586]]
2025-10-27T18:41:02.105Z,1761590462.105 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:41:02.164Z,1761590462.164 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:41:02.164Z,1761590462.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:02.416Z,1761590462.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:02.482Z,1761590462.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943732,0.324157,0.065513],[-0.330668,0.928125,0.171007],[-0.005371,-0.183048,0.983089]]
2025-10-27T18:41:02.668Z,1761590462.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:02.892Z,1761590462.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945458,0.319936,0.061243],[-0.325744,0.928976,0.175767],[-0.000659,-0.186130,0.982525]]
2025-10-27T18:41:02.920Z,1761590462.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:03.172Z,1761590463.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:03.290Z,1761590463.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946967,0.315957,0.058513],[-0.321306,0.928858,0.184351],[0.003897,-0.193375,0.981117]]
2025-10-27T18:41:03.345Z,1761590463.345 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:41:03.345Z,1761590463.345 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:41:03.345Z,1761590463.345 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateRudder:A] Stopped
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:41:03.346Z,1761590463.346 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateCommandMode] Stopped
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:41:03.347Z,1761590463.347 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:41:03.348Z,1761590463.348 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:41:03.348Z,1761590463.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:41:03.348Z,1761590463.348 [marl:UpdateSpeed] Stopped
2025-10-27T18:41:03.348Z,1761590463.348 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:41:03.424Z,1761590463.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:03.676Z,1761590463.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:03.694Z,1761590463.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948325,0.312062,0.057418],[-0.317205,0.927935,0.195748],[0.007805,-0.203846,0.978972]]
2025-10-27T18:41:03.773Z,1761590463.773 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:41:03.774Z,1761590463.774 [marl:UpdateRudder:B] Stopped
2025-10-27T18:41:03.774Z,1761590463.774 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:41:03.774Z,1761590463.774 [marl:UpdateRudder] Stopped
2025-10-27T18:41:03.774Z,1761590463.774 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:41:03.928Z,1761590463.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:04.098Z,1761590464.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949526,0.308373,0.057497],[-0.313496,0.926451,0.208347],[0.010981,-0.215856,0.976364]]
2025-10-27T18:41:04.180Z,1761590464.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:04.432Z,1761590464.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:04.504Z,1761590464.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950397,0.305516,0.058358],[-0.310734,0.924287,0.221672],[0.013785,-0.228810,0.973374]]
2025-10-27T18:41:04.685Z,1761590464.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:04.914Z,1761590464.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950580,0.304837,0.058920],[-0.310018,0.921580,0.233623],[0.016917,-0.240343,0.970541]]
2025-10-27T18:41:04.936Z,1761590464.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:05.188Z,1761590465.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:05.311Z,1761590465.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950380,0.305493,0.058756],[-0.310415,0.918798,0.243828],[0.020503,-0.249968,0.968037]]
2025-10-27T18:41:05.441Z,1761590465.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:05.692Z,1761590465.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:05.944Z,1761590465.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:06.118Z,1761590466.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948478,0.311491,0.057992],[-0.315623,0.912812,0.259144],[0.027785,-0.264096,0.964096]]
2025-10-27T18:41:06.196Z,1761590466.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:06.448Z,1761590466.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:06.529Z,1761590466.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947252,0.315314,0.057359],[-0.318959,0.910046,0.264728],[0.031273,-0.269060,0.962616]]
2025-10-27T18:41:06.700Z,1761590466.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:06.925Z,1761590466.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945985,0.319484,0.055158],[-0.322339,0.908560,0.265737],[0.034784,-0.269163,0.962466]]
2025-10-27T18:41:06.952Z,1761590466.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:07.204Z,1761590467.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:07.329Z,1761590467.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944538,0.324158,0.052629],[-0.326196,0.907516,0.264595],[0.038009,-0.267088,0.962922]]
2025-10-27T18:41:07.456Z,1761590467.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:07.708Z,1761590467.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:07.741Z,1761590467.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943067,0.328833,0.049941],[-0.330049,0.906642,0.262806],[0.041140,-0.264326,0.963555]]
2025-10-27T18:41:07.960Z,1761590467.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:08.138Z,1761590468.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941969,0.332451,0.046603],[-0.332775,0.906426,0.260101],[0.044228,-0.260516,0.964456]]
2025-10-27T18:41:08.213Z,1761590468.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:08.464Z,1761590468.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:08.541Z,1761590468.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941277,0.334871,0.043111],[-0.334333,0.906629,0.257383],[0.047105,-0.256682,0.965347]]
2025-10-27T18:41:08.716Z,1761590468.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:08.945Z,1761590468.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940536,0.337410,0.039333],[-0.335984,0.906935,0.254134],[0.050075,-0.252238,0.966369]]
2025-10-27T18:41:08.968Z,1761590468.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:09.220Z,1761590469.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:09.350Z,1761590469.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939871,0.339735,0.034965],[-0.337361,0.907575,0.249992],[0.053198,-0.246756,0.967616]]
2025-10-27T18:41:09.472Z,1761590469.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:09.724Z,1761590469.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:09.762Z,1761590469.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939740,0.340453,0.031325],[-0.337320,0.908345,0.247233],[0.055717,-0.242901,0.968450]]
2025-10-27T18:41:09.976Z,1761590469.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:10.159Z,1761590470.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939411,0.341640,0.028079],[-0.337827,0.908802,0.244850],[0.058132,-0.239500,0.969154]]
2025-10-27T18:41:10.228Z,1761590470.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:10.480Z,1761590470.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:10.561Z,1761590470.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939175,0.342547,0.024724],[-0.338075,0.909438,0.242130],[0.060456,-0.235761,0.969929]]
2025-10-27T18:41:10.732Z,1761590470.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:10.965Z,1761590470.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938546,0.344430,0.022331],[-0.339353,0.909029,0.241881],[0.063011,-0.234594,0.970049]]
2025-10-27T18:41:10.984Z,1761590470.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:11.236Z,1761590471.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:11.379Z,1761590471.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937939,0.346243,0.019669],[-0.340556,0.908851,0.240854],[0.065518,-0.232605,0.970362]]
2025-10-27T18:41:11.488Z,1761590471.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:11.740Z,1761590471.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:11.778Z,1761590471.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937321,0.347994,0.018155],[-0.341854,0.908180,0.241549],[0.067570,-0.232615,0.970219]]
2025-10-27T18:41:11.992Z,1761590471.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:12.178Z,1761590472.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936850,0.349352,0.016264],[-0.342774,0.907994,0.240943],[0.069406,-0.231303,0.970403]]
2025-10-27T18:41:12.244Z,1761590472.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:12.496Z,1761590472.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:12.582Z,1761590472.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936531,0.350293,0.014294],[-0.343249,0.907875,0.240712],[0.071343,-0.230341,0.970491]]
2025-10-27T18:41:12.749Z,1761590472.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:12.986Z,1761590472.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936689,0.349936,0.012564],[-0.342494,0.908121,0.240862],[0.072877,-0.229916,0.970478]]
2025-10-27T18:41:12.000Z,1761590473.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:13.252Z,1761590473.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:13.398Z,1761590473.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936930,0.349335,0.011267],[-0.341543,0.908235,0.241778],[0.074229,-0.230378,0.970266]]
2025-10-27T18:41:13.505Z,1761590473.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:13.756Z,1761590473.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:13.794Z,1761590473.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937423,0.348069,0.009267],[-0.339887,0.908961,0.241385],[0.075595,-0.229430,0.970385]]
2025-10-27T18:41:14.008Z,1761590474.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:14.197Z,1761590474.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938048,0.346420,0.007740],[-0.337818,0.909330,0.242895],[0.077106,-0.230462,0.970022]]
2025-10-27T18:41:14.260Z,1761590474.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:14.512Z,1761590474.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:14.605Z,1761590474.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938503,0.345213,0.006306],[-0.336171,0.909449,0.244729],[0.078748,-0.231799,0.969571]]
2025-10-27T18:41:14.782Z,1761590474.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:15.016Z,1761590475.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:15.268Z,1761590475.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:15.410Z,1761590475.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939267,0.343155,0.004658],[-0.333325,0.908962,0.250363],[0.081679,-0.236710,0.968141]]
2025-10-27T18:41:15.520Z,1761590475.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:15.772Z,1761590475.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:15.814Z,1761590475.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939762,0.341814,0.003363],[-0.331580,0.909145,0.252010],[0.083083,-0.237945,0.967719]]
2025-10-27T18:41:16.024Z,1761590476.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:16.218Z,1761590476.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940075,0.340961,0.002036],[-0.330305,0.909179,0.253558],[0.084602,-0.239036,0.967318]]
2025-10-27T18:41:16.276Z,1761590476.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:16.528Z,1761590476.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:16.635Z,1761590476.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941113,0.338091,-0.000945],[-0.326647,0.909973,0.255441],[0.087222,-0.240090,0.966824]]
2025-10-27T18:41:16.659Z,1761590476.659 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:41:16.659Z,1761590476.659 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:41:16.659Z,1761590476.659 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:41:16.660Z,1761590476.660 [marl:UpdateRudder:A] Stopped
2025-10-27T18:41:16.660Z,1761590476.660 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:41:16.660Z,1761590476.660 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:41:16.660Z,1761590476.660 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:41:16.660Z,1761590476.660 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateCommandMode] Stopped
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:41:16.661Z,1761590476.661 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:41:16.662Z,1761590476.662 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:41:16.662Z,1761590476.662 [marl:UpdateSpeed] Stopped
2025-10-27T18:41:16.662Z,1761590476.662 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:41:16.782Z,1761590476.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:17.032Z,1761590477.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:17.034Z,1761590477.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941777,0.336225,-0.003016],[-0.324359,0.910829,0.255306],[0.088587,-0.239463,0.966856]]
2025-10-27T18:41:17.113Z,1761590477.113 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:41:17.113Z,1761590477.113 [marl:UpdateRudder:B] Stopped
2025-10-27T18:41:17.113Z,1761590477.113 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:41:17.113Z,1761590477.113 [marl:UpdateRudder] Stopped
2025-10-27T18:41:17.113Z,1761590477.113 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:41:17.284Z,1761590477.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:17.434Z,1761590477.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942523,0.334118,-0.003963],[-0.322001,0.911382,0.256318],[0.089252,-0.240310,0.966584]]
2025-10-27T18:41:17.536Z,1761590477.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:17.788Z,1761590477.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:17.838Z,1761590477.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943258,0.332032,-0.004464],[-0.319813,0.911999,0.256862],[0.089357,-0.240859,0.966438]]
2025-10-27T18:41:18.041Z,1761590478.041 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:18.244Z,1761590478.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943723,0.330715,-0.003886],[-0.318478,0.911847,0.259052],[0.089215,-0.243236,0.965856]]
2025-10-27T18:41:18.292Z,1761590478.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:18.544Z,1761590478.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:18.647Z,1761590478.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943593,0.331104,-0.001858],[-0.318979,0.910515,0.263086],[0.088800,-0.247654,0.964771]]
2025-10-27T18:41:18.798Z,1761590478.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:19.045Z,1761590479.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943007,0.332773,0.000818],[-0.320923,0.908772,0.266722],[0.088015,-0.251783,0.963773]]
2025-10-27T18:41:19.048Z,1761590479.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:19.300Z,1761590479.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:19.450Z,1761590479.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942555,0.334031,0.003769],[-0.322732,0.907643,0.268380],[0.086227,-0.254180,0.963306]]
2025-10-27T18:41:19.552Z,1761590479.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:19.804Z,1761590479.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:19.868Z,1761590479.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943436,0.331544,0.002547],[-0.320940,0.911280,0.258006],[0.083219,-0.244230,0.966140]]
2025-10-27T18:41:20.056Z,1761590480.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:20.261Z,1761590480.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946286,0.323307,-0.004015],[-0.313606,0.920775,0.232002],[0.078705,-0.218281,0.972707]]
2025-10-27T18:41:20.312Z,1761590480.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:20.564Z,1761590480.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:20.662Z,1761590480.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950474,0.310516,-0.013382],[-0.301995,0.932855,0.196418],[0.073474,-0.182649,0.980429]]
2025-10-27T18:41:20.818Z,1761590480.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:21.066Z,1761590481.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955296,0.294778,-0.022713],[-0.287660,0.944468,0.158846],[0.068276,-0.145212,0.987042]]
2025-10-27T18:41:21.068Z,1761590481.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:21.320Z,1761590481.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:21.469Z,1761590481.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960066,0.278098,-0.030586],[-0.272473,0.954217,0.123405],[0.063504,-0.110144,0.991885]]
2025-10-27T18:41:21.572Z,1761590481.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:21.824Z,1761590481.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:21.882Z,1761590481.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964539,0.261248,-0.037596],[-0.257157,0.962255,0.089076],[0.059448,-0.076249,0.995315]]
2025-10-27T18:41:22.078Z,1761590482.078 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:22.278Z,1761590482.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968629,0.244787,-0.042858],[-0.242061,0.968389,0.060240],[0.056249,-0.047976,0.997263]]
2025-10-27T18:41:22.328Z,1761590482.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:22.580Z,1761590482.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:22.681Z,1761590482.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972304,0.229005,-0.046699],[-0.227396,0.973086,0.037331],[0.053992,-0.025678,0.998211]]
2025-10-27T18:41:22.834Z,1761590482.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:23.084Z,1761590483.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:23.090Z,1761590483.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975811,0.212862,-0.049831],[-0.212223,0.977058,0.017841],[0.052486,-0.006834,0.998598]]
2025-10-27T18:41:23.337Z,1761590483.337 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:23.491Z,1761590483.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979460,0.194933,-0.051564],[-0.195021,0.980793,0.003354],[0.051228,0.006771,0.998664]]
2025-10-27T18:41:23.594Z,1761590483.594 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:23.844Z,1761590483.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:23.894Z,1761590483.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983097,0.175269,-0.052923],[-0.175961,0.984359,-0.008664],[0.050576,0.017830,0.998561]]
2025-10-27T18:41:24.096Z,1761590484.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:24.349Z,1761590484.349 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:24.600Z,1761590484.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:24.702Z,1761590484.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989592,0.133352,-0.054083],[-0.134650,0.990669,-0.021098],[0.050765,0.028161,0.998314]]
2025-10-27T18:41:24.853Z,1761590484.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:25.104Z,1761590485.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:25.110Z,1761590485.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992132,0.112977,-0.053954],[-0.114302,0.993200,-0.022129],[0.051087,0.028122,0.998298]]
2025-10-27T18:41:25.357Z,1761590485.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:25.510Z,1761590485.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994253,0.092889,-0.053224],[-0.094070,0.995362,-0.020125],[0.051107,0.025016,0.998380]]
2025-10-27T18:41:25.609Z,1761590485.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:25.860Z,1761590485.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:25.914Z,1761590485.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995981,0.072913,-0.052021],[-0.073791,0.997158,-0.015165],[0.050767,0.018943,0.998531]]
2025-10-27T18:41:26.112Z,1761590486.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:26.318Z,1761590486.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997311,0.053208,-0.050398],[-0.053768,0.998505,-0.009821],[0.049800,0.012505,0.998681]]
2025-10-27T18:41:26.364Z,1761590486.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:26.616Z,1761590486.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:26.738Z,1761590486.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998233,0.034214,-0.048575],[-0.034447,0.999399,-0.003961],[0.048410,0.005627,0.998812]]
2025-10-27T18:41:26.868Z,1761590486.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:27.120Z,1761590487.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:27.127Z,1761590487.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998745,0.017204,-0.047033],[-0.017045,0.999848,0.003778],[0.047090,-0.002972,0.998886]]
2025-10-27T18:41:27.372Z,1761590487.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:27.529Z,1761590487.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998938,0.002701,-0.045987],[-0.002198,0.999937,0.010987],[0.046013,-0.010875,0.998882]]
2025-10-27T18:41:27.624Z,1761590487.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:27.876Z,1761590487.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:27.936Z,1761590487.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998932,-0.010246,-0.045060],[0.011018,0.999796,0.016912],[0.044878,-0.017391,0.998841]]
2025-10-27T18:41:28.128Z,1761590488.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:28.353Z,1761590488.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998764,-0.022821,-0.044164],[0.023725,0.999517,0.020062],[0.043685,-0.021085,0.998823]]
2025-10-27T18:41:28.379Z,1761590488.379 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:28.632Z,1761590488.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:28.748Z,1761590488.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998419,-0.035529,-0.043554],[0.036459,0.999120,0.020753],[0.042778,-0.022308,0.998836]]
2025-10-27T18:41:28.884Z,1761590488.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:29.136Z,1761590489.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:29.148Z,1761590489.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997881,-0.048497,-0.043384],[0.049235,0.998657,0.016102],[0.042545,-0.018204,0.998929]]
2025-10-27T18:41:29.388Z,1761590489.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:29.556Z,1761590489.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997128,-0.061751,-0.043835],[0.062406,0.997956,0.013729],[0.042897,-0.016426,0.998944]]
2025-10-27T18:41:29.586Z,1761590489.586 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:41:29.586Z,1761590489.586 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:41:29.586Z,1761590489.586 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:41:29.587Z,1761590489.587 [marl:UpdateRudder:A] Stopped
2025-10-27T18:41:29.587Z,1761590489.587 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:41:29.587Z,1761590489.587 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:41:29.587Z,1761590489.587 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:41:29.587Z,1761590489.587 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateCommandMode] Stopped
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:41:29.588Z,1761590489.588 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:41:29.589Z,1761590489.589 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:41:29.589Z,1761590489.589 [marl:UpdateSpeed] Stopped
2025-10-27T18:41:29.589Z,1761590489.589 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:41:29.640Z,1761590489.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:29.892Z,1761590489.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:29.955Z,1761590489.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996114,-0.076222,-0.044132],[0.076751,0.996996,0.010406],[0.043206,-0.013753,0.998971]]
2025-10-27T18:41:29.978Z,1761590489.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:41:29.979Z,1761590489.979 [marl:UpdateRudder:B] Stopped
2025-10-27T18:41:29.980Z,1761590489.980 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:41:29.980Z,1761590489.980 [marl:UpdateRudder] Stopped
2025-10-27T18:41:29.980Z,1761590489.980 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:41:30.144Z,1761590490.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:30.362Z,1761590490.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994675,-0.093370,-0.043641],[0.093622,0.995601,0.003762],[0.043098,-0.007827,0.999040]]
2025-10-27T18:41:30.396Z,1761590490.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:30.648Z,1761590490.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:30.769Z,1761590490.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992846,-0.111485,-0.042753],[0.111509,0.993762,-0.001817],[0.042689,-0.002963,0.999084]]
2025-10-27T18:41:30.901Z,1761590490.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:31.152Z,1761590491.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:31.170Z,1761590491.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990539,-0.130781,-0.041589],[0.130610,0.991410,-0.006824],[0.042125,0.001328,0.999111]]
2025-10-27T18:41:31.404Z,1761590491.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:31.570Z,1761590491.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987817,-0.150281,-0.040411],[0.150001,0.988636,-0.009883],[0.041437,0.003701,0.999134]]
2025-10-27T18:41:31.656Z,1761590491.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:31.908Z,1761590491.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:31.919Z,1761590491.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:41:31.973Z,1761590491.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984667,-0.169990,-0.039183],[0.169628,0.985430,-0.012408],[0.040721,0.005572,0.999155]]
2025-10-27T18:41:32.160Z,1761590492.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:32.378Z,1761590492.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981267,-0.188830,-0.038196],[0.188459,0.981994,-0.013107],[0.039983,0.005663,0.999184]]
2025-10-27T18:41:32.420Z,1761590492.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:32.672Z,1761590492.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:32.826Z,1761590492.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977679,-0.206805,-0.037075],[0.206464,0.978370,-0.012840],[0.038928,0.004898,0.999230]]
2025-10-27T18:41:32.924Z,1761590492.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:32.925Z,1761590492.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:41:33.176Z,1761590493.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:33.192Z,1761590493.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973693,-0.224968,-0.036224],[0.224641,0.974356,-0.012891],[0.038195,0.004415,0.999261]]
2025-10-27T18:41:33.428Z,1761590493.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:33.590Z,1761590493.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969576,-0.242197,-0.035545],[0.241946,0.970224,-0.011285],[0.037220,0.002342,0.999304]]
2025-10-27T18:41:33.680Z,1761590493.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:33.932Z,1761590493.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:34.002Z,1761590494.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965450,-0.258190,-0.035267],[0.258049,0.966094,-0.008581],[0.036287,-0.000816,0.999341]]
2025-10-27T18:41:34.184Z,1761590494.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:34.398Z,1761590494.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961299,-0.273294,-0.034852],[0.273240,0.961925,-0.006386],[0.035271,-0.003384,0.999372]]
2025-10-27T18:41:34.436Z,1761590494.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:34.688Z,1761590494.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:34.840Z,1761590494.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957347,-0.286880,-0.034443],[0.286924,0.957946,-0.003760],[0.034074,-0.006283,0.999400]]
2025-10-27T18:41:34.940Z,1761590494.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:35.192Z,1761590495.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:35.208Z,1761590495.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953152,-0.300597,-0.033814],[0.300700,0.953716,-0.002116],[0.032885,-0.008151,0.999426]]
2025-10-27T18:41:35.447Z,1761590495.447 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:35.614Z,1761590495.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949194,-0.312872,-0.033796],[0.313115,0.949713,0.002029],[0.031461,-0.012507,0.999427]]
2025-10-27T18:41:35.696Z,1761590495.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:35.948Z,1761590495.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:36.017Z,1761590496.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945399,-0.324244,-0.032959],[0.324548,0.945860,0.004175],[0.029821,-0.014643,0.999448]]
2025-10-27T18:41:36.200Z,1761590496.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:36.418Z,1761590496.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941599,-0.335243,-0.031667],[0.335564,0.942003,0.005273],[0.028063,-0.015591,0.999485]]
2025-10-27T18:41:36.452Z,1761590496.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:36.704Z,1761590496.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:36.846Z,1761590496.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937785,-0.345855,-0.030708],[0.346239,0.938112,0.008033],[0.026030,-0.018165,0.999496]]
2025-10-27T18:41:36.956Z,1761590496.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:37.208Z,1761590497.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:37.226Z,1761590497.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933889,-0.356421,-0.028555],[0.356767,0.934159,0.007952],[0.023841,-0.017614,0.999561]]
2025-10-27T18:41:37.461Z,1761590497.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:37.634Z,1761590497.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929836,-0.367054,-0.026009],[0.367358,0.930046,0.007906],[0.021287,-0.016906,0.999630]]
2025-10-27T18:41:37.714Z,1761590497.714 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:37.964Z,1761590497.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:38.033Z,1761590498.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925557,-0.377922,-0.022785],[0.378156,0.925717,0.006845],[0.018506,-0.014952,0.999717]]
2025-10-27T18:41:38.216Z,1761590498.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:38.437Z,1761590498.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920679,-0.389855,-0.019046],[0.390008,0.920798,0.004953],[0.015607,-0.011988,0.999806]]
2025-10-27T18:41:38.468Z,1761590498.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:38.720Z,1761590498.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:38.848Z,1761590498.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914661,-0.403920,-0.015613],[0.404017,0.914745,0.003501],[0.012868,-0.009510,0.999872]]
2025-10-27T18:41:38.972Z,1761590498.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:39.224Z,1761590499.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:39.251Z,1761590499.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907548,-0.419787,-0.011633],[0.419822,0.907606,0.000647],[0.010287,-0.005471,0.999932]]
2025-10-27T18:41:39.476Z,1761590499.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:39.649Z,1761590499.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899118,-0.437644,-0.007397],[0.437638,0.899148,-0.002495],[0.007743,-0.000994,0.999970]]
2025-10-27T18:41:39.728Z,1761590499.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:39.980Z,1761590499.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:40.054Z,1761590500.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889640,-0.456645,-0.004108],[0.456625,0.889646,-0.004921],[0.005901,0.002502,0.999979]]
2025-10-27T18:41:40.232Z,1761590500.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:40.458Z,1761590500.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879618,-0.475678,-0.001593],[0.475661,0.879607,-0.006225],[0.004362,0.004718,0.999979]]
2025-10-27T18:41:40.483Z,1761590500.483 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:40.736Z,1761590500.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:40.863Z,1761590500.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868940,-0.494918,-0.000658],[0.494908,0.868930,-0.005146],[0.003119,0.004146,0.999987]]
2025-10-27T18:41:40.988Z,1761590500.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:41.240Z,1761590501.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:41.269Z,1761590501.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857640,-0.514250,-0.000273],[0.514245,0.857633,-0.004240],[0.002415,0.003496,0.999991]]
2025-10-27T18:41:41.492Z,1761590501.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:41.670Z,1761590501.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845791,-0.533514,-0.000786],[0.533510,0.845789,-0.002753],[0.002134,0.001910,0.999996]]
2025-10-27T18:41:41.744Z,1761590501.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:41.996Z,1761590501.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:42.075Z,1761590502.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833685,-0.552237,-0.001765],[0.552236,0.833687,-0.001355],[0.002220,0.000155,0.999998]]
2025-10-27T18:41:42.248Z,1761590502.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:42.478Z,1761590502.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821543,-0.570134,-0.003705],[0.570140,0.821547,0.000700],[0.002645,-0.002688,0.999993]]
2025-10-27T18:41:42.500Z,1761590502.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:42.755Z,1761590502.755 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:42.882Z,1761590502.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809926,-0.586502,-0.006005],[0.586524,0.809926,0.003001],[0.003104,-0.005953,0.999977]]
2025-10-27T18:41:42.945Z,1761590502.945 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:41:42.945Z,1761590502.945 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:41:42.945Z,1761590502.945 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:41:42.945Z,1761590502.945 [marl:UpdateRudder:A] Stopped
2025-10-27T18:41:42.945Z,1761590502.945 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode] Stopped
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:41:42.946Z,1761590502.946 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:41:42.947Z,1761590502.947 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:41:42.947Z,1761590502.947 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:41:42.947Z,1761590502.947 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:41:42.947Z,1761590502.947 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:41:42.947Z,1761590502.947 [marl:UpdateSpeed] Stopped
2025-10-27T18:41:42.948Z,1761590502.948 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:41:43.005Z,1761590503.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:43.256Z,1761590503.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:43.357Z,1761590503.357 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:41:43.357Z,1761590503.357 [marl:UpdateRudder:B] Stopped
2025-10-27T18:41:43.358Z,1761590503.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:41:43.358Z,1761590503.358 [marl:UpdateRudder] Stopped
2025-10-27T18:41:43.358Z,1761590503.358 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:41:43.508Z,1761590503.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:43.691Z,1761590503.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793023,-0.609118,-0.009460],[0.609188,0.792977,0.008778],[0.002155,-0.012724,0.999917]]
2025-10-27T18:41:43.761Z,1761590503.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:44.012Z,1761590504.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:44.093Z,1761590504.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786765,-0.617154,-0.011035],[0.617252,0.786667,0.012497],[0.000969,-0.016644,0.999861]]
2025-10-27T18:41:44.264Z,1761590504.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:44.497Z,1761590504.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780898,-0.624553,-0.011486],[0.624658,0.780746,0.015412],[-0.000658,-0.019210,0.999815]]
2025-10-27T18:41:44.516Z,1761590504.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:44.770Z,1761590504.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:44.902Z,1761590504.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775069,-0.631770,-0.011586],[0.631869,0.774844,0.018916],[-0.002973,-0.021982,0.999754]]
2025-10-27T18:41:45.020Z,1761590505.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:45.272Z,1761590505.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:45.328Z,1761590505.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769199,-0.638939,-0.009495],[0.638985,0.768955,0.020153],[-0.005575,-0.021569,0.999752]]
2025-10-27T18:41:45.524Z,1761590505.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:45.709Z,1761590505.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762909,-0.646469,-0.006879],[0.646447,0.762654,0.021564],[-0.008695,-0.020898,0.999744]]
2025-10-27T18:41:45.776Z,1761590505.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:46.029Z,1761590506.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:46.280Z,1761590506.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:46.519Z,1761590506.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750243,-0.661084,-0.010189],[0.660999,0.749627,0.033763],[-0.014682,-0.032065,0.999378]]
2025-10-27T18:41:46.532Z,1761590506.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:46.787Z,1761590506.787 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:46.922Z,1761590506.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745933,-0.665659,-0.021958],[0.665798,0.744423,0.050481],[-0.017257,-0.052275,0.998484]]
2025-10-27T18:41:47.036Z,1761590507.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:47.289Z,1761590507.289 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:47.331Z,1761590507.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742511,-0.668766,-0.037821],[0.669559,0.739402,0.070533],[-0.019205,-0.077695,0.996792]]
2025-10-27T18:41:47.540Z,1761590507.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:47.735Z,1761590507.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739513,-0.670917,-0.054685],[0.672819,0.734197,0.090941],[-0.020864,-0.104045,0.994354]]
2025-10-27T18:41:47.792Z,1761590507.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:48.044Z,1761590508.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:48.136Z,1761590508.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736585,-0.672414,-0.072818],[0.675995,0.728460,0.111249],[-0.021760,-0.131169,0.991121]]
2025-10-27T18:41:48.297Z,1761590508.297 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:48.538Z,1761590508.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733549,-0.673734,-0.089378],[0.679268,0.722447,0.129098],[-0.022407,-0.155411,0.987596]]
2025-10-27T18:41:48.548Z,1761590508.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:48.802Z,1761590508.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:48.941Z,1761590508.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730518,-0.674892,-0.104231],[0.682515,0.716475,0.144350],[-0.022741,-0.176590,0.984022]]
2025-10-27T18:41:49.052Z,1761590509.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:49.304Z,1761590509.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:49.346Z,1761590509.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727618,-0.676263,-0.115068],[0.685603,0.711335,0.154760],[-0.022806,-0.191497,0.981228]]
2025-10-27T18:41:49.557Z,1761590509.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:49.758Z,1761590509.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725105,-0.677384,-0.123991],[0.688271,0.706993,0.162615],[-0.022492,-0.203252,0.978868]]
2025-10-27T18:41:49.809Z,1761590509.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:50.060Z,1761590510.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:50.154Z,1761590510.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723084,-0.678827,-0.127843],[0.690410,0.704334,0.165069],[-0.022009,-0.207623,0.977961]]
2025-10-27T18:41:50.313Z,1761590510.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:50.557Z,1761590510.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721440,-0.679969,-0.131020],[0.692138,0.702152,0.167112],[-0.021635,-0.211246,0.977194]]
2025-10-27T18:41:50.564Z,1761590510.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:50.818Z,1761590510.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:50.962Z,1761590510.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721028,-0.680041,-0.132901],[0.692566,0.701282,0.168986],[-0.021716,-0.213887,0.976617]]
2025-10-27T18:41:51.068Z,1761590511.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:51.320Z,1761590511.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:51.373Z,1761590511.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721570,-0.679231,-0.134098],[0.692002,0.701488,0.170435],[-0.021697,-0.215777,0.976202]]
2025-10-27T18:41:51.572Z,1761590511.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:51.770Z,1761590511.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722495,-0.678344,-0.133605],[0.691019,0.702301,0.171070],[-0.022214,-0.215921,0.976158]]
2025-10-27T18:41:51.824Z,1761590511.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:52.076Z,1761590512.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:52.173Z,1761590512.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723783,-0.677216,-0.132350],[0.689634,0.703469,0.171862],[-0.023284,-0.215664,0.976190]]
2025-10-27T18:41:52.329Z,1761590512.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:52.577Z,1761590512.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725134,-0.676129,-0.130501],[0.688172,0.704803,0.172256],[-0.024490,-0.214715,0.976370]]
2025-10-27T18:41:52.580Z,1761590512.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:52.834Z,1761590512.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:53.084Z,1761590513.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:53.336Z,1761590513.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:53.588Z,1761590513.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:53.801Z,1761590513.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730781,-0.670803,-0.126423],[0.681973,0.709455,0.177724],[-0.029526,-0.216094,0.975926]]
2025-10-27T18:41:53.840Z,1761590513.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:54.092Z,1761590514.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:54.194Z,1761590514.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732307,-0.669619,-0.123845],[0.680240,0.710874,0.178691],[-0.031617,-0.215101,0.976080]]
2025-10-27T18:41:54.345Z,1761590514.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:54.596Z,1761590514.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:54.601Z,1761590514.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733344,-0.669146,-0.120209],[0.679020,0.712128,0.178339],[-0.033730,-0.212408,0.976599]]
2025-10-27T18:41:54.848Z,1761590514.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:55.002Z,1761590515.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734252,-0.668649,-0.117398],[0.677929,0.713044,0.178831],[-0.035865,-0.210895,0.976851]]
2025-10-27T18:41:55.100Z,1761590515.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:55.352Z,1761590515.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:55.406Z,1761590515.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734500,-0.668960,-0.114028],[0.677547,0.713529,0.178344],[-0.037943,-0.208253,0.977339]]
2025-10-27T18:41:55.604Z,1761590515.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:55.811Z,1761590515.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733615,-0.670291,-0.111887],[0.678368,0.712556,0.179113],[-0.040332,-0.207300,0.977446]]
2025-10-27T18:41:55.856Z,1761590515.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:56.108Z,1761590516.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:56.215Z,1761590516.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731692,-0.672779,-0.109524],[0.680308,0.710755,0.178908],[-0.042521,-0.205416,0.977751]]
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateRudder:A] Stopped
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:41:56.240Z,1761590516.240 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateCommandMode] Stopped
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:41:56.241Z,1761590516.241 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:41:56.242Z,1761590516.242 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:41:56.242Z,1761590516.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:41:56.242Z,1761590516.242 [marl:UpdateSpeed] Stopped
2025-10-27T18:41:56.242Z,1761590516.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:41:56.360Z,1761590516.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:56.612Z,1761590516.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:56.624Z,1761590516.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728459,-0.676539,-0.107901],[0.683661,0.707699,0.178241],[-0.044226,-0.203609,0.978053]]
2025-10-27T18:41:56.658Z,1761590516.658 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:41:56.658Z,1761590516.658 [marl:UpdateRudder:B] Stopped
2025-10-27T18:41:56.658Z,1761590516.658 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:41:56.658Z,1761590516.658 [marl:UpdateRudder] Stopped
2025-10-27T18:41:56.658Z,1761590516.658 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:41:56.864Z,1761590516.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:57.024Z,1761590517.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724193,-0.681170,-0.107479],[0.688073,0.703404,0.178265],[-0.045828,-0.203052,0.978095]]
2025-10-27T18:41:57.116Z,1761590517.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:57.368Z,1761590517.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:57.426Z,1761590517.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719130,-0.686542,-0.107291],[0.693266,0.698359,0.177982],[-0.047265,-0.202374,0.978167]]
2025-10-27T18:41:57.620Z,1761590517.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:57.830Z,1761590517.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713531,-0.692178,-0.108458],[0.698953,0.692566,0.178374],[-0.048352,-0.203082,0.977967]]
2025-10-27T18:41:57.873Z,1761590517.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:58.124Z,1761590518.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:58.235Z,1761590518.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707986,-0.697696,-0.109436],[0.704553,0.687115,0.177419],[-0.048590,-0.202714,0.978032]]
2025-10-27T18:41:58.377Z,1761590518.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:58.628Z,1761590518.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:58.641Z,1761590518.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702185,-0.703277,-0.111073],[0.710356,0.681415,0.176262],[-0.048274,-0.202670,0.978057]]
2025-10-27T18:41:58.880Z,1761590518.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:59.042Z,1761590519.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695550,-0.709292,-0.114523],[0.716931,0.674724,0.175377],[-0.047122,-0.204088,0.977818]]
2025-10-27T18:41:59.132Z,1761590519.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:59.384Z,1761590519.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:59.449Z,1761590519.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689020,-0.715181,-0.117338],[0.723320,0.668458,0.173124],[-0.045380,-0.204159,0.977885]]
2025-10-27T18:41:59.636Z,1761590519.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:41:59.850Z,1761590519.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682992,-0.720398,-0.120619],[0.729173,0.662792,0.170334],[-0.042763,-0.204288,0.977976]]
2025-10-27T18:41:59.888Z,1761590519.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:00.140Z,1761590520.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:00.258Z,1761590520.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678670,-0.723990,-0.123475],[0.733338,0.658784,0.167984],[-0.040275,-0.204555,0.978026]]
2025-10-27T18:42:00.392Z,1761590520.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:00.644Z,1761590520.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:00.659Z,1761590520.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676916,-0.725329,-0.125232],[0.735059,0.657265,0.166406],[-0.038389,-0.204696,0.978073]]
2025-10-27T18:42:00.896Z,1761590520.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:01.062Z,1761590521.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676524,-0.725320,-0.127381],[0.735495,0.656820,0.166238],[-0.036909,-0.206152,0.977824]]
2025-10-27T18:42:01.149Z,1761590521.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:01.400Z,1761590521.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:01.469Z,1761590521.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677347,-0.724183,-0.129459],[0.734791,0.657420,0.166977],[-0.035813,-0.208227,0.977425]]
2025-10-27T18:42:01.652Z,1761590521.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:01.876Z,1761590521.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678559,-0.722907,-0.130239],[0.733718,0.658644,0.166871],[-0.034851,-0.208790,0.977339]]
2025-10-27T18:42:01.904Z,1761590521.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:02.050Z,1761590522.050 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:42:02.051Z,1761590522.051 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:42:02.156Z,1761590522.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:02.289Z,1761590522.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682425,-0.719143,-0.130880],[0.730171,0.662377,0.167655],[-0.033876,-0.209977,0.977119]]
2025-10-27T18:42:02.314Z,1761590522.314 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:42:02.408Z,1761590522.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:02.660Z,1761590522.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:02.682Z,1761590522.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684787,-0.717089,-0.129808],[0.727965,0.664885,0.167319],[-0.033675,-0.209073,0.977320]]
2025-10-27T18:42:02.912Z,1761590522.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:03.043Z,1761590523.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:42:03.086Z,1761590523.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687629,-0.714694,-0.127977],[0.725285,0.667987,0.166598],[-0.033580,-0.207377,0.977684]]
2025-10-27T18:42:03.164Z,1761590523.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:03.416Z,1761590523.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:03.495Z,1761590523.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690782,-0.711917,-0.126469],[0.722279,0.671247,0.166557],[-0.033683,-0.206401,0.977888]]
2025-10-27T18:42:03.668Z,1761590523.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:03.895Z,1761590523.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693498,-0.709672,-0.124202],[0.719668,0.674291,0.165557],[-0.033743,-0.204198,0.978348]]
2025-10-27T18:42:03.920Z,1761590523.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:04.048Z,1761590524.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:42:04.172Z,1761590524.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:04.294Z,1761590524.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695818,-0.707585,-0.123133],[0.717400,0.676553,0.166172],[-0.034275,-0.203961,0.978379]]
2025-10-27T18:42:04.424Z,1761590524.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:04.679Z,1761590524.679 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:04.703Z,1761590524.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697853,-0.706053,-0.120379],[0.715392,0.678929,0.165135],[-0.034865,-0.201358,0.978897]]
2025-10-27T18:42:04.928Z,1761590524.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:05.103Z,1761590525.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698789,-0.705516,-0.118074],[0.714438,0.680113,0.164394],[-0.035679,-0.199233,0.979302]]
2025-10-27T18:42:05.180Z,1761590525.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:05.432Z,1761590525.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:05.515Z,1761590525.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698573,-0.705724,-0.118110],[0.714608,0.679676,0.165454],[-0.036488,-0.199984,0.979120]]
2025-10-27T18:42:05.684Z,1761590525.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:05.909Z,1761590525.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697102,-0.707231,-0.117783],[0.715997,0.678133,0.165781],[-0.037373,-0.199898,0.979104]]
2025-10-27T18:42:05.936Z,1761590525.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:06.188Z,1761590526.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:06.313Z,1761590526.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693993,-0.710016,-0.119372],[0.718987,0.674730,0.166727],[-0.037835,-0.201535,0.978750]]
2025-10-27T18:42:06.440Z,1761590526.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:06.692Z,1761590526.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:06.762Z,1761590526.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690198,-0.713194,-0.122397],[0.722603,0.670331,0.168820],[-0.038355,-0.204964,0.978018]]
2025-10-27T18:42:06.944Z,1761590526.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:07.122Z,1761590527.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685795,-0.716945,-0.125198],[0.726770,0.665497,0.170056],[-0.038602,-0.207614,0.977449]]
2025-10-27T18:42:07.196Z,1761590527.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:07.448Z,1761590527.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:07.526Z,1761590527.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681375,-0.720715,-0.127659],[0.730905,0.660741,0.170878],[-0.038805,-0.209739,0.976987]]
2025-10-27T18:42:07.700Z,1761590527.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:07.932Z,1761590527.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676677,-0.724514,-0.131100],[0.735266,0.655604,0.171953],[-0.038633,-0.212750,0.976343]]
2025-10-27T18:42:07.952Z,1761590527.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:08.204Z,1761590528.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:08.334Z,1761590528.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672642,-0.727848,-0.133382],[0.738983,0.651443,0.171834],[-0.038178,-0.214150,0.976054]]
2025-10-27T18:42:08.456Z,1761590528.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:08.708Z,1761590528.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:08.749Z,1761590528.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668978,-0.730734,-0.136002],[0.742355,0.647726,0.171352],[-0.037121,-0.215592,0.975778]]
2025-10-27T18:42:08.960Z,1761590528.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:09.203Z,1761590529.203 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:42:09.203Z,1761590529.203 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:42:09.203Z,1761590529.203 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateRudder:A] Stopped
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:42:09.204Z,1761590529.204 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateCommandMode] Stopped
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:42:09.205Z,1761590529.205 [marl:UpdateSpeed] Stopped
2025-10-27T18:42:09.206Z,1761590529.206 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:42:09.212Z,1761590529.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:09.464Z,1761590529.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:09.554Z,1761590529.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662971,-0.735681,-0.138720],[0.747871,0.642390,0.167406],[-0.034045,-0.214730,0.976080]]
2025-10-27T18:42:09.617Z,1761590529.617 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:42:09.617Z,1761590529.617 [marl:UpdateRudder:B] Stopped
2025-10-27T18:42:09.618Z,1761590529.618 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:42:09.618Z,1761590529.618 [marl:UpdateRudder] Stopped
2025-10-27T18:42:09.618Z,1761590529.618 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:42:09.716Z,1761590529.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:09.949Z,1761590529.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660480,-0.737901,-0.138810],[0.750152,0.640560,0.164181],[-0.032233,-0.212567,0.976615]]
2025-10-27T18:42:09.968Z,1761590529.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:10.220Z,1761590530.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:10.353Z,1761590530.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658112,-0.740022,-0.138766],[0.752303,0.638849,0.160972],[-0.030472,-0.210332,0.977155]]
2025-10-27T18:42:10.473Z,1761590530.473 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:10.725Z,1761590530.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:10.797Z,1761590530.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655358,-0.742683,-0.137579],[0.754772,0.636998,0.156694],[-0.028736,-0.206532,0.978018]]
2025-10-27T18:42:10.976Z,1761590530.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:11.169Z,1761590531.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652049,-0.745927,-0.135736],[0.757705,0.634799,0.151375],[-0.026750,-0.201551,0.979113]]
2025-10-27T18:42:11.228Z,1761590531.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:11.482Z,1761590531.482 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:11.579Z,1761590531.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648299,-0.749319,-0.135018],[0.760980,0.631893,0.147042],[-0.024864,-0.198073,0.979872]]
2025-10-27T18:42:11.734Z,1761590531.734 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:11.977Z,1761590531.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644688,-0.752604,-0.134035],[0.764098,0.629123,0.142682],[-0.023059,-0.194402,0.980651]]
2025-10-27T18:42:11.984Z,1761590531.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:12.237Z,1761590532.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:12.381Z,1761590532.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640105,-0.757191,-0.130109],[0.767987,0.625876,0.135923],[-0.021487,-0.186926,0.982139]]
2025-10-27T18:42:12.489Z,1761590532.489 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:12.740Z,1761590532.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:12.838Z,1761590532.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632225,-0.765650,-0.118623],[0.774517,0.620526,0.122764],[-0.020385,-0.169490,0.985321]]
2025-10-27T18:42:12.992Z,1761590532.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:13.245Z,1761590533.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:13.496Z,1761590533.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:13.634Z,1761590533.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605446,-0.791992,-0.078632],[0.795667,0.599999,0.083155],[-0.018679,-0.112911,0.993430]]
2025-10-27T18:42:13.748Z,1761590533.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:13.000Z,1761590534.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:14.253Z,1761590534.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:14.442Z,1761590534.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574811,-0.817312,-0.039917],[0.818103,0.572965,0.049183],[-0.017327,-0.060927,0.997992]]
2025-10-27T18:42:14.504Z,1761590534.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:14.757Z,1761590534.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:14.847Z,1761590534.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560818,-0.827495,-0.027111],[0.827775,0.559754,0.038263],[-0.016487,-0.043900,0.998900]]
2025-10-27T18:42:15.008Z,1761590535.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:15.260Z,1761590535.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:15.261Z,1761590535.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548043,-0.836279,-0.016920],[0.836302,0.547454,0.029894],[-0.015737,-0.030534,0.999410]]
2025-10-27T18:42:15.512Z,1761590535.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:15.655Z,1761590535.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535956,-0.844182,-0.010411],[0.844117,0.535619,0.024060],[-0.014735,-0.021683,0.999656]]
2025-10-27T18:42:15.764Z,1761590535.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:16.016Z,1761590536.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:16.058Z,1761590536.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524586,-0.851335,-0.006271],[0.851252,0.524390,0.019619],[-0.013414,-0.015630,0.999788]]
2025-10-27T18:42:16.268Z,1761590536.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:16.461Z,1761590536.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513828,-0.857875,-0.005581],[0.857810,0.513676,0.017291],[-0.011967,-0.013671,0.999835]]
2025-10-27T18:42:16.520Z,1761590536.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:16.774Z,1761590536.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:16.910Z,1761590536.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503294,-0.864096,-0.005861],[0.864053,0.503165,0.015395],[-0.010354,-0.012812,0.999864]]
2025-10-27T18:42:17.024Z,1761590537.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:17.276Z,1761590537.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:17.305Z,1761590537.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493021,-0.869995,-0.006311],[0.869976,0.492914,0.013317],[-0.008475,-0.012056,0.999891]]
2025-10-27T18:42:17.531Z,1761590537.531 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:17.709Z,1761590537.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482853,-0.875682,-0.005907],[0.875677,0.482778,0.010732],[-0.006547,-0.010354,0.999925]]
2025-10-27T18:42:17.784Z,1761590537.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:18.036Z,1761590538.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:18.118Z,1761590538.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472509,-0.881286,-0.008379],[0.881313,0.472430,0.009845],[-0.004717,-0.012037,0.999916]]
2025-10-27T18:42:18.293Z,1761590538.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:18.519Z,1761590538.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462266,-0.886691,-0.009410],[0.886736,0.462202,0.008284],[-0.002996,-0.012174,0.999921]]
2025-10-27T18:42:18.540Z,1761590538.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:18.793Z,1761590538.793 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:18.921Z,1761590538.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451394,-0.892269,-0.009926],[0.892324,0.451354,0.006079],[-0.000944,-0.011601,0.999932]]
2025-10-27T18:42:19.044Z,1761590539.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:19.296Z,1761590539.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:19.326Z,1761590539.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439854,-0.897997,-0.011402],[0.898069,0.439831,0.004651],[0.000838,-0.012286,0.999924]]
2025-10-27T18:42:19.548Z,1761590539.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:19.744Z,1761590539.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428158,-0.903613,-0.012830],[0.903701,0.428147,0.003696],[0.002154,-0.013177,0.999911]]
2025-10-27T18:42:19.800Z,1761590539.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:20.052Z,1761590540.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:20.304Z,1761590540.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:20.538Z,1761590540.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402686,-0.915220,-0.014724],[0.915332,0.402690,0.002811],[0.003356,-0.014609,0.999888]]
2025-10-27T18:42:20.556Z,1761590540.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:20.810Z,1761590540.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:20.941Z,1761590540.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387875,-0.921607,-0.013870],[0.921705,0.387885,0.002089],[0.003455,-0.013594,0.999902]]
2025-10-27T18:42:21.060Z,1761590541.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:21.312Z,1761590541.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:21.348Z,1761590541.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371562,-0.928316,-0.013058],[0.928402,0.371572,0.001776],[0.003203,-0.012783,0.999913]]
2025-10-27T18:42:21.564Z,1761590541.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:21.816Z,1761590541.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:22.068Z,1761590542.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:22.158Z,1761590542.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333981,-0.942517,-0.010880],[0.942579,0.333976,0.002316],[0.001451,-0.011029,0.999938]]
2025-10-27T18:42:22.320Z,1761590542.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:22.558Z,1761590542.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312901,-0.949749,-0.008375],[0.949786,0.312893,0.002288],[0.000448,-0.008671,0.999962]]
2025-10-27T18:42:22.572Z,1761590542.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:22.590Z,1761590542.590 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:42:22.590Z,1761590542.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:42:22.607Z,1761590542.607 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:42:22.607Z,1761590542.607 [marl:UpdateRudder:A] Stopped
2025-10-27T18:42:22.607Z,1761590542.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:42:22.607Z,1761590542.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode] Stopped
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:42:22.608Z,1761590542.608 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed] Stopped
2025-10-27T18:42:22.609Z,1761590542.609 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:42:22.829Z,1761590542.829 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:22.963Z,1761590542.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290822,-0.956768,-0.004175],[0.956777,0.290816,0.001856],[-0.000561,-0.004534,0.999990]]
2025-10-27T18:42:23.076Z,1761590543.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:23.100Z,1761590543.100 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:42:23.100Z,1761590543.100 [marl:UpdateRudder:B] Stopped
2025-10-27T18:42:23.100Z,1761590543.100 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:42:23.100Z,1761590543.100 [marl:UpdateRudder] Stopped
2025-10-27T18:42:23.100Z,1761590543.100 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:42:23.328Z,1761590543.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:23.365Z,1761590543.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268212,-0.963360,-0.000911],[0.963360,0.268211,0.001201],[-0.000913,-0.001199,0.999999]]
2025-10-27T18:42:23.580Z,1761590543.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:23.770Z,1761590543.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245198,-0.969469,0.002917],[0.969473,0.245199,-0.000284],[-0.000440,0.002898,0.999996]]
2025-10-27T18:42:23.832Z,1761590543.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:24.084Z,1761590544.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:24.178Z,1761590544.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221434,-0.975156,0.006219],[0.975175,0.221421,-0.002736],[0.001291,0.006670,0.999977]]
2025-10-27T18:42:24.336Z,1761590544.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:24.577Z,1761590544.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197467,-0.980268,0.009072],[0.980300,0.197416,-0.006193],[0.004279,0.010116,0.999940]]
2025-10-27T18:42:24.588Z,1761590544.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:24.847Z,1761590544.847 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:24.982Z,1761590544.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173583,-0.984770,0.009856],[0.984777,0.173475,-0.010957],[0.009081,0.011608,0.999891]]
2025-10-27T18:42:25.102Z,1761590545.102 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:25.352Z,1761590545.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:25.386Z,1761590545.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150144,-0.988619,0.009486],[0.988545,0.149970,-0.016990],[0.015374,0.011928,0.999811]]
2025-10-27T18:42:25.604Z,1761590545.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:25.794Z,1761590545.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129879,-0.991509,0.006389],[0.991270,0.129695,-0.023748],[0.022718,0.009417,0.999698]]
2025-10-27T18:42:25.857Z,1761590545.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:26.108Z,1761590546.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:26.213Z,1761590546.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116208,-0.993213,-0.004838],[0.992766,0.116301,-0.029826],[0.030186,-0.001337,0.999543]]
2025-10-27T18:42:26.360Z,1761590546.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:26.598Z,1761590546.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111007,-0.993482,-0.025923],[0.993131,0.111863,-0.034305],[0.036981,-0.021937,0.999075]]
2025-10-27T18:42:26.615Z,1761590546.615 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:26.868Z,1761590546.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:27.002Z,1761590547.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112536,-0.992145,-0.054632],[0.992738,0.114615,-0.036528],[0.042503,-0.050125,0.997838]]
2025-10-27T18:42:27.010Z,1761590547.010 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503225.0, +13.2,   0.0,1501.0,  0
2025-10-27T18:42:27.120Z,1761590547.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:27.372Z,1761590547.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:27.409Z,1761590547.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117362,-0.989235,-0.087415],[0.991926,0.121029,-0.037886],[0.048057,-0.082263,0.995451]]
2025-10-27T18:42:27.624Z,1761590547.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:27.814Z,1761590547.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123843,-0.985039,-0.119839],[0.990857,0.129272,-0.038608],[0.053523,-0.113962,0.992042]]
2025-10-27T18:42:27.876Z,1761590547.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:28.129Z,1761590548.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:28.229Z,1761590548.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130978,-0.979898,-0.150481],[0.989664,0.138175,-0.038366],[0.058387,-0.143901,0.987868]]
2025-10-27T18:42:28.380Z,1761590548.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:28.617Z,1761590548.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138292,-0.974424,-0.177123],[0.988450,0.146988,-0.036889],[0.061980,-0.169976,0.983497]]
2025-10-27T18:42:28.632Z,1761590548.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:28.885Z,1761590548.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:29.056Z,1761590549.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145527,-0.969489,-0.197266],[0.987295,0.155164,-0.034229],[0.063794,-0.189779,0.979752]]
2025-10-27T18:42:29.136Z,1761590549.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:29.390Z,1761590549.390 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:29.640Z,1761590549.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:29.864Z,1761590549.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160396,-0.962475,-0.218894],[0.985189,0.169730,-0.024394],[0.060632,-0.211739,0.975444]]
2025-10-27T18:42:29.892Z,1761590549.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:30.144Z,1761590550.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:30.266Z,1761590550.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167201,-0.959743,-0.225693],[0.984337,0.175478,-0.016979],[0.055899,-0.219319,0.974051]]
2025-10-27T18:42:30.396Z,1761590550.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:30.648Z,1761590550.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:30.670Z,1761590550.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172520,-0.957689,-0.230365],[0.983747,0.179340,-0.008839],[0.049778,-0.225096,0.973064]]
2025-10-27T18:42:30.900Z,1761590550.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:31.074Z,1761590551.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175374,-0.956812,-0.231851],[0.983562,0.180569,-0.001205],[0.043018,-0.227828,0.972751]]
2025-10-27T18:42:31.160Z,1761590551.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:31.412Z,1761590551.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:31.478Z,1761590551.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175004,-0.956929,-0.231646],[0.983884,0.178741,0.004925],[0.036692,-0.228775,0.972788]]
2025-10-27T18:42:31.664Z,1761590551.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:31.883Z,1761590551.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170571,-0.958084,-0.230174],[0.984848,0.173187,0.008946],[0.031292,-0.228212,0.973108]]
2025-10-27T18:42:31.916Z,1761590551.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:32.168Z,1761590552.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:32.285Z,1761590552.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162959,-0.960034,-0.227550],[0.986263,0.164821,0.010928],[0.027014,-0.226205,0.973705]]
2025-10-27T18:42:32.420Z,1761590552.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:32.672Z,1761590552.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:32.696Z,1761590552.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153796,-0.962880,-0.221829],[0.987818,0.155215,0.011129],[0.023715,-0.220838,0.975022]]
2025-10-27T18:42:32.924Z,1761590552.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:33.095Z,1761590553.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143495,-0.965566,-0.217004],[0.989413,0.144778,0.010059],[0.021705,-0.216150,0.976119]]
2025-10-27T18:42:33.176Z,1761590553.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:33.428Z,1761590553.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:33.497Z,1761590553.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132797,-0.968577,-0.210293],[0.990913,0.134313,0.007123],[0.021346,-0.209328,0.977612]]
2025-10-27T18:42:33.681Z,1761590553.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:33.902Z,1761590553.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122027,-0.971233,-0.204489],[0.992275,0.124015,0.003115],[0.022335,-0.203290,0.978864]]
2025-10-27T18:42:33.932Z,1761590553.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:34.186Z,1761590554.186 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:34.196Z,1761590554.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:42:34.311Z,1761590554.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112593,-0.973481,-0.199145],[0.993350,0.115132,-0.001177],[0.024074,-0.197688,0.979969]]
2025-10-27T18:42:34.436Z,1761590554.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:34.688Z,1761590554.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:34.724Z,1761590554.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099923,-0.976633,-0.190273],[0.994558,0.103705,-0.009995],[0.029494,-0.188238,0.981680]]
2025-10-27T18:42:34.940Z,1761590554.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:35.118Z,1761590555.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097723,-0.977411,-0.187398],[0.994693,0.102012,-0.013361],[0.032176,-0.185098,0.982193]]
2025-10-27T18:42:35.193Z,1761590555.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:35.200Z,1761590555.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:42:35.444Z,1761590555.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:35.522Z,1761590555.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098656,-0.977282,-0.187579],[0.994530,0.103329,-0.015276],[0.034311,-0.185046,0.982131]]
2025-10-27T18:42:35.697Z,1761590555.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:35.926Z,1761590555.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102210,-0.976508,-0.189700],[0.994135,0.107043,-0.015384],[0.035329,-0.187015,0.981722]]
2025-10-27T18:42:35.948Z,1761590555.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:35.965Z,1761590555.965 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:42:35.965Z,1761590555.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:42:35.965Z,1761590555.965 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateRudder:A] Stopped
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:42:35.966Z,1761590555.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:42:35.967Z,1761590555.967 [marl:UpdateCommandMode] Stopped
2025-10-27T18:42:35.971Z,1761590555.971 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:42:35.971Z,1761590555.971 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:42:35.971Z,1761590555.971 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:42:35.972Z,1761590555.972 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:42:35.972Z,1761590555.972 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:42:35.972Z,1761590555.972 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:42:35.972Z,1761590555.972 [marl:UpdateSpeed] Stopped
2025-10-27T18:42:35.972Z,1761590555.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:42:36.200Z,1761590556.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:36.331Z,1761590556.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107549,-0.975622,-0.191296],[0.993579,0.112270,-0.013982],[0.035118,-0.188564,0.981433]]
2025-10-27T18:42:36.373Z,1761590556.373 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:42:36.374Z,1761590556.374 [marl:UpdateRudder:B] Stopped
2025-10-27T18:42:36.374Z,1761590556.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:42:36.374Z,1761590556.374 [marl:UpdateRudder] Stopped
2025-10-27T18:42:36.374Z,1761590556.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:42:36.452Z,1761590556.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:36.704Z,1761590556.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:36.734Z,1761590556.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113061,-0.974602,-0.193306],[0.993007,0.117488,-0.011555],[0.033973,-0.190648,0.981070]]
2025-10-27T18:42:36.956Z,1761590556.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:37.133Z,1761590557.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117852,-0.973435,-0.196305],[0.992503,0.121913,-0.008693],[0.032394,-0.193808,0.980504]]
2025-10-27T18:42:37.208Z,1761590557.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:37.460Z,1761590557.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:37.712Z,1761590557.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:37.944Z,1761590557.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123195,-0.971215,-0.203871],[0.991999,0.126229,-0.001895],[0.027575,-0.202007,0.978996]]
2025-10-27T18:42:37.964Z,1761590557.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:38.216Z,1761590558.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:38.346Z,1761590558.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123435,-0.970770,-0.205839],[0.992053,0.125814,0.001543],[0.024399,-0.204394,0.978585]]
2025-10-27T18:42:38.468Z,1761590558.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:38.720Z,1761590558.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:38.759Z,1761590558.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121528,-0.970682,-0.207383],[0.992361,0.123288,0.004467],[0.021232,-0.206342,0.978250]]
2025-10-27T18:42:38.972Z,1761590558.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:39.155Z,1761590559.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117374,-0.971082,-0.207902],[0.992913,0.118682,0.006217],[0.018637,-0.207158,0.978130]]
2025-10-27T18:42:39.224Z,1761590559.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:39.476Z,1761590559.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:39.558Z,1761590559.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111486,-0.971771,-0.207923],[0.993630,0.112470,0.007119],[0.016467,-0.207392,0.978119]]
2025-10-27T18:42:39.728Z,1761590559.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:39.962Z,1761590559.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104681,-0.972976,-0.205814],[0.994390,0.105558,0.006745],[0.015163,-0.205365,0.978568]]
2025-10-27T18:42:39.980Z,1761590559.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:40.232Z,1761590560.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:40.369Z,1761590560.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097806,-0.974025,-0.204229],[0.995099,0.098722,0.005722],[0.014589,-0.203788,0.978906]]
2025-10-27T18:42:40.484Z,1761590560.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:40.736Z,1761590560.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:40.797Z,1761590560.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091685,-0.975464,-0.200160],[0.995683,0.092718,0.004227],[0.014435,-0.199683,0.979754]]
2025-10-27T18:42:40.988Z,1761590560.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:41.184Z,1761590561.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086466,-0.976598,-0.196928],[0.996144,0.087699,0.002464],[0.014864,-0.196382,0.980415]]
2025-10-27T18:42:41.248Z,1761590561.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:41.500Z,1761590561.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:41.578Z,1761590561.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082680,-0.977348,-0.194819],[0.996450,0.084188,0.000542],[0.015871,-0.194172,0.980839]]
2025-10-27T18:42:41.753Z,1761590561.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:41.982Z,1761590561.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080262,-0.978168,-0.191691],[0.996624,0.082090,-0.001597],[0.017298,-0.190915,0.981454]]
2025-10-27T18:42:42.004Z,1761590562.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:42.256Z,1761590562.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:42.387Z,1761590562.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079578,-0.978330,-0.191151],[0.996651,0.081702,-0.003242],[0.018789,-0.190253,0.981555]]
2025-10-27T18:42:42.508Z,1761590562.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:42.760Z,1761590562.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:42.836Z,1761590562.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081066,-0.977934,-0.192546],[0.996519,0.083290,-0.003473],[0.019433,-0.191595,0.981282]]
2025-10-27T18:42:43.012Z,1761590563.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:43.200Z,1761590563.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083534,-0.977228,-0.195056],[0.996305,0.085822,-0.003293],[0.019958,-0.194060,0.980787]]
2025-10-27T18:42:43.264Z,1761590563.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:43.519Z,1761590563.519 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:43.597Z,1761590563.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087207,-0.976508,-0.197046],[0.995989,0.089441,-0.002451],[0.020017,-0.196041,0.980391]]
2025-10-27T18:42:43.768Z,1761590563.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:44.001Z,1761590564.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091068,-0.975373,-0.200885],[0.995645,0.093217,-0.001242],[0.019938,-0.199897,0.979614]]
2025-10-27T18:42:44.020Z,1761590564.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:44.272Z,1761590564.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:44.407Z,1761590564.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094918,-0.974269,-0.204427],[0.995297,0.096870,0.000459],[0.019355,-0.203509,0.978882]]
2025-10-27T18:42:44.524Z,1761590564.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:44.778Z,1761590564.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:44.842Z,1761590564.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097901,-0.973231,-0.207935],[0.995024,0.099610,0.002262],[0.018511,-0.207122,0.978140]]
2025-10-27T18:42:45.032Z,1761590565.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:45.214Z,1761590565.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100326,-0.972538,-0.210011],[0.994810,0.101645,0.004532],[0.016939,-0.209376,0.977689]]
2025-10-27T18:42:45.280Z,1761590565.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:45.532Z,1761590565.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:45.619Z,1761590565.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100934,-0.972132,-0.211595],[0.994781,0.101801,0.006821],[0.014910,-0.211180,0.977334]]
2025-10-27T18:42:45.784Z,1761590565.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:46.021Z,1761590566.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100263,-0.972035,-0.212356],[0.994881,0.100652,0.009004],[0.012622,-0.212171,0.977151]]
2025-10-27T18:42:46.036Z,1761590566.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:46.288Z,1761590566.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:46.425Z,1761590566.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097688,-0.972336,-0.212181],[0.995165,0.097627,0.010790],[0.010223,-0.212209,0.977171]]
2025-10-27T18:42:46.542Z,1761590566.542 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:46.798Z,1761590566.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:46.846Z,1761590566.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093183,-0.972898,-0.211628],[0.995618,0.092719,0.012135],[0.007816,-0.211831,0.977275]]
2025-10-27T18:42:46.860Z,1761590566.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322310, +13.1,   0.0, 0
2025-10-27T18:42:47.048Z,1761590567.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:47.235Z,1761590567.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087296,-0.974217,-0.208038],[0.996166,0.086572,0.012597],[0.005738,-0.208340,0.978040]]
2025-10-27T18:42:47.300Z,1761590567.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:47.552Z,1761590567.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:47.638Z,1761590567.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080389,-0.975328,-0.205604],[0.996755,0.079495,0.012618],[0.004038,-0.205951,0.978554]]
2025-10-27T18:42:47.807Z,1761590567.807 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:48.041Z,1761590568.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072943,-0.976390,-0.203326],[0.997332,0.072023,0.011931],[0.002994,-0.203654,0.979038]]
2025-10-27T18:42:48.060Z,1761590568.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:48.312Z,1761590568.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:48.446Z,1761590568.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065403,-0.977581,-0.200143],[0.997856,0.064590,0.010595],[0.002570,-0.200407,0.979709]]
2025-10-27T18:42:48.564Z,1761590568.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:48.818Z,1761590568.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:48.852Z,1761590568.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058098,-0.978595,-0.197424],[0.998307,0.057505,0.008742],[0.002798,-0.197597,0.980279]]
2025-10-27T18:42:49.069Z,1761590569.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:49.253Z,1761590569.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051769,-0.979417,-0.195098],[0.998652,0.051491,0.006499],[0.003680,-0.195171,0.980762]]
2025-10-27T18:42:49.301Z,1761590569.301 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:42:49.301Z,1761590569.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:42:49.301Z,1761590569.301 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateRudder:A] Stopped
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:42:49.302Z,1761590569.302 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateCommandMode] Stopped
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:42:49.303Z,1761590569.303 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:42:49.304Z,1761590569.304 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:42:49.304Z,1761590569.304 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:42:49.304Z,1761590569.304 [marl:UpdateSpeed] Stopped
2025-10-27T18:42:49.304Z,1761590569.304 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:42:49.320Z,1761590569.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:49.572Z,1761590569.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:49.668Z,1761590569.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046612,-0.980106,-0.192924],[0.998900,0.046710,0.004039],[0.005053,-0.192900,0.981205]]
2025-10-27T18:42:49.705Z,1761590569.705 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:42:49.705Z,1761590569.705 [marl:UpdateRudder:B] Stopped
2025-10-27T18:42:49.705Z,1761590569.705 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:42:49.705Z,1761590569.705 [marl:UpdateRudder] Stopped
2025-10-27T18:42:49.705Z,1761590569.705 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:42:49.824Z,1761590569.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:50.063Z,1761590570.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042727,-0.980337,-0.192647],[0.999063,0.043256,0.001466],[0.006896,-0.192530,0.981267]]
2025-10-27T18:42:50.076Z,1761590570.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:50.328Z,1761590570.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:50.466Z,1761590570.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040725,-0.980256,-0.193494],[0.999133,0.041619,-0.000554],[0.008596,-0.193304,0.981101]]
2025-10-27T18:42:50.580Z,1761590570.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:50.834Z,1761590570.834 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:50.870Z,1761590570.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040182,-0.980235,-0.193712],[0.999142,0.041364,-0.002059],[0.010031,-0.193463,0.981056]]
2025-10-27T18:42:51.084Z,1761590571.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:51.278Z,1761590571.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040770,-0.980403,-0.192735],[0.999108,0.042133,-0.002974],[0.011036,-0.192442,0.981246]]
2025-10-27T18:42:51.336Z,1761590571.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:51.588Z,1761590571.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:51.685Z,1761590571.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042159,-0.980046,-0.194247],[0.999045,0.043580,-0.003047],[0.011451,-0.193933,0.980948]]
2025-10-27T18:42:51.840Z,1761590571.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:52.082Z,1761590572.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043932,-0.979899,-0.194596],[0.998974,0.045226,-0.002208],[0.010965,-0.194299,0.980881]]
2025-10-27T18:42:52.092Z,1761590572.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:52.344Z,1761590572.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:52.486Z,1761590572.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043549,-0.980370,-0.192299],[0.999003,0.044628,-0.001285],[0.009841,-0.192052,0.981336]]
2025-10-27T18:42:52.596Z,1761590572.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:52.848Z,1761590572.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:52.896Z,1761590572.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038260,-0.983152,-0.178739],[0.999238,0.039015,-0.000707],[0.007669,-0.178576,0.983896]]
2025-10-27T18:42:53.100Z,1761590573.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:53.352Z,1761590573.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:53.604Z,1761590573.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:53.697Z,1761590573.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013040,-0.991792,-0.127197],[0.999914,0.013142,0.000039],[0.001633,-0.127187,0.991877]]
2025-10-27T18:42:53.859Z,1761590573.859 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:54.101Z,1761590574.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003725,-0.995188,-0.097909],[0.999992,-0.003852,0.001108],[-0.001480,-0.097904,0.995195]]
2025-10-27T18:42:54.108Z,1761590574.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:54.360Z,1761590574.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:54.508Z,1761590574.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021773,-0.997155,-0.072169],[0.999754,-0.022017,0.002586],[-0.004168,-0.072095,0.997389]]
2025-10-27T18:42:54.612Z,1761590574.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:54.864Z,1761590574.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:54.923Z,1761590574.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040749,-0.997906,-0.050238],[0.999152,-0.040997,0.003922],[-0.005974,-0.050035,0.998730]]
2025-10-27T18:42:55.116Z,1761590575.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:55.317Z,1761590575.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059301,-0.997656,-0.034151],[0.998211,-0.059527,0.005616],[-0.007635,-0.033757,0.999401]]
2025-10-27T18:42:55.368Z,1761590575.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:55.620Z,1761590575.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:55.722Z,1761590575.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077816,-0.996778,-0.019425],[0.996928,-0.077971,0.007369],[-0.008860,-0.018792,0.999784]]
2025-10-27T18:42:55.872Z,1761590575.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:56.124Z,1761590576.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:56.127Z,1761590576.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096411,-0.995292,-0.009954],[0.995297,-0.096497,0.008526],[-0.009446,-0.009085,0.999914]]
2025-10-27T18:42:56.376Z,1761590576.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:56.531Z,1761590576.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114493,-0.993420,-0.002940],[0.993378,-0.114516,0.009297],[-0.009573,-0.001856,0.999952]]
2025-10-27T18:42:56.630Z,1761590576.630 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:56.880Z,1761590576.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:56.933Z,1761590576.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131966,-0.991250,0.002832],[0.991213,-0.131934,0.009538],[-0.009081,0.004066,0.999950]]
2025-10-27T18:42:56.973Z,1761590576.973 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   +42,  -41,A
2025-10-27T18:42:57.135Z,1761590577.135 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:57.337Z,1761590577.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149652,-0.988725,0.005206],[0.988701,-0.149597,0.009578],[-0.008691,0.006580,0.999941]]
2025-10-27T18:42:57.384Z,1761590577.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:57.637Z,1761590577.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:57.750Z,1761590577.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167014,-0.985933,0.006435],[0.985922,-0.166952,0.009193],[-0.007989,0.007880,0.999937]]
2025-10-27T18:42:57.888Z,1761590577.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:58.140Z,1761590578.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:58.164Z,1761590578.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184686,-0.982767,0.007788],[0.982772,-0.184618,0.008657],[-0.007070,0.009253,0.999932]]
2025-10-27T18:42:58.392Z,1761590578.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:58.644Z,1761590578.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:58.896Z,1761590578.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:58.954Z,1761590578.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218846,-0.975734,0.007096],[0.975744,-0.218796,0.007125],[-0.005400,0.008483,0.999949]]
2025-10-27T18:42:59.149Z,1761590579.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:59.358Z,1761590579.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235523,-0.971849,0.006191],[0.971859,-0.235486,0.006100],[-0.004470,0.007453,0.999962]]
2025-10-27T18:42:59.400Z,1761590579.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:59.653Z,1761590579.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:42:59.767Z,1761590579.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251267,-0.967902,0.005588],[0.967911,-0.251240,0.005144],[-0.003575,0.006701,0.999971]]
2025-10-27T18:42:59.905Z,1761590579.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:00.157Z,1761590580.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:00.170Z,1761590580.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266333,-0.963869,0.004764],[0.963878,-0.266316,0.003913],[-0.002503,0.005634,0.999981]]
2025-10-27T18:43:00.408Z,1761590580.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:00.569Z,1761590580.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280482,-0.959851,0.003987],[0.959858,-0.280472,0.002882],[-0.001648,0.004635,0.999988]]
2025-10-27T18:43:00.660Z,1761590580.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:00.912Z,1761590580.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:00.976Z,1761590580.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294149,-0.955751,0.003944],[0.955759,-0.294144,0.001914],[-0.000669,0.004332,0.999990]]
2025-10-27T18:43:01.164Z,1761590581.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:01.379Z,1761590581.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307619,-0.951498,0.004706],[0.951509,-0.307616,0.001364],[0.000150,0.004897,0.999988]]
2025-10-27T18:43:01.416Z,1761590581.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:01.668Z,1761590581.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:01.920Z,1761590581.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:02.172Z,1761590582.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:02.192Z,1761590582.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334330,-0.942442,0.005173],[0.942456,-0.334328,0.001370],[0.000438,0.005333,0.999986]]
2025-10-27T18:43:02.372Z,1761590582.372 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:43:02.372Z,1761590582.372 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:43:02.424Z,1761590582.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:02.592Z,1761590582.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347762,-0.937561,0.006405],[0.937583,-0.347754,0.002346],[0.000028,0.006821,0.999977]]
2025-10-27T18:43:02.627Z,1761590582.627 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:43:02.627Z,1761590582.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:43:02.628Z,1761590582.628 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:43:02.628Z,1761590582.628 [marl:UpdateRudder:A] Stopped
2025-10-27T18:43:02.629Z,1761590582.629 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:43:02.629Z,1761590582.629 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:43:02.629Z,1761590582.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:43:02.629Z,1761590582.629 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:43:02.630Z,1761590582.630 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:43:02.630Z,1761590582.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:43:02.630Z,1761590582.630 [marl:UpdateCommandMode] Stopped
2025-10-27T18:43:02.630Z,1761590582.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:43:02.630Z,1761590582.630 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:43:02.631Z,1761590582.631 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:43:02.631Z,1761590582.631 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:43:02.632Z,1761590582.632 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:43:02.632Z,1761590582.632 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:43:02.632Z,1761590582.632 [marl:UpdateSpeed] Stopped
2025-10-27T18:43:02.632Z,1761590582.632 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:43:02.634Z,1761590582.634 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:43:02.676Z,1761590582.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:02.928Z,1761590582.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:02.994Z,1761590582.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361827,-0.932231,0.005165],[0.932245,-0.361817,0.002866],[-0.000803,0.005852,0.999983]]
2025-10-27T18:43:03.054Z,1761590583.054 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:43:03.054Z,1761590583.054 [marl:UpdateRudder:B] Stopped
2025-10-27T18:43:03.054Z,1761590583.054 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:43:03.054Z,1761590583.054 [marl:UpdateRudder] Stopped
2025-10-27T18:43:03.054Z,1761590583.054 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:43:03.181Z,1761590583.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:03.398Z,1761590583.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376872,-0.926254,0.004532],[0.926264,-0.376858,0.003733],[-0.001750,0.005604,0.999983]]
2025-10-27T18:43:03.432Z,1761590583.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:03.684Z,1761590583.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:03.802Z,1761590583.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392186,-0.919877,0.003984],[0.919881,-0.392167,0.004848],[-0.002898,0.005566,0.999980]]
2025-10-27T18:43:03.937Z,1761590583.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:04.188Z,1761590584.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:04.206Z,1761590584.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407974,-0.912981,0.004727],[0.912985,-0.407943,0.006300],[-0.003824,0.006886,0.999969]]
2025-10-27T18:43:04.440Z,1761590584.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:04.609Z,1761590584.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424454,-0.905441,0.004050],[0.905439,-0.424423,0.006712],[-0.004359,0.006516,0.999969]]
2025-10-27T18:43:04.692Z,1761590584.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:04.944Z,1761590584.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:05.017Z,1761590585.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441106,-0.897451,0.002738],[0.897443,-0.441082,0.006565],[-0.004684,0.005354,0.999975]]
2025-10-27T18:43:05.196Z,1761590585.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:05.319Z,1761590585.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:43:05.420Z,1761590585.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457569,-0.889168,0.003356],[0.889162,-0.457540,0.006897],[-0.004597,0.006140,0.999971]]
2025-10-27T18:43:05.448Z,1761590585.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:05.700Z,1761590585.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:05.821Z,1761590585.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473741,-0.880657,0.003599],[0.880656,-0.473714,0.006333],[-0.003872,0.006169,0.999973]]
2025-10-27T18:43:05.952Z,1761590585.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:06.204Z,1761590586.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:06.225Z,1761590586.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489935,-0.871749,0.004169],[0.871755,-0.489912,0.005413],[-0.002677,0.006286,0.999977]]
2025-10-27T18:43:06.324Z,1761590586.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:43:06.456Z,1761590586.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:06.644Z,1761590586.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505577,-0.862767,0.004998],[0.862781,-0.505563,0.003988],[-0.000914,0.006328,0.999980]]
2025-10-27T18:43:06.708Z,1761590586.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:06.960Z,1761590586.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:07.037Z,1761590587.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520450,-0.853875,0.005409],[0.853891,-0.520448,0.001914],[0.001181,0.005615,0.999983]]
2025-10-27T18:43:07.213Z,1761590587.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:07.437Z,1761590587.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534456,-0.845176,0.005932],[0.845191,-0.534465,0.000063],[0.003117,0.005047,0.999982]]
2025-10-27T18:43:07.464Z,1761590587.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:07.716Z,1761590587.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:07.841Z,1761590587.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547467,-0.836803,0.006388],[0.836814,-0.547486,-0.001542],[0.004788,0.004501,0.999978]]
2025-10-27T18:43:07.968Z,1761590587.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:08.220Z,1761590588.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:08.248Z,1761590588.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559860,-0.828552,0.007639],[0.828565,-0.559889,-0.002269],[0.006157,0.005059,0.999968]]
2025-10-27T18:43:08.472Z,1761590588.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:08.651Z,1761590588.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571544,-0.820519,0.009287],[0.820539,-0.571586,-0.002452],[0.007321,0.006219,0.999954]]
2025-10-27T18:43:08.724Z,1761590588.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:08.976Z,1761590588.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:09.054Z,1761590589.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583000,-0.812413,0.009833],[0.812430,-0.583050,-0.003143],[0.008286,0.006156,0.999947]]
2025-10-27T18:43:09.228Z,1761590589.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:09.480Z,1761590589.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:09.732Z,1761590589.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:09.861Z,1761590589.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604822,-0.796298,0.009936],[0.796308,-0.604878,-0.003901],[0.009117,0.005553,0.999943]]
2025-10-27T18:43:09.984Z,1761590589.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:10.236Z,1761590590.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:10.267Z,1761590590.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615409,-0.788145,0.009932],[0.788157,-0.615464,-0.003530],[0.008895,0.005655,0.999944]]
2025-10-27T18:43:10.488Z,1761590590.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:10.669Z,1761590590.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626657,-0.779245,0.008847],[0.779249,-0.626703,-0.003807],[0.008511,0.004508,0.999954]]
2025-10-27T18:43:10.741Z,1761590590.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:10.992Z,1761590590.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:11.075Z,1761590591.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637580,-0.770344,0.007878],[0.770343,-0.637618,-0.003808],[0.007957,0.003641,0.999962]]
2025-10-27T18:43:11.244Z,1761590591.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:11.478Z,1761590591.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649142,-0.760641,0.006307],[0.760630,-0.649170,-0.004460],[0.007487,0.001902,0.999970]]
2025-10-27T18:43:11.496Z,1761590591.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:11.748Z,1761590591.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:11.881Z,1761590591.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661545,-0.749886,0.005415],[0.749874,-0.661567,-0.004376],[0.006864,0.001166,0.999976]]
2025-10-27T18:43:12.002Z,1761590592.002 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:12.256Z,1761590592.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:12.285Z,1761590592.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674083,-0.738632,0.005870],[0.738629,-0.674105,-0.003210],[0.006328,0.002172,0.999978]]
2025-10-27T18:43:12.508Z,1761590592.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:12.691Z,1761590592.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686923,-0.726701,0.006519],[0.726704,-0.686947,-0.002304],[0.006153,0.003155,0.999976]]
2025-10-27T18:43:12.760Z,1761590592.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:13.012Z,1761590593.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:13.102Z,1761590593.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699992,-0.714114,0.007214],[0.714124,-0.700018,-0.001557],[0.006162,0.004062,0.999973]]
2025-10-27T18:43:13.264Z,1761590593.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:13.498Z,1761590593.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712733,-0.701397,0.007344],[0.701410,-0.712757,-0.001060],[0.005978,0.004396,0.999972]]
2025-10-27T18:43:13.516Z,1761590593.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:13.768Z,1761590593.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:13.904Z,1761590593.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725218,-0.688469,0.008264],[0.688496,-0.725240,0.000563],[0.005606,0.006097,0.999966]]
2025-10-27T18:43:14.020Z,1761590594.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:14.272Z,1761590594.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:14.306Z,1761590594.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737027,-0.675799,0.009312],[0.675842,-0.737043,0.002241],[0.005348,0.007945,0.999954]]
2025-10-27T18:43:14.524Z,1761590594.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:14.710Z,1761590594.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748835,-0.662689,0.009494],[0.662733,-0.748852,0.002316],[0.005574,0.008026,0.999952]]
2025-10-27T18:43:14.786Z,1761590594.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:15.036Z,1761590595.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:15.288Z,1761590595.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:15.519Z,1761590595.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771728,-0.635868,0.010324],[0.635921,-0.771749,0.002659],[0.006276,0.008617,0.999943]]
2025-10-27T18:43:15.540Z,1761590595.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:15.792Z,1761590595.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:15.922Z,1761590595.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783015,-0.621918,0.010303],[0.621963,-0.783045,0.001577],[0.007087,0.007643,0.999946]]
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateRudder:A] Stopped
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:43:15.971Z,1761590595.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode] Stopped
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:43:15.972Z,1761590595.972 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:43:15.973Z,1761590595.973 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:43:15.973Z,1761590595.973 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:43:15.973Z,1761590595.973 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:43:15.973Z,1761590595.973 [marl:UpdateSpeed] Stopped
2025-10-27T18:43:15.973Z,1761590595.973 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:43:16.045Z,1761590596.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:16.296Z,1761590596.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:16.326Z,1761590596.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794145,-0.607635,0.010625],[0.607673,-0.794187,0.000357],[0.008222,0.006740,0.999943]]
2025-10-27T18:43:16.381Z,1761590596.381 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:43:16.381Z,1761590596.381 [marl:UpdateRudder:B] Stopped
2025-10-27T18:43:16.381Z,1761590596.381 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:43:16.382Z,1761590596.382 [marl:UpdateRudder] Stopped
2025-10-27T18:43:16.382Z,1761590596.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:43:16.548Z,1761590596.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:16.735Z,1761590596.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804776,-0.593480,0.010854],[0.593506,-0.804829,-0.001041],[0.009353,0.005604,0.999941]]
2025-10-27T18:43:16.804Z,1761590596.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:17.052Z,1761590597.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:17.306Z,1761590597.306 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:17.538Z,1761590597.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824415,-0.565880,0.010964],[0.565859,-0.824486,-0.005252],[0.012012,0.001874,0.999926]]
2025-10-27T18:43:17.557Z,1761590597.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:17.808Z,1761590597.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:17.942Z,1761590597.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833119,-0.552951,0.012548],[0.552934,-0.833209,-0.005101],[0.013276,0.002689,0.999908]]
2025-10-27T18:43:18.060Z,1761590598.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:18.312Z,1761590598.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:18.349Z,1761590598.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840965,-0.540930,0.013150],[0.540905,-0.841064,-0.005680],[0.014132,0.002337,0.999897]]
2025-10-27T18:43:18.564Z,1761590598.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:18.764Z,1761590598.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854612,-0.519065,0.014508],[0.519051,-0.854729,-0.004977],[0.014983,0.003277,0.999882]]
2025-10-27T18:43:18.819Z,1761590598.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:19.068Z,1761590599.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:19.162Z,1761590599.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861077,-0.508259,0.014796],[0.508247,-0.861198,-0.004791],[0.015177,0.003394,0.999879]]
2025-10-27T18:43:19.320Z,1761590599.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:19.563Z,1761590599.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867315,-0.497541,0.014772],[0.497529,-0.867435,-0.004742],[0.015173,0.003237,0.999880]]
2025-10-27T18:43:19.572Z,1761590599.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:19.824Z,1761590599.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:19.969Z,1761590599.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873632,-0.486372,0.014442],[0.486357,-0.873747,-0.004771],[0.014939,0.002856,0.999884]]
2025-10-27T18:43:20.078Z,1761590600.078 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:20.332Z,1761590600.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:20.373Z,1761590600.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880382,-0.474057,0.014026],[0.474048,-0.880489,-0.004194],[0.014338,0.002957,0.999893]]
2025-10-27T18:43:20.585Z,1761590600.585 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:20.801Z,1761590600.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887471,-0.460671,0.013310],[0.460656,-0.887568,-0.004351],[0.013817,0.002270,0.999902]]
2025-10-27T18:43:20.844Z,1761590600.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:21.097Z,1761590601.097 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:21.178Z,1761590601.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894990,-0.445907,0.012667],[0.445894,-0.895077,-0.003950],[0.013099,0.002113,0.999912]]
2025-10-27T18:43:21.348Z,1761590601.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:21.584Z,1761590601.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903019,-0.429421,0.012418],[0.429421,-0.903100,-0.002843],[0.012436,0.002765,0.999919]]
2025-10-27T18:43:21.600Z,1761590601.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:21.852Z,1761590601.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:21.982Z,1761590601.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911191,-0.411826,0.011398],[0.411822,-0.911260,-0.002853],[0.011562,0.002094,0.999931]]
2025-10-27T18:43:22.105Z,1761590602.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:22.356Z,1761590602.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:22.386Z,1761590602.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919292,-0.393436,0.010501],[0.393434,-0.919350,-0.002296],[0.010558,0.002020,0.999942]]
2025-10-27T18:43:22.609Z,1761590602.609 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:22.860Z,1761590602.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:23.112Z,1761590603.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:23.364Z,1761590603.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:23.609Z,1761590603.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941713,-0.336261,0.010202],[0.336274,-0.941764,-0.000532],[0.009787,0.002929,0.999948]]
2025-10-27T18:43:23.616Z,1761590603.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:23.868Z,1761590603.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:24.002Z,1761590604.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948270,-0.317267,0.011245],[0.317283,-0.948331,-0.000410],[0.010794,0.003179,0.999937]]
2025-10-27T18:43:24.120Z,1761590604.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:24.372Z,1761590604.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:24.624Z,1761590604.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:24.837Z,1761590604.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958792,-0.283694,0.015333],[0.283753,-0.958896,0.001766],[0.014202,0.006045,0.999881]]
2025-10-27T18:43:24.876Z,1761590604.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:25.128Z,1761590605.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:25.213Z,1761590605.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962501,-0.270749,0.016919],[0.270818,-0.962629,0.001928],[0.015764,0.006437,0.999855]]
2025-10-27T18:43:25.380Z,1761590605.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:25.618Z,1761590605.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965760,-0.258757,0.018770],[0.258847,-0.965915,0.002497],[0.017484,0.007270,0.999821]]
2025-10-27T18:43:25.632Z,1761590605.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:25.884Z,1761590605.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:26.136Z,1761590606.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:26.388Z,1761590606.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:26.429Z,1761590606.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971495,-0.236034,0.022039],[0.236204,-0.971688,0.005440],[0.020131,0.010491,0.999742]]
2025-10-27T18:43:26.640Z,1761590606.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:26.852Z,1761590606.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974082,-0.225077,0.022488],[0.225230,-0.974295,0.004518],[0.020894,0.009466,0.999737]]
2025-10-27T18:43:26.892Z,1761590606.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:27.144Z,1761590607.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:27.234Z,1761590607.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976483,-0.214431,0.022383],[0.214559,-0.976705,0.003431],[0.021126,0.008153,0.999744]]
2025-10-27T18:43:27.397Z,1761590607.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:27.637Z,1761590607.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978882,-0.203277,0.021658],[0.203387,-0.979094,0.002962],[0.020603,0.007305,0.999761]]
2025-10-27T18:43:27.648Z,1761590607.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:27.900Z,1761590607.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:28.047Z,1761590608.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981452,-0.190581,0.020744],[0.190668,-0.981652,0.002286],[0.019928,0.006198,0.999782]]
2025-10-27T18:43:28.152Z,1761590608.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:28.404Z,1761590608.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:28.446Z,1761590608.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984413,-0.174755,0.019794],[0.174821,-0.984599,0.001656],[0.019200,0.005091,0.999803]]
2025-10-27T18:43:28.657Z,1761590608.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:28.849Z,1761590608.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987463,-0.156769,0.018466],[0.156787,-0.987632,-0.000476],[0.018312,0.002425,0.999829]]
2025-10-27T18:43:28.908Z,1761590608.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:29.160Z,1761590609.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:29.300Z,1761590609.300 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:43:29.300Z,1761590609.300 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:43:29.300Z,1761590609.300 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:43:29.300Z,1761590609.300 [marl:UpdateRudder:A] Stopped
2025-10-27T18:43:29.300Z,1761590609.300 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode] Stopped
2025-10-27T18:43:29.301Z,1761590609.301 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed] Stopped
2025-10-27T18:43:29.302Z,1761590609.302 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:43:29.412Z,1761590609.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:29.664Z,1761590609.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:29.685Z,1761590609.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992970,-0.117113,0.017200],[0.117096,-0.993119,-0.001987],[0.017314,0.000041,0.999850]]
2025-10-27T18:43:29.830Z,1761590609.830 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:43:29.830Z,1761590609.830 [marl:UpdateRudder:B] Stopped
2025-10-27T18:43:29.831Z,1761590609.831 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:43:29.835Z,1761590609.835 [marl:UpdateRudder] Stopped
2025-10-27T18:43:29.835Z,1761590609.835 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:43:29.916Z,1761590609.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:30.091Z,1761590610.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995177,-0.096601,0.017063],[0.096577,-0.995323,-0.002233],[0.017198,-0.000574,0.999852]]
2025-10-27T18:43:30.168Z,1761590610.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:30.420Z,1761590610.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:30.466Z,1761590610.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996966,-0.075844,0.017495],[0.075842,-0.997119,-0.000782],[0.017504,0.000548,0.999847]]
2025-10-27T18:43:30.672Z,1761590610.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:30.870Z,1761590610.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998323,-0.054909,0.018334],[0.054930,-0.998490,0.000638],[0.018271,0.001644,0.999832]]
2025-10-27T18:43:30.924Z,1761590610.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:31.176Z,1761590611.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:31.282Z,1761590611.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999245,-0.033636,0.019456],[0.033686,-0.999430,0.002265],[0.019369,0.002918,0.999808]]
2025-10-27T18:43:31.432Z,1761590611.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:31.677Z,1761590611.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999703,-0.012777,0.020728],[0.012884,-0.999904,0.005024],[0.020662,0.005289,0.999772]]
2025-10-27T18:43:31.680Z,1761590611.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:31.932Z,1761590611.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:32.090Z,1761590612.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999738,0.005382,0.022247],[-0.005204,-0.999954,0.008029],[0.022289,0.007911,0.999720]]
2025-10-27T18:43:32.185Z,1761590612.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:32.436Z,1761590612.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:32.486Z,1761590612.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999588,0.015835,0.023943],[-0.015762,-0.999871,0.003216],[0.023991,0.002837,0.999708]]
2025-10-27T18:43:32.688Z,1761590612.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:32.891Z,1761590612.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,0.019440,0.025857],[-0.019688,-0.999762,-0.009375],[0.025668,-0.009879,0.999622]]
2025-10-27T18:43:32.940Z,1761590612.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:33.192Z,1761590613.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:33.294Z,1761590613.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999457,0.017700,0.027801],[-0.018606,-0.999292,-0.032697],[0.027203,-0.033196,0.999079]]
2025-10-27T18:43:33.444Z,1761590613.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:33.696Z,1761590613.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:33.699Z,1761590613.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999486,0.012515,0.029527],[-0.014339,-0.997948,-0.062400],[0.028685,-0.062792,0.997614]]
2025-10-27T18:43:33.948Z,1761590613.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:34.102Z,1761590614.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999515,0.005301,0.030680],[-0.008128,-0.995653,-0.092787],[0.030055,-0.092991,0.995213]]
2025-10-27T18:43:34.201Z,1761590614.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:34.452Z,1761590614.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:34.509Z,1761590614.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999525,-0.002527,0.030725],[-0.001216,-0.992624,-0.121228],[0.030805,-0.121207,0.992149]]
2025-10-27T18:43:34.704Z,1761590614.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:34.909Z,1761590614.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999510,-0.009843,0.029715],[0.005363,-0.989085,-0.147250],[0.030840,-0.147018,0.988653]]
2025-10-27T18:43:34.956Z,1761590614.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:35.208Z,1761590615.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:35.314Z,1761590615.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,-0.016355,0.027884],[0.011450,-0.985762,-0.167759],[0.030230,-0.167352,0.985434]]
2025-10-27T18:43:35.460Z,1761590615.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:35.712Z,1761590615.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:35.722Z,1761590615.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999444,-0.021511,0.025469],[0.016485,-0.982923,-0.183277],[0.028976,-0.182755,0.982731]]
2025-10-27T18:43:35.964Z,1761590615.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:36.122Z,1761590616.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999428,-0.025007,0.022779],[0.020132,-0.980885,-0.193546],[0.027183,-0.192977,0.980827]]
2025-10-27T18:43:36.216Z,1761590616.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:36.443Z,1761590616.443 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:43:36.468Z,1761590616.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:36.525Z,1761590616.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999454,-0.025587,0.020889],[0.020909,-0.979658,-0.199584],[0.025571,-0.199038,0.979658]]
2025-10-27T18:43:36.720Z,1761590616.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:36.929Z,1761590616.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999529,-0.023189,0.020102],[0.018589,-0.978654,-0.204674],[0.024419,-0.204204,0.978624]]
2025-10-27T18:43:36.968Z,1761590616.968 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 598.36, 690.42, 662.80
2025-10-27T18:43:36.972Z,1761590616.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:37.224Z,1761590617.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:37.342Z,1761590617.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999611,-0.019353,0.020107],[0.014794,-0.978394,-0.206218],[0.023663,-0.205840,0.978300]]
2025-10-27T18:43:37.465Z,1761590617.465 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:43:37.481Z,1761590617.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:37.732Z,1761590617.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:37.751Z,1761590617.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999682,-0.014323,0.020742],[0.009725,-0.978321,-0.206863],[0.023255,-0.206596,0.978150]]
2025-10-27T18:43:37.984Z,1761590617.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:38.142Z,1761590618.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999726,-0.008758,0.021713],[0.004087,-0.978439,-0.206495],[0.023054,-0.206350,0.978207]]
2025-10-27T18:43:38.237Z,1761590618.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:38.488Z,1761590618.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:38.552Z,1761590618.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999734,-0.002898,0.022889],[-0.001867,-0.978663,-0.205462],[0.022996,-0.205450,0.978397]]
2025-10-27T18:43:38.740Z,1761590618.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:38.952Z,1761590618.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999700,0.003156,0.024285],[-0.008079,-0.978644,-0.205405],[0.023118,-0.205540,0.978376]]
2025-10-27T18:43:38.992Z,1761590618.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:39.244Z,1761590619.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:39.501Z,1761590619.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:39.752Z,1761590619.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:39.764Z,1761590619.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999495,0.016431,0.027214],[-0.021661,-0.978577,-0.204737],[0.023267,-0.205223,0.978439]]
2025-10-27T18:43:40.004Z,1761590620.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:40.164Z,1761590620.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999313,0.023382,0.028754],[-0.028764,-0.978566,-0.203915],[0.023369,-0.204602,0.978566]]
2025-10-27T18:43:40.257Z,1761590620.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:40.508Z,1761590620.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:40.574Z,1761590620.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999091,0.030252,0.030027],[-0.035738,-0.978460,-0.203318],[0.023229,-0.204206,0.978652]]
2025-10-27T18:43:40.760Z,1761590620.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:40.969Z,1761590620.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998853,0.036465,0.031023],[-0.041972,-0.978684,-0.201037],[0.023031,-0.202108,0.979092]]
2025-10-27T18:43:41.012Z,1761590621.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:41.264Z,1761590621.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:41.374Z,1761590621.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998629,0.041531,0.031866],[-0.047078,-0.978704,-0.199806],[0.022889,-0.201032,0.979317]]
2025-10-27T18:43:41.517Z,1761590621.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:41.768Z,1761590621.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:41.779Z,1761590621.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998479,0.044786,0.032147],[-0.050267,-0.979056,-0.197286],[0.022638,-0.198602,0.979819]]
2025-10-27T18:43:42.020Z,1761590622.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:42.184Z,1761590622.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998456,0.045583,0.031750],[-0.050913,-0.979518,-0.194813],[0.022219,-0.196128,0.980326]]
2025-10-27T18:43:42.272Z,1761590622.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:42.524Z,1761590622.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:42.586Z,1761590622.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998523,0.044335,0.031417],[-0.049562,-0.980123,-0.192101],[0.022275,-0.193375,0.980872]]
2025-10-27T18:43:42.656Z,1761590622.656 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:43:42.656Z,1761590622.656 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:43:42.657Z,1761590622.657 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateRudder:A] Stopped
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:43:42.658Z,1761590622.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:43:42.675Z,1761590622.675 [marl:UpdateCommandMode] Stopped
2025-10-27T18:43:42.675Z,1761590622.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:43:42.675Z,1761590622.675 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:43:42.675Z,1761590622.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:43:42.675Z,1761590622.675 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:43:42.676Z,1761590622.676 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:43:42.676Z,1761590622.676 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:43:42.676Z,1761590622.676 [marl:UpdateSpeed] Stopped
2025-10-27T18:43:42.676Z,1761590622.676 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:43:42.779Z,1761590622.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:42.990Z,1761590622.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998678,0.040826,0.031231],[-0.046030,-0.980729,-0.189875],[0.022877,-0.191062,0.981311]]
2025-10-27T18:43:43.028Z,1761590623.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:43.095Z,1761590623.095 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:43:43.095Z,1761590623.095 [marl:UpdateRudder:B] Stopped
2025-10-27T18:43:43.095Z,1761590623.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:43:43.096Z,1761590623.096 [marl:UpdateRudder] Stopped
2025-10-27T18:43:43.096Z,1761590623.096 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:43:43.280Z,1761590623.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:43.396Z,1761590623.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998858,0.036242,0.031119],[-0.041501,-0.980976,-0.189643],[0.023654,-0.190718,0.981360]]
2025-10-27T18:43:43.538Z,1761590623.538 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:43.788Z,1761590623.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:43.802Z,1761590623.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999026,0.031170,0.031242],[-0.036567,-0.980993,-0.190567],[0.024708,-0.191524,0.981177]]
2025-10-27T18:43:44.040Z,1761590624.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:44.202Z,1761590624.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999172,0.026093,0.031206],[-0.031617,-0.980843,-0.192219],[0.025593,-0.193046,0.980856]]
2025-10-27T18:43:44.292Z,1761590624.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:44.546Z,1761590624.546 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:44.606Z,1761590624.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999299,0.021310,0.030783],[-0.026878,-0.980711,-0.193606],[0.026064,-0.194298,0.980596]]
2025-10-27T18:43:44.802Z,1761590624.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:45.053Z,1761590625.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:45.304Z,1761590625.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:45.421Z,1761590625.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999492,0.012683,0.029224],[-0.018170,-0.980448,-0.195939],[0.026168,-0.196371,0.980180]]
2025-10-27T18:43:45.557Z,1761590625.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:45.808Z,1761590625.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:45.820Z,1761590625.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999573,0.009075,0.027791],[-0.014358,-0.980445,-0.196268],[0.025466,-0.196583,0.980156]]
2025-10-27T18:43:46.061Z,1761590626.061 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:46.222Z,1761590626.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999649,0.006599,0.025664],[-0.011517,-0.980436,-0.196500],[0.023865,-0.196726,0.980168]]
2025-10-27T18:43:46.312Z,1761590626.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:46.564Z,1761590626.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:46.626Z,1761590626.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999722,0.005239,0.023007],[-0.009649,-0.980559,-0.195986],[0.021533,-0.196153,0.980337]]
2025-10-27T18:43:46.844Z,1761590626.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:47.040Z,1761590627.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999777,0.004961,0.020528],[-0.008855,-0.980923,-0.194196],[0.019173,-0.194335,0.980748]]
2025-10-27T18:43:47.068Z,1761590627.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:47.320Z,1761590627.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:47.573Z,1761590627.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:47.824Z,1761590627.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:47.839Z,1761590627.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999824,0.009437,0.016220],[-0.012391,-0.981120,-0.193003],[0.014093,-0.193170,0.981064]]
2025-10-27T18:43:48.076Z,1761590628.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:48.242Z,1761590628.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999799,0.013725,0.014585],[-0.016278,-0.981147,-0.192574],[0.011667,-0.192773,0.981174]]
2025-10-27T18:43:48.329Z,1761590628.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:48.580Z,1761590628.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:48.647Z,1761590628.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999732,0.019230,0.012858],[-0.021350,-0.980979,-0.192937],[0.008903,-0.193160,0.981127]]
2025-10-27T18:43:48.833Z,1761590628.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:49.084Z,1761590629.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:49.336Z,1761590629.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:49.453Z,1761590629.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999409,0.032847,0.010089],[-0.034172,-0.980891,-0.191536],[0.003605,-0.191768,0.981434]]
2025-10-27T18:43:49.591Z,1761590629.591 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:49.840Z,1761590629.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:49.858Z,1761590629.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999153,0.040172,0.008881],[-0.041128,-0.980857,-0.190337],[0.001065,-0.190541,0.981679]]
2025-10-27T18:43:50.092Z,1761590630.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:50.344Z,1761590630.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:50.596Z,1761590630.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:50.666Z,1761590630.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998476,0.054710,0.007232],[-0.055085,-0.980111,-0.190652],[-0.003342,-0.190760,0.981631]]
2025-10-27T18:43:50.848Z,1761590630.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:51.100Z,1761590631.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:51.352Z,1761590631.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:51.477Z,1761590631.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997649,0.068182,0.006869],[-0.068244,-0.979429,-0.189901],[-0.006221,-0.189923,0.981779]]
2025-10-27T18:43:51.604Z,1761590631.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:51.856Z,1761590631.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:51.931Z,1761590631.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997211,0.074305,0.006999],[-0.074267,-0.978653,-0.191630],[-0.007389,-0.191615,0.981442]]
2025-10-27T18:43:52.108Z,1761590632.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:52.282Z,1761590632.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996811,0.079456,0.007335],[-0.079390,-0.978314,-0.191309],[-0.008024,-0.191281,0.981503]]
2025-10-27T18:43:52.360Z,1761590632.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:52.612Z,1761590632.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:52.686Z,1761590632.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996512,0.083065,0.008058],[-0.083066,-0.977924,-0.191743],[-0.008047,-0.191743,0.981412]]
2025-10-27T18:43:52.868Z,1761590632.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:53.120Z,1761590633.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:53.372Z,1761590633.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:53.495Z,1761590633.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996352,0.084863,0.008968],[-0.085004,-0.977733,-0.191865],[-0.007514,-0.191927,0.981380]]
2025-10-27T18:43:53.625Z,1761590633.625 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:53.876Z,1761590633.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:53.898Z,1761590633.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996512,0.083033,0.008376],[-0.083102,-0.978088,-0.190886],[-0.007657,-0.190916,0.981576]]
2025-10-27T18:43:54.128Z,1761590634.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:54.301Z,1761590634.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996774,0.079887,0.007701],[-0.079882,-0.978267,-0.191344],[-0.007752,-0.191342,0.981493]]
2025-10-27T18:43:54.380Z,1761590634.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:54.632Z,1761590634.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:54.705Z,1761590634.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997050,0.076413,0.007227],[-0.076368,-0.978192,-0.193152],[-0.007690,-0.193134,0.981142]]
2025-10-27T18:43:54.884Z,1761590634.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:55.136Z,1761590635.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:55.388Z,1761590635.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:55.529Z,1761590635.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997573,0.069395,0.005718],[-0.069151,-0.977724,-0.198175],[-0.008161,-0.198089,0.980150]]
2025-10-27T18:43:55.640Z,1761590635.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:55.892Z,1761590635.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:55.918Z,1761590635.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997781,0.066438,0.004382],[-0.065970,-0.977555,-0.200083],[-0.009010,-0.199928,0.979769]]
2025-10-27T18:43:55.966Z,1761590635.966 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:43:55.966Z,1761590635.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:43:55.966Z,1761590635.966 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:43:55.966Z,1761590635.966 [marl:UpdateRudder:A] Stopped
2025-10-27T18:43:55.966Z,1761590635.966 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:43:55.967Z,1761590635.967 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:43:55.971Z,1761590635.971 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:43:55.971Z,1761590635.971 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:43:55.971Z,1761590635.971 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:43:55.971Z,1761590635.971 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:43:55.971Z,1761590635.971 [marl:UpdateCommandMode] Stopped
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed] Stopped
2025-10-27T18:43:55.972Z,1761590635.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:43:56.144Z,1761590636.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:56.322Z,1761590636.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997974,0.063587,0.002362],[-0.062741,-0.977142,-0.203120],[-0.010607,-0.202857,0.979151]]
2025-10-27T18:43:56.347Z,1761590636.347 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:43:56.347Z,1761590636.347 [marl:UpdateRudder:B] Stopped
2025-10-27T18:43:56.347Z,1761590636.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:43:56.348Z,1761590636.348 [marl:UpdateRudder] Stopped
2025-10-27T18:43:56.348Z,1761590636.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:43:56.399Z,1761590636.399 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:56.648Z,1761590636.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:56.731Z,1761590636.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998156,0.060707,-0.000391],[-0.059351,-0.977177,-0.203968],[-0.012765,-0.203569,0.978977]]
2025-10-27T18:43:56.900Z,1761590636.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:57.152Z,1761590637.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:57.404Z,1761590637.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:57.544Z,1761590637.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998400,0.056026,-0.007602],[-0.053311,-0.977634,-0.203447],[-0.018831,-0.202716,0.979056]]
2025-10-27T18:43:57.656Z,1761590637.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:57.908Z,1761590637.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:57.941Z,1761590637.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998435,0.054538,-0.012379],[-0.050920,-0.978059,-0.202011],[-0.023125,-0.201065,0.979305]]
2025-10-27T18:43:58.160Z,1761590638.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:58.342Z,1761590638.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998326,0.055309,-0.016929],[-0.050830,-0.978567,-0.199557],[-0.027603,-0.198362,0.979740]]
2025-10-27T18:43:58.412Z,1761590638.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:58.664Z,1761590638.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:58.757Z,1761590638.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998057,0.058767,-0.020697],[-0.053528,-0.978765,-0.197872],[-0.031886,-0.196380,0.980009]]
2025-10-27T18:43:58.919Z,1761590638.919 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:59.171Z,1761590639.171 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:59.424Z,1761590639.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:59.555Z,1761590639.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997194,0.071186,-0.023182],[-0.065243,-0.978176,-0.197272],[-0.036719,-0.195205,0.980075]]
2025-10-27T18:43:59.676Z,1761590639.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:59.928Z,1761590639.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:43:59.958Z,1761590639.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996678,0.077997,-0.023429],[-0.071921,-0.977942,-0.196103],[-0.038208,-0.193766,0.980303]]
2025-10-27T18:44:00.180Z,1761590640.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:00.361Z,1761590640.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996148,0.084469,-0.023528],[-0.078275,-0.977566,-0.195546],[-0.039518,-0.192951,0.980412]]
2025-10-27T18:44:00.432Z,1761590640.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:00.684Z,1761590640.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:00.782Z,1761590640.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995610,0.090738,-0.022972],[-0.084497,-0.976868,-0.196442],[-0.040265,-0.193638,0.980246]]
2025-10-27T18:44:00.936Z,1761590640.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:01.171Z,1761590641.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995103,0.096265,-0.022406],[-0.090052,-0.976477,-0.195917],[-0.040739,-0.192940,0.980365]]
2025-10-27T18:44:01.188Z,1761590641.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:01.440Z,1761590641.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:01.574Z,1761590641.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994700,0.100517,-0.021631],[-0.094367,-0.976037,-0.196076],[-0.040822,-0.192996,0.980350]]
2025-10-27T18:44:01.692Z,1761590641.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:01.944Z,1761590641.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:01.977Z,1761590641.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994413,0.103480,-0.020843],[-0.097399,-0.975607,-0.196732],[-0.040693,-0.193603,0.980236]]
2025-10-27T18:44:02.196Z,1761590642.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:02.382Z,1761590642.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994205,0.105571,-0.020274],[-0.099572,-0.975438,-0.196483],[-0.040519,-0.193326,0.980298]]
2025-10-27T18:44:02.449Z,1761590642.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:02.530Z,1761590642.530 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:44:02.530Z,1761590642.530 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:44:02.700Z,1761590642.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:02.918Z,1761590642.918 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:44:02.953Z,1761590642.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:03.206Z,1761590643.206 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:03.456Z,1761590643.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:03.594Z,1761590643.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993986,0.107807,-0.019225],[-0.101968,-0.975187,-0.196500],[-0.039932,-0.193358,0.980315]]
2025-10-27T18:44:03.710Z,1761590643.710 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:03.960Z,1761590643.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:04.018Z,1761590644.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994256,0.105214,-0.019624],[-0.099484,-0.976123,-0.193097],[-0.039472,-0.190036,0.980983]]
2025-10-27T18:44:04.212Z,1761590644.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:04.464Z,1761590644.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:04.716Z,1761590644.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:04.837Z,1761590644.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994720,0.100536,-0.020590],[-0.094774,-0.976916,-0.191448],[-0.039362,-0.188486,0.981287]]
2025-10-27T18:44:04.968Z,1761590644.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:05.216Z,1761590645.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995008,0.097544,-0.021060],[-0.091715,-0.977052,-0.192242],[-0.039329,-0.189351,0.981122]]
2025-10-27T18:44:05.220Z,1761590645.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:05.472Z,1761590645.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:05.620Z,1761590645.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995274,0.094652,-0.021716],[-0.088719,-0.977177,-0.193013],[-0.039489,-0.190174,0.980956]]
2025-10-27T18:44:05.724Z,1761590645.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:05.976Z,1761590645.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:06.028Z,1761590646.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995529,0.091829,-0.022139],[-0.085834,-0.977270,-0.193843],[-0.039436,-0.191076,0.980783]]
2025-10-27T18:44:06.228Z,1761590646.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:06.424Z,1761590646.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995771,0.089019,-0.022690],[-0.082940,-0.977374,-0.194581],[-0.039498,-0.191876,0.980624]]
2025-10-27T18:44:06.481Z,1761590646.481 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:06.733Z,1761590646.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:06.904Z,1761590646.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995960,0.086762,-0.023136],[-0.080531,-0.977038,-0.197261],[-0.039720,-0.194601,0.980078]]
2025-10-27T18:44:06.985Z,1761590646.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:07.234Z,1761590647.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996125,0.084656,-0.023838],[-0.078279,-0.976976,-0.198472],[-0.040091,-0.195837,0.979817]]
2025-10-27T18:44:07.236Z,1761590647.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:07.488Z,1761590647.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:07.598Z,1761590647.598 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:44:07.634Z,1761590647.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996253,0.082848,-0.024837],[-0.076262,-0.976902,-0.199614],[-0.040801,-0.196972,0.979560]]
2025-10-27T18:44:07.740Z,1761590647.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:07.992Z,1761590647.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:08.038Z,1761590648.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996297,0.081919,-0.026120],[-0.075002,-0.976539,-0.201856],[-0.042043,-0.199149,0.979067]]
2025-10-27T18:44:08.244Z,1761590648.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:08.442Z,1761590648.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996240,0.082248,-0.027221],[-0.074983,-0.975966,-0.204618],[-0.043396,-0.201808,0.978463]]
2025-10-27T18:44:08.497Z,1761590648.497 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:08.595Z,1761590648.595 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:44:08.750Z,1761590648.750 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:08.848Z,1761590648.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996051,0.084309,-0.027835],[-0.076787,-0.975404,-0.206619],[-0.044570,-0.203665,0.978025]]
2025-10-27T18:44:09.002Z,1761590649.002 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:09.250Z,1761590649.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995643,0.089120,-0.027446],[-0.081425,-0.974321,-0.209927],[-0.045450,-0.206777,0.977332]]
2025-10-27T18:44:09.252Z,1761590649.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateRudder:A] Stopped
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:44:09.290Z,1761590649.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:44:09.291Z,1761590649.291 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:44:09.291Z,1761590649.291 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:44:09.291Z,1761590649.291 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:44:09.291Z,1761590649.291 [marl:UpdateCommandMode] Stopped
2025-10-27T18:44:09.291Z,1761590649.291 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed] Stopped
2025-10-27T18:44:09.292Z,1761590649.292 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:44:09.505Z,1761590649.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:09.653Z,1761590649.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995097,0.095385,-0.026147],[-0.087735,-0.973356,-0.211852],[-0.045658,-0.208519,0.976952]]
2025-10-27T18:44:09.701Z,1761590649.701 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:44:09.701Z,1761590649.701 [marl:UpdateRudder:B] Stopped
2025-10-27T18:44:09.701Z,1761590649.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:44:09.701Z,1761590649.701 [marl:UpdateRudder] Stopped
2025-10-27T18:44:09.701Z,1761590649.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:44:09.757Z,1761590649.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:10.011Z,1761590650.011 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:10.060Z,1761590650.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994395,0.103058,-0.023624],[-0.095707,-0.972323,-0.213137],[-0.044936,-0.209681,0.976737]]
2025-10-27T18:44:10.260Z,1761590650.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:10.512Z,1761590650.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:10.764Z,1761590650.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:10.866Z,1761590650.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992684,0.119476,-0.017432],[-0.113272,-0.971510,-0.208178],[-0.041808,-0.204681,0.977935]]
2025-10-27T18:44:11.020Z,1761590651.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:11.268Z,1761590651.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:11.271Z,1761590651.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991749,0.127400,-0.014253],[-0.121911,-0.971669,-0.202478],[-0.039645,-0.199070,0.979183]]
2025-10-27T18:44:11.520Z,1761590651.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:11.772Z,1761590651.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:12.024Z,1761590652.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:12.078Z,1761590652.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990325,0.138511,-0.008415],[-0.134437,-0.972690,-0.189210],[-0.034393,-0.186248,0.981901]]
2025-10-27T18:44:12.276Z,1761590652.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:12.494Z,1761590652.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990199,0.139520,-0.006275],[-0.136013,-0.973559,-0.183531],[-0.031715,-0.180879,0.982994]]
2025-10-27T18:44:12.528Z,1761590652.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:12.782Z,1761590652.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:12.885Z,1761590652.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990449,0.137798,-0.004765],[-0.134743,-0.974664,-0.178533],[-0.029245,-0.176186,0.983922]]
2025-10-27T18:44:13.032Z,1761590653.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:13.284Z,1761590653.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:13.297Z,1761590653.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990868,0.134796,-0.003222],[-0.132143,-0.975558,-0.175573],[-0.026810,-0.173544,0.984461]]
2025-10-27T18:44:13.536Z,1761590653.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:13.693Z,1761590653.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991298,0.131626,-0.001705],[-0.129246,-0.975661,-0.177145],[-0.024980,-0.175383,0.984183]]
2025-10-27T18:44:13.788Z,1761590653.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:14.040Z,1761590654.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:14.101Z,1761590654.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991661,0.128876,0.000322],[-0.126810,-0.975312,-0.180795],[-0.022986,-0.179328,0.983521]]
2025-10-27T18:44:14.292Z,1761590654.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:14.506Z,1761590654.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991879,0.127158,0.002457],[-0.125406,-0.974638,-0.185350],[-0.021174,-0.184153,0.982669]]
2025-10-27T18:44:14.544Z,1761590654.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:14.800Z,1761590654.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:15.049Z,1761590655.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:15.300Z,1761590655.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:15.311Z,1761590655.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991889,0.126920,0.006942],[-0.125821,-0.972602,-0.195485],[-0.018059,-0.194773,0.980682]]
2025-10-27T18:44:15.552Z,1761590655.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:15.713Z,1761590655.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991722,0.128061,0.009347],[-0.127323,-0.971367,-0.200586],[-0.016608,-0.200115,0.979632]]
2025-10-27T18:44:15.804Z,1761590655.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:16.056Z,1761590656.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:16.126Z,1761590656.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991568,0.129047,0.011817],[-0.128722,-0.970327,-0.204684],[-0.014947,-0.204480,0.978757]]
2025-10-27T18:44:16.308Z,1761590656.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:16.522Z,1761590656.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991382,0.130263,0.013924],[-0.130313,-0.969650,-0.206876],[-0.013447,-0.206908,0.978268]]
2025-10-27T18:44:16.560Z,1761590656.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:16.814Z,1761590656.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:16.927Z,1761590656.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991198,0.131436,0.015861],[-0.131853,-0.969293,-0.207569],[-0.011908,-0.207833,0.978092]]
2025-10-27T18:44:17.064Z,1761590657.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:17.316Z,1761590657.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:17.331Z,1761590657.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991069,0.132224,0.017293],[-0.132929,-0.969308,-0.206814],[-0.010584,-0.207265,0.978227]]
2025-10-27T18:44:17.568Z,1761590657.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:17.743Z,1761590657.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990882,0.133392,0.018948],[-0.134418,-0.969171,-0.206491],[-0.009180,-0.207155,0.978265]]
2025-10-27T18:44:17.820Z,1761590657.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:18.072Z,1761590658.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:18.140Z,1761590658.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990585,0.135294,0.020895],[-0.136679,-0.968781,-0.206840],[-0.007741,-0.207749,0.978152]]
2025-10-27T18:44:18.324Z,1761590658.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:18.542Z,1761590658.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990300,0.137130,0.022379],[-0.138792,-0.968752,-0.205562],[-0.006509,-0.206674,0.978388]]
2025-10-27T18:44:18.576Z,1761590658.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:18.830Z,1761590658.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:18.946Z,1761590658.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989891,0.139825,0.023753],[-0.141721,-0.968666,-0.203964],[-0.005510,-0.205268,0.978690]]
2025-10-27T18:44:19.080Z,1761590659.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:19.332Z,1761590659.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:19.350Z,1761590659.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989446,0.142726,0.025011],[-0.144831,-0.968755,-0.201339],[-0.004507,-0.202837,0.979202]]
2025-10-27T18:44:19.399Z,1761590659.399 [marl:SendObservationData] Running Loop=1
2025-10-27T18:44:19.400Z,1761590659.400 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-27T18:44:19.400Z,1761590659.400 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-27T18:44:19.401Z,1761590659.401 [marl:SendObservationData:A] Running Loop=1
2025-10-27T18:44:19.402Z,1761590659.402 [marl:SendObservationData:A](INFO): Got test_good :  41da3febe00000004051400000000000404263789dd2fb2fc05e7749eb2a7daf4029fae220000000406de00000000000 n/a str  and temp var is  nan n/a str 
2025-10-27T18:44:19.402Z,1761590659.402 [marl:SendObservationData:A] Stopped
2025-10-27T18:44:19.402Z,1761590659.402 [marl:SendObservationData:B] Running Loop=1
2025-10-27T18:44:19.584Z,1761590659.584 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:44:19.584Z,1761590659.584 [DAT](INFO): #Outgoing data=1
2025-10-27T18:44:19.585Z,1761590659.585 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:44:19.585Z,1761590659.585 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:19.761Z,1761590659.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988862,0.146487,0.026342],[-0.148793,-0.968706,-0.198668],[-0.003584,-0.200375,0.979713]]
2025-10-27T18:44:19.786Z,1761590659.786 [marl:SendObservationData:B] Stopped
2025-10-27T18:44:19.787Z,1761590659.787 [marl:SendObservationData:C] Running Loop=1
2025-10-27T18:44:19.836Z,1761590659.836 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:44:19.837Z,1761590659.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:20.088Z,1761590660.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:20.161Z,1761590660.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988155,0.150859,0.028138],[-0.153442,-0.968437,-0.196433],[-0.002384,-0.198424,0.980113]]
2025-10-27T18:44:20.214Z,1761590660.214 [marl:SendObservationData:C] Stopped
2025-10-27T18:44:20.214Z,1761590660.214 [marl:SendObservationData:E] Running Loop=1
2025-10-27T18:44:20.351Z,1761590660.351 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:20.561Z,1761590660.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987240,0.156346,0.030200],[-0.159232,-0.967956,-0.194181],[-0.001128,-0.196512,0.980501]]
2025-10-27T18:44:20.604Z,1761590660.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:20.614Z,1761590660.614 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.010816 min 
2025-10-27T18:44:20.614Z,1761590660.614 [marl:SendObservationData:E] Stopped
2025-10-27T18:44:20.614Z,1761590660.614 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-27T18:44:20.614Z,1761590660.614 [marl:SendObservationData] Stopped
2025-10-27T18:44:20.615Z,1761590660.615 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-27T18:44:20.619Z,1761590660.619 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-27T18:44:20.856Z,1761590660.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:20.980Z,1761590660.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986238,0.162104,0.032494],[-0.165329,-0.967333,-0.192181],[0.000279,-0.194908,0.980821]]
2025-10-27T18:44:21.108Z,1761590661.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:21.360Z,1761590661.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:21.372Z,1761590661.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985229,0.167626,0.035009],[-0.171232,-0.966650,-0.190439],[0.001919,-0.193620,0.981075]]
2025-10-27T18:44:21.612Z,1761590661.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:21.774Z,1761590661.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984347,0.172179,0.037613],[-0.176198,-0.966081,-0.188789],[0.003832,-0.192461,0.981297]]
2025-10-27T18:44:21.865Z,1761590661.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:22.116Z,1761590662.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:22.177Z,1761590662.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983615,0.175741,0.040201],[-0.180187,-0.965526,-0.187861],[0.005800,-0.192027,0.981373]]
2025-10-27T18:44:22.368Z,1761590662.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:22.583Z,1761590662.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983284,0.177145,0.042103],[-0.181919,-0.965506,-0.186290],[0.007650,-0.190835,0.981592]]
2025-10-27T18:44:22.608Z,1761590662.608 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:44:22.608Z,1761590662.608 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateRudder:A] Stopped
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:44:22.609Z,1761590662.609 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateCommandMode] Stopped
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:44:22.610Z,1761590662.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:44:22.611Z,1761590662.611 [marl:UpdateSpeed] Stopped
2025-10-27T18:44:22.611Z,1761590662.611 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:44:22.623Z,1761590662.623 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:22.872Z,1761590662.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:22.992Z,1761590662.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983303,0.176741,0.043326],[-0.181735,-0.965973,-0.184036],[0.009325,-0.188837,0.981964]]
2025-10-27T18:44:23.055Z,1761590663.055 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:44:23.059Z,1761590663.059 [marl:UpdateRudder:B] Stopped
2025-10-27T18:44:23.059Z,1761590663.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:44:23.059Z,1761590663.059 [marl:UpdateRudder] Stopped
2025-10-27T18:44:23.059Z,1761590663.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:44:23.125Z,1761590663.125 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:44:22.3923

2025-10-27T18:44:23.125Z,1761590663.125 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:44:23.126Z,1761590663.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:23.376Z,1761590663.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:23.392Z,1761590663.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983681,0.174574,0.043535],[-0.179625,-0.966734,-0.182101],[0.010297,-0.186949,0.982316]]
2025-10-27T18:44:23.628Z,1761590663.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:23.793Z,1761590663.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984208,0.171525,0.043749],[-0.176643,-0.967701,-0.179869],[0.011484,-0.184757,0.982717]]
2025-10-27T18:44:23.881Z,1761590663.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:24.132Z,1761590664.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:24.206Z,1761590664.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984970,0.166923,0.044388],[-0.172239,-0.968460,-0.180053],[0.012933,-0.184993,0.982655]]
2025-10-27T18:44:24.384Z,1761590664.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:24.602Z,1761590664.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985827,0.161569,0.045178],[-0.167154,-0.968924,-0.182336],[0.014315,-0.187304,0.982198]]
2025-10-27T18:44:24.636Z,1761590664.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:24.888Z,1761590664.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:25.006Z,1761590665.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986668,0.156190,0.045731],[-0.162010,-0.969339,-0.184758],[0.015471,-0.189703,0.981720]]
2025-10-27T18:44:25.141Z,1761590665.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:25.392Z,1761590665.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:25.409Z,1761590665.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987547,0.150195,0.046835],[-0.156420,-0.969257,-0.189929],[0.016868,-0.194890,0.980680]]
2025-10-27T18:44:25.644Z,1761590665.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:25.814Z,1761590665.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988871,0.140727,0.048266],[-0.147633,-0.968310,-0.201447],[0.018387,-0.206331,0.978310]]
2025-10-27T18:44:25.901Z,1761590665.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:26.152Z,1761590666.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:26.224Z,1761590666.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990608,0.127010,0.050642],[-0.135209,-0.965058,-0.224460],[0.020364,-0.229199,0.973167]]
2025-10-27T18:44:26.404Z,1761590666.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:26.621Z,1761590666.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992527,0.110013,0.052799],[-0.119936,-0.959233,-0.255906],[0.022493,-0.260326,0.965259]]
2025-10-27T18:44:26.656Z,1761590666.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:26.908Z,1761590666.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:27.161Z,1761590667.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:27.412Z,1761590667.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:27.430Z,1761590667.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995467,0.077433,0.055220],[-0.091110,-0.942965,-0.320181],[0.027278,-0.323760,0.945746]]
2025-10-27T18:44:27.664Z,1761590667.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:27.837Z,1761590667.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996372,0.063981,0.056111],[-0.079551,-0.934458,-0.347072],[0.030227,-0.350277,0.936158]]
2025-10-27T18:44:27.918Z,1761590667.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:28.168Z,1761590668.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:28.238Z,1761590668.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997058,0.051315,0.056934],[-0.068825,-0.926316,-0.370408],[0.033731,-0.373237,0.927123]]
2025-10-27T18:44:28.420Z,1761590668.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:28.641Z,1761590668.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997605,0.038859,0.057226],[-0.058044,-0.920268,-0.386960],[0.037626,-0.389354,0.920319]]
2025-10-27T18:44:28.672Z,1761590668.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:28.924Z,1761590668.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:29.046Z,1761590669.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998020,0.026472,0.057053],[-0.047015,-0.916552,-0.397143],[0.041779,-0.399039,0.915982]]
2025-10-27T18:44:29.176Z,1761590669.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:29.429Z,1761590669.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:29.464Z,1761590669.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998268,0.014599,0.056999],[-0.036422,-0.914147,-0.403744],[0.046211,-0.405120,0.913095]]
2025-10-27T18:44:29.680Z,1761590669.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:29.854Z,1761590669.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998404,0.001538,0.056447],[-0.024345,-0.913679,-0.405707],[0.050950,-0.406434,0.912259]]
2025-10-27T18:44:29.933Z,1761590669.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:30.184Z,1761590670.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:30.258Z,1761590670.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998363,-0.012216,0.055872],[-0.011502,-0.914079,-0.405373],[0.056023,-0.405352,0.912443]]
2025-10-27T18:44:30.437Z,1761590670.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:30.661Z,1761590670.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998110,-0.027128,0.055132],[0.002524,-0.914604,-0.404342],[0.061393,-0.403439,0.912945]]
2025-10-27T18:44:30.688Z,1761590670.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:30.941Z,1761590670.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:31.192Z,1761590671.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:31.445Z,1761590671.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:31.470Z,1761590671.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996719,-0.061684,0.052403],[0.035651,-0.915838,-0.399962],[0.072664,-0.396782,0.915032]]
2025-10-27T18:44:31.696Z,1761590671.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:31.894Z,1761590671.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995359,-0.082986,0.048718],[0.056891,-0.915791,-0.397605],[0.077611,-0.392988,0.916262]]
2025-10-27T18:44:31.949Z,1761590671.949 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:32.200Z,1761590672.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:32.420Z,1761590672.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993511,-0.104995,0.043726],[0.079277,-0.914950,-0.395704],[0.081554,-0.389670,0.917337]]
2025-10-27T18:44:32.453Z,1761590672.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:32.705Z,1761590672.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:32.871Z,1761590672.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988607,-0.147252,0.031204],[0.123147,-0.910450,-0.394863],[0.086554,-0.386521,0.918210]]
2025-10-27T18:44:32.956Z,1761590672.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:33.208Z,1761590673.208 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:44:33.208Z,1761590673.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:33.337Z,1761590673.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985659,-0.167046,0.023905],[0.144188,-0.907309,-0.394969],[0.087667,-0.385858,0.918384]]
2025-10-27T18:44:33.461Z,1761590673.461 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:44:33.461Z,1761590673.461 [DAT](INFO): #Outgoing data=1
2025-10-27T18:44:33.462Z,1761590673.462 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:44:33.462Z,1761590673.462 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:33.712Z,1761590673.712 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:44:33.712Z,1761590673.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:33.761Z,1761590673.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982439,-0.185864,0.016386],[0.164422,-0.903913,-0.394849],[0.088200,-0.385221,0.918600]]
2025-10-27T18:44:33.964Z,1761590673.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:34.141Z,1761590674.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979055,-0.203405,0.008829],[0.183455,-0.900177,-0.395001],[0.088293,-0.385108,0.918638]]
2025-10-27T18:44:34.216Z,1761590674.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:34.468Z,1761590674.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:34.542Z,1761590674.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975667,-0.219249,0.002191],[0.200602,-0.896636,-0.394719],[0.088507,-0.384674,0.918799]]
2025-10-27T18:44:34.720Z,1761590674.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:34.972Z,1761590674.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:35.224Z,1761590675.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:35.466Z,1761590675.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969517,-0.244939,-0.006512],[0.227444,-0.889747,-0.395752],[0.091141,-0.385169,0.918334]]
2025-10-27T18:44:35.476Z,1761590675.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:35.729Z,1761590675.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:35.866Z,1761590675.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966219,-0.257515,-0.010311],[0.240395,-0.886118,-0.396239],[0.092900,-0.385332,0.918090]]
2025-10-27T18:44:35.980Z,1761590675.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:36.232Z,1761590676.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:36.354Z,1761590676.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962657,-0.270347,-0.014298],[0.253749,-0.882627,-0.395703],[0.094357,-0.384554,0.918267]]
2025-10-27T18:44:36.422Z,1761590676.422 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:44:36.424Z,1761590676.424 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:44:36.424Z,1761590676.424 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateRudder:A] Stopped
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:44:36.425Z,1761590676.425 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:44:36.426Z,1761590676.426 [marl:UpdateCommandMode] Stopped
2025-10-27T18:44:36.426Z,1761590676.426 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:44:36.426Z,1761590676.426 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:44:36.426Z,1761590676.426 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:44:36.427Z,1761590676.427 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:44:36.428Z,1761590676.428 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:44:36.428Z,1761590676.428 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:44:36.428Z,1761590676.428 [marl:UpdateSpeed] Stopped
2025-10-27T18:44:36.428Z,1761590676.428 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:44:36.484Z,1761590676.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:36.737Z,1761590676.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:36.931Z,1761590676.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954317,-0.297961,-0.022333],[0.282319,-0.874691,-0.393969],[0.097853,-0.382276,0.918853]]
2025-10-27T18:44:36.988Z,1761590676.988 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:44:36.2423

2025-10-27T18:44:36.989Z,1761590676.989 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:44:36.989Z,1761590676.989 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:37.036Z,1761590677.036 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:44:37.037Z,1761590677.037 [marl:UpdateRudder:B] Stopped
2025-10-27T18:44:37.037Z,1761590677.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:44:37.037Z,1761590677.037 [marl:UpdateRudder] Stopped
2025-10-27T18:44:37.037Z,1761590677.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:44:37.243Z,1761590677.243 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:37.369Z,1761590677.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949285,-0.313255,-0.027004],[0.298205,-0.869791,-0.393111],[0.099656,-0.381227,0.919094]]
2025-10-27T18:44:37.492Z,1761590677.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:37.744Z,1761590677.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:37.784Z,1761590677.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943705,-0.329162,-0.032757],[0.315012,-0.864065,-0.392632],[0.100936,-0.380847,0.919112]]
2025-10-27T18:44:37.996Z,1761590677.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:38.193Z,1761590678.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937728,-0.345177,-0.038982],[0.332122,-0.858014,-0.391799],[0.101793,-0.380347,0.919225]]
2025-10-27T18:44:38.248Z,1761590678.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:38.500Z,1761590678.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:38.596Z,1761590678.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931342,-0.361300,-0.045439],[0.349480,-0.851788,-0.390284],[0.102305,-0.379368,0.919573]]
2025-10-27T18:44:38.720Z,1761590678.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:44:38.754Z,1761590678.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:39.005Z,1761590679.005 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:39.097Z,1761590679.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924603,-0.377323,-0.052317],[0.366853,-0.845000,-0.389093],[0.102606,-0.378949,0.919712]]
2025-10-27T18:44:39.256Z,1761590679.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:39.505Z,1761590679.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917712,-0.392750,-0.059600],[0.383874,-0.838179,-0.387424],[0.102205,-0.378422,0.919973]]
2025-10-27T18:44:39.508Z,1761590679.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:39.723Z,1761590679.723 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:44:39.760Z,1761590679.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:39.992Z,1761590679.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910415,-0.408138,-0.067584],[0.401169,-0.831091,-0.385164],[0.101032,-0.377772,0.920370]]
2025-10-27T18:44:40.012Z,1761590680.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:40.264Z,1761590680.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:40.390Z,1761590680.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903030,-0.422919,-0.075340],[0.417963,-0.824493,-0.381469],[0.099213,-0.375967,0.921306]]
2025-10-27T18:44:40.517Z,1761590680.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:40.778Z,1761590680.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:40.855Z,1761590680.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888139,-0.450567,-0.090545],[0.449614,-0.811059,-0.374207],[0.095168,-0.373059,0.922914]]
2025-10-27T18:44:41.028Z,1761590681.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:41.269Z,1761590681.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880587,-0.463751,-0.097473],[0.464664,-0.804617,-0.369701],[0.093021,-0.370846,0.924024]]
2025-10-27T18:44:41.280Z,1761590681.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:41.532Z,1761590681.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:41.671Z,1761590681.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873336,-0.475801,-0.104388],[0.478581,-0.798155,-0.365935],[0.090795,-0.369543,0.924767]]
2025-10-27T18:44:41.784Z,1761590681.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:42.036Z,1761590682.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:42.074Z,1761590682.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866321,-0.487152,-0.110320],[0.491577,-0.792395,-0.361197],[0.088540,-0.367143,0.925941]]
2025-10-27T18:44:42.288Z,1761590682.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:42.477Z,1761590682.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859026,-0.498605,-0.116051],[0.504695,-0.786848,-0.355180],[0.085780,-0.363679,0.927566]]
2025-10-27T18:44:42.540Z,1761590682.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:42.797Z,1761590682.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:43.045Z,1761590683.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:43.296Z,1761590683.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:43.305Z,1761590683.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844393,-0.519788,-0.129699],[0.529614,-0.773464,-0.348228],[0.080687,-0.362732,0.928394]]
2025-10-27T18:44:43.548Z,1761590683.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:43.778Z,1761590683.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836986,-0.529805,-0.136971],[0.541573,-0.766094,-0.346120],[0.078444,-0.363877,0.928138]]
2025-10-27T18:44:43.800Z,1761590683.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:44.053Z,1761590684.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:44.170Z,1761590684.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829248,-0.539956,-0.144203],[0.553567,-0.758059,-0.344833],[0.076881,-0.365778,0.927521]]
2025-10-27T18:44:44.304Z,1761590684.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:44.556Z,1761590684.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:44.660Z,1761590684.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821231,-0.550062,-0.151694],[0.565565,-0.749472,-0.344134],[0.075604,-0.368406,0.926586]]
2025-10-27T18:44:44.810Z,1761590684.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:45.058Z,1761590685.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812523,-0.560883,-0.158795],[0.578053,-0.740097,-0.343672],[0.075236,-0.371034,0.925567]]
2025-10-27T18:44:45.060Z,1761590685.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:45.312Z,1761590685.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:45.556Z,1761590685.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802964,-0.572568,-0.165575],[0.591298,-0.730309,-0.342076],[0.074941,-0.372579,0.924970]]
2025-10-27T18:44:45.564Z,1761590685.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:45.816Z,1761590685.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:46.058Z,1761590686.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780450,-0.598536,-0.180698],[0.620940,-0.708278,-0.335821],[0.073017,-0.374294,0.924431]]
2025-10-27T18:44:46.068Z,1761590686.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:46.320Z,1761590686.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:46.573Z,1761590686.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:46.828Z,1761590686.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:46.919Z,1761590686.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753529,-0.627432,-0.196273],[0.653804,-0.683964,-0.323625],[0.068810,-0.372185,0.925605]]
2025-10-27T18:44:47.076Z,1761590687.076 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:44:47.076Z,1761590687.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:47.292Z,1761590687.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739339,-0.641856,-0.203467],[0.670083,-0.671720,-0.315881],[0.066077,-0.369883,0.926725]]
2025-10-27T18:44:47.329Z,1761590687.329 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:44:47.329Z,1761590687.329 [DAT](INFO): #Outgoing data=2
2025-10-27T18:44:47.329Z,1761590687.329 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:44:47.329Z,1761590687.329 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:47.581Z,1761590687.581 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:44:47.582Z,1761590687.582 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:47.693Z,1761590687.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724844,-0.655859,-0.210835],[0.686060,-0.659380,-0.307473],[0.062638,-0.367515,0.927906]]
2025-10-27T18:44:47.832Z,1761590687.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:48.084Z,1761590688.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:48.103Z,1761590688.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710638,-0.668802,-0.218397],[0.701140,-0.647499,-0.298577],[0.058276,-0.365307,0.929061]]
2025-10-27T18:44:48.336Z,1761590688.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:48.507Z,1761590688.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697617,-0.680056,-0.225509],[0.714467,-0.636785,-0.289899],[0.053547,-0.363358,0.930110]]
2025-10-27T18:44:48.588Z,1761590688.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:48.840Z,1761590688.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:48.930Z,1761590688.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685380,-0.689994,-0.232729],[0.726566,-0.626687,-0.281719],[0.048536,-0.362178,0.930845]]
2025-10-27T18:44:49.092Z,1761590689.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:49.344Z,1761590689.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:49.419Z,1761590689.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674160,-0.698713,-0.239389],[0.737286,-0.617427,-0.274215],[0.043792,-0.361363,0.931396]]
2025-10-27T18:44:49.596Z,1761590689.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:49.796Z,1761590689.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663698,-0.706843,-0.244699],[0.746955,-0.609012,-0.266763],[0.039535,-0.359829,0.932180]]
2025-10-27T18:44:49.848Z,1761590689.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:50.100Z,1761590690.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:50.198Z,1761590690.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653047,-0.714708,-0.250443],[0.756476,-0.600039,-0.260185],[0.035681,-0.359368,0.932514]]
2025-10-27T18:44:50.282Z,1761590690.282 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:44:50.283Z,1761590690.283 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:44:50.299Z,1761590690.299 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:44:50.299Z,1761590690.299 [marl:UpdateRudder:A] Stopped
2025-10-27T18:44:50.299Z,1761590690.299 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:44:50.299Z,1761590690.299 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:44:50.299Z,1761590690.299 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateCommandMode] Stopped
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:44:50.300Z,1761590690.300 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:44:50.301Z,1761590690.301 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:44:50.301Z,1761590690.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:44:50.301Z,1761590690.301 [marl:UpdateSpeed] Stopped
2025-10-27T18:44:50.301Z,1761590690.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:44:50.353Z,1761590690.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:50.604Z,1761590690.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:50.614Z,1761590690.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642480,-0.722580,-0.255143],[0.765617,-0.591202,-0.253596],[0.032402,-0.358272,0.933055]]
2025-10-27T18:44:50.677Z,1761590690.677 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:44:50.677Z,1761590690.677 [marl:UpdateRudder:B] Stopped
2025-10-27T18:44:50.678Z,1761590690.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:44:50.678Z,1761590690.678 [marl:UpdateRudder] Stopped
2025-10-27T18:44:50.683Z,1761590690.683 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:44:50.858Z,1761590690.858 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:44:50.0922

2025-10-27T18:44:50.858Z,1761590690.858 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:44:50.859Z,1761590690.859 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:51.012Z,1761590691.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631291,-0.730942,-0.259221],[0.774971,-0.581669,-0.247147],[0.029869,-0.356910,0.933661]]
2025-10-27T18:44:51.108Z,1761590691.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:51.364Z,1761590691.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:51.448Z,1761590691.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618654,-0.740081,-0.263719],[0.785173,-0.570538,-0.240810],[0.027758,-0.356043,0.934057]]
2025-10-27T18:44:51.612Z,1761590691.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:51.834Z,1761590691.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605000,-0.749837,-0.267806],[0.795792,-0.558335,-0.234473],[0.026291,-0.354974,0.934506]]
2025-10-27T18:44:51.864Z,1761590691.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:52.116Z,1761590692.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:52.272Z,1761590692.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589763,-0.759903,-0.273362],[0.807202,-0.544384,-0.228192],[0.024590,-0.355238,0.934452]]
2025-10-27T18:44:52.369Z,1761590692.369 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:52.620Z,1761590692.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:52.669Z,1761590692.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573468,-0.769979,-0.279762],[0.818916,-0.529364,-0.221697],[0.022606,-0.356238,0.934122]]
2025-10-27T18:44:52.872Z,1761590692.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:53.074Z,1761590693.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556509,-0.779814,-0.286683],[0.830605,-0.513958,-0.214340],[0.019802,-0.357402,0.933741]]
2025-10-27T18:44:53.124Z,1761590693.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:53.377Z,1761590693.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:53.490Z,1761590693.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539800,-0.788680,-0.294277],[0.841625,-0.498645,-0.207417],[0.016846,-0.359635,0.932941]]
2025-10-27T18:44:53.628Z,1761590693.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:53.886Z,1761590693.886 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:53.909Z,1761590693.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523364,-0.796993,-0.301484],[0.852008,-0.484011,-0.199537],[0.013108,-0.361297,0.932359]]
2025-10-27T18:44:54.132Z,1761590694.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:54.293Z,1761590694.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507743,-0.804439,-0.308342],[0.861461,-0.470325,-0.191518],[0.009044,-0.362866,0.931797]]
2025-10-27T18:44:54.385Z,1761590694.385 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:54.636Z,1761590694.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:54.698Z,1761590694.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493692,-0.811172,-0.313477],[0.869623,-0.458454,-0.183237],[0.004921,-0.363069,0.931749]]
2025-10-27T18:44:54.889Z,1761590694.889 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:55.140Z,1761590695.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:55.141Z,1761590695.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481327,-0.817167,-0.317116],[0.876540,-0.448316,-0.175184],[0.000986,-0.362285,0.932067]]
2025-10-27T18:44:55.394Z,1761590695.394 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:55.548Z,1761590695.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469765,-0.823033,-0.319277],[0.882788,-0.439005,-0.167214],[-0.002541,-0.360405,0.932793]]
2025-10-27T18:44:55.645Z,1761590695.645 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:55.897Z,1761590695.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:55.953Z,1761590695.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458872,-0.828034,-0.322174],[0.888484,-0.429991,-0.160327],[-0.005776,-0.359816,0.933005]]
2025-10-27T18:44:56.148Z,1761590696.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:56.354Z,1761590696.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448197,-0.832965,-0.324482],[0.893894,-0.421075,-0.153783],[-0.008535,-0.358978,0.933307]]
2025-10-27T18:44:56.401Z,1761590696.401 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:56.652Z,1761590696.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:56.782Z,1761590696.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437433,-0.837679,-0.327027],[0.899190,-0.411703,-0.148182],[-0.010509,-0.358879,0.933325]]
2025-10-27T18:44:56.904Z,1761590696.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:57.157Z,1761590697.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:57.250Z,1761590697.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426451,-0.842327,-0.329583],[0.904433,-0.401883,-0.143150],[-0.011875,-0.359132,0.933211]]
2025-10-27T18:44:57.408Z,1761590697.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:57.654Z,1761590697.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414924,-0.847031,-0.332229],[0.909769,-0.391305,-0.138569],[-0.012631,-0.359747,0.932965]]
2025-10-27T18:44:57.664Z,1761590697.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:57.912Z,1761590697.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:58.063Z,1761590698.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402483,-0.851713,-0.335547],[0.915333,-0.379692,-0.134162],[-0.013136,-0.361135,0.932421]]
2025-10-27T18:44:58.164Z,1761590698.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:58.416Z,1761590698.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:58.478Z,1761590698.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374238,-0.861091,-0.344192],[0.927234,-0.352868,-0.125380],[-0.013491,-0.366069,0.930490]]
2025-10-27T18:44:58.668Z,1761590698.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:58.876Z,1761590698.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358326,-0.866212,-0.348251],[0.933498,-0.337835,-0.120202],[-0.013531,-0.368163,0.929663]]
2025-10-27T18:44:58.920Z,1761590698.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:59.172Z,1761590699.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:59.278Z,1761590699.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341293,-0.871802,-0.351398],[0.939865,-0.321748,-0.114598],[-0.013155,-0.369378,0.929186]]
2025-10-27T18:44:59.424Z,1761590699.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:59.676Z,1761590699.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:44:59.682Z,1761590699.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323141,-0.877372,-0.354681],[0.946259,-0.304781,-0.108179],[-0.013187,-0.370578,0.928708]]
2025-10-27T18:44:59.931Z,1761590699.931 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:00.080Z,1761590700.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304254,-0.883123,-0.357104],[0.952496,-0.287341,-0.100933],[-0.013475,-0.370849,0.928595]]
2025-10-27T18:45:00.181Z,1761590700.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:00.432Z,1761590700.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:00.486Z,1761590700.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285142,-0.888762,-0.358882],[0.958383,-0.269848,-0.093190],[-0.014020,-0.370519,0.928719]]
2025-10-27T18:45:00.684Z,1761590700.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:00.936Z,1761590700.936 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:45:00.936Z,1761590700.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:01.188Z,1761590701.188 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-27T18:45:01.188Z,1761590701.188 [DAT](INFO): #Outgoing data=3
2025-10-27T18:45:01.189Z,1761590701.189 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:45:01.189Z,1761590701.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:01.374Z,1761590701.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246663,-0.899236,-0.361292],[0.968955,-0.235328,-0.075812],[-0.016849,-0.368775,0.929366]]
2025-10-27T18:45:01.457Z,1761590701.457 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:45:01.458Z,1761590701.458 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:01.708Z,1761590701.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:01.933Z,1761590701.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227354,-0.904122,-0.361763],[0.973609,-0.218619,-0.065500],[-0.019868,-0.367108,0.929966]]
2025-10-27T18:45:01.964Z,1761590701.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:02.212Z,1761590702.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:02.419Z,1761590702.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208260,-0.908649,-0.361918],[0.977784,-0.202429,-0.054421],[-0.023813,-0.365211,0.930620]]
2025-10-27T18:45:02.469Z,1761590702.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:02.716Z,1761590702.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:02.788Z,1761590702.788 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:45:02.789Z,1761590702.789 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:45:02.865Z,1761590702.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189111,-0.912607,-0.362473],[0.981547,-0.186332,-0.042964],[-0.028330,-0.363909,0.931004]]
2025-10-27T18:45:02.936Z,1761590702.936 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:45:02.968Z,1761590702.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:03.220Z,1761590703.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:03.258Z,1761590703.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170077,-0.915963,-0.363435],[0.984871,-0.170430,-0.031358],[-0.033217,-0.363270,0.931092]]
2025-10-27T18:45:03.472Z,1761590703.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:03.662Z,1761590703.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151559,-0.919327,-0.363136],[0.987718,-0.154977,-0.019891],[-0.037991,-0.361691,0.931524]]
2025-10-27T18:45:03.724Z,1761590703.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:03.769Z,1761590703.769 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateRudder:A] Stopped
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:45:03.770Z,1761590703.770 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:45:03.771Z,1761590703.771 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:45:03.771Z,1761590703.771 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:45:03.771Z,1761590703.771 [marl:UpdateCommandMode] Stopped
2025-10-27T18:45:03.771Z,1761590703.771 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:45:03.771Z,1761590703.771 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed] Stopped
2025-10-27T18:45:03.772Z,1761590703.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:45:03.976Z,1761590703.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:04.083Z,1761590704.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115329,-0.923412,-0.366073],[0.992198,-0.124655,0.001853],[-0.047344,-0.363004,0.930584]]
2025-10-27T18:45:04.161Z,1761590704.161 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:45:04.161Z,1761590704.161 [marl:UpdateRudder:B] Stopped
2025-10-27T18:45:04.161Z,1761590704.161 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:45:04.161Z,1761590704.161 [marl:UpdateRudder] Stopped
2025-10-27T18:45:04.161Z,1761590704.161 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:45:04.229Z,1761590704.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:04.480Z,1761590704.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:04.490Z,1761590704.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097840,-0.925237,-0.366558],[0.993861,-0.109951,0.012253],[-0.051641,-0.363109,0.930315]]
2025-10-27T18:45:04.733Z,1761590704.733 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:45:03.9921

2025-10-27T18:45:04.733Z,1761590704.733 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:45:04.734Z,1761590704.734 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:04.900Z,1761590704.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080391,-0.926643,-0.367247],[0.995186,-0.095338,0.022710],[-0.056057,-0.363653,0.929846]]
2025-10-27T18:45:04.984Z,1761590704.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:05.236Z,1761590705.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:05.298Z,1761590705.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063630,-0.928397,-0.366102],[0.996129,-0.081375,0.033229],[-0.060641,-0.362570,0.929981]]
2025-10-27T18:45:05.488Z,1761590705.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:05.702Z,1761590705.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047574,-0.930154,-0.364075],[0.996723,-0.068076,0.043681],[-0.065415,-0.360804,0.930345]]
2025-10-27T18:45:05.741Z,1761590705.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:05.992Z,1761590705.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:06.105Z,1761590706.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031707,-0.931168,-0.363209],[0.997004,-0.055116,0.054266],[-0.070549,-0.360400,0.930126]]
2025-10-27T18:45:06.244Z,1761590706.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:06.496Z,1761590706.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:06.514Z,1761590706.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016421,-0.931656,-0.362971],[0.996984,-0.042797,0.064746],[-0.075856,-0.360813,0.929548]]
2025-10-27T18:45:06.749Z,1761590706.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:06.930Z,1761590706.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001531,-0.931596,-0.363492],[0.996672,-0.031045,0.075367],[-0.081496,-0.362167,0.928544]]
2025-10-27T18:45:06.000Z,1761590707.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:07.252Z,1761590707.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:07.328Z,1761590707.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013368,-0.931186,-0.364298],[0.996086,-0.019434,0.086227],[-0.087374,-0.364025,0.927282]]
2025-10-27T18:45:07.504Z,1761590707.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:07.735Z,1761590707.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027343,-0.930403,-0.365517],[0.995317,-0.008574,0.096280],[-0.092713,-0.366438,0.925812]]
2025-10-27T18:45:07.757Z,1761590707.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:08.008Z,1761590708.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:08.236Z,1761590708.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040276,-0.929528,-0.366546],[0.994409,0.001451,0.105586],[-0.097613,-0.368749,0.924389]]
2025-10-27T18:45:08.260Z,1761590708.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:08.512Z,1761590708.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:08.765Z,1761590708.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:09.016Z,1761590709.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:09.119Z,1761590709.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064613,-0.926396,-0.370965],[0.992466,0.020878,0.120725],[-0.104094,-0.375971,0.920766]]
2025-10-27T18:45:09.276Z,1761590709.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:09.517Z,1761590709.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076608,-0.925674,-0.370484],[0.991542,0.031688,0.125857],[-0.104763,-0.376992,0.920273]]
2025-10-27T18:45:09.520Z,1761590709.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:09.772Z,1761590709.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:09.845Z,1761590709.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:45:09.921Z,1761590709.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089006,-0.924387,-0.370928],[0.990616,0.043376,0.129606],[-0.103716,-0.378983,0.919573]]
2025-10-27T18:45:10.025Z,1761590710.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:10.276Z,1761590710.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:10.325Z,1761590710.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100883,-0.923437,-0.370252],[0.989807,0.055558,0.131128],[-0.100518,-0.379707,0.919630]]
2025-10-27T18:45:10.528Z,1761590710.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:10.740Z,1761590710.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112720,-0.922370,-0.369496],[0.989010,0.068344,0.131106],[-0.095675,-0.380213,0.919937]]
2025-10-27T18:45:10.782Z,1761590710.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:10.848Z,1761590710.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:45:11.032Z,1761590711.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:11.173Z,1761590711.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125774,-0.921584,-0.367237],[0.987962,0.082748,0.130707],[-0.090069,-0.379256,0.920898]]
2025-10-27T18:45:11.284Z,1761590711.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:11.536Z,1761590711.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:11.588Z,1761590711.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141030,-0.920664,-0.363990],[0.986355,0.099126,0.131442],[-0.084933,-0.377561,0.922081]]
2025-10-27T18:45:11.788Z,1761590711.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:11.978Z,1761590711.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158689,-0.919444,-0.359778],[0.983994,0.117354,0.134105],[-0.081081,-0.375300,0.923350]]
2025-10-27T18:45:12.040Z,1761590712.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:12.292Z,1761590712.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:12.401Z,1761590712.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178653,-0.917776,-0.354640],[0.980769,0.137325,0.138685],[-0.078581,-0.372597,0.924660]]
2025-10-27T18:45:12.545Z,1761590712.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:12.798Z,1761590712.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:12.849Z,1761590712.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199330,-0.915066,-0.350603],[0.976893,0.157398,0.144591],[-0.077126,-0.371323,0.925295]]
2025-10-27T18:45:13.048Z,1761590713.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:13.300Z,1761590713.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:13.552Z,1761590713.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:13.656Z,1761590713.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242267,-0.907948,-0.341960],[0.967044,0.197531,0.160647],[-0.078312,-0.369610,0.925881]]
2025-10-27T18:45:13.805Z,1761590713.805 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:14.056Z,1761590714.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:14.059Z,1761590714.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264498,-0.903531,-0.337153],[0.960940,0.217394,0.171272],[-0.081455,-0.369285,0.925740]]
2025-10-27T18:45:14.308Z,1761590714.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:14.462Z,1761590714.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287332,-0.898105,-0.332938],[0.953907,0.236877,0.184260],[-0.086619,-0.370536,0.924770]]
2025-10-27T18:45:14.560Z,1761590714.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:14.814Z,1761590714.814 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:45:14.814Z,1761590714.814 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:45:14.815Z,1761590714.815 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:14.888Z,1761590714.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332709,-0.886628,-0.321240],[0.937420,0.273848,0.215063],[-0.102710,-0.372690,0.922254]]
2025-10-27T18:45:15.064Z,1761590715.064 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:45:15.064Z,1761590715.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:15.316Z,1761590715.316 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:45:15.316Z,1761590715.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:15.572Z,1761590715.572 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:45:15.573Z,1761590715.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:15.690Z,1761590715.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372744,-0.875294,-0.308094],[0.919769,0.304554,0.247532],[-0.122832,-0.375641,0.918589]]
2025-10-27T18:45:15.820Z,1761590715.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:16.072Z,1761590716.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:16.324Z,1761590716.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:16.576Z,1761590716.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:16.620Z,1761590716.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399801,-0.866715,-0.298270],[0.906091,0.324567,0.271396],[-0.138414,-0.378764,0.915084]]
2025-10-27T18:45:16.831Z,1761590716.831 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:17.017Z,1761590717.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410346,-0.863043,-0.294572],[0.900467,0.332412,0.280466],[-0.144135,-0.380341,0.913546]]
2025-10-27T18:45:17.080Z,1761590717.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:17.127Z,1761590717.127 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:45:17.127Z,1761590717.127 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateRudder:A] Stopped
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:45:17.128Z,1761590717.128 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateCommandMode] Stopped
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:45:17.129Z,1761590717.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:45:17.130Z,1761590717.130 [marl:UpdateSpeed] Stopped
2025-10-27T18:45:17.130Z,1761590717.130 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:45:17.332Z,1761590717.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:17.576Z,1761590717.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419879,-0.859469,-0.291572],[0.895475,0.340022,0.287245],[-0.147737,-0.381704,0.912401]]
2025-10-27T18:45:17.584Z,1761590717.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:17.614Z,1761590717.614 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:45:17.614Z,1761590717.614 [marl:UpdateRudder:B] Stopped
2025-10-27T18:45:17.614Z,1761590717.614 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:45:17.614Z,1761590717.614 [marl:UpdateRudder] Stopped
2025-10-27T18:45:17.614Z,1761590717.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:45:17.837Z,1761590717.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:18.088Z,1761590718.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:18.341Z,1761590718.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:18.592Z,1761590718.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:18.615Z,1761590718.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444158,-0.846873,-0.292455],[0.884649,0.362856,0.292801],[-0.141846,-0.388770,0.910350]]
2025-10-27T18:45:18.846Z,1761590718.846 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:45:18.0920

2025-10-27T18:45:18.846Z,1761590718.846 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:45:18.847Z,1761590718.847 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:19.015Z,1761590719.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451281,-0.843009,-0.292714],[0.882241,0.372160,0.288353],[-0.134147,-0.388373,0.911686]]
2025-10-27T18:45:19.096Z,1761590719.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:19.348Z,1761590719.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:19.421Z,1761590719.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458697,-0.838929,-0.292907],[0.879818,0.382577,0.282054],[-0.124564,-0.387082,0.913593]]
2025-10-27T18:45:19.604Z,1761590719.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:19.833Z,1761590719.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467593,-0.833998,-0.292923],[0.876496,0.394527,0.275869],[-0.114508,-0.385740,0.915474]]
2025-10-27T18:45:19.852Z,1761590719.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:20.104Z,1761590720.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:20.226Z,1761590720.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479472,-0.827880,-0.291070],[0.871226,0.409296,0.271001],[-0.105223,-0.383525,0.917516]]
2025-10-27T18:45:20.356Z,1761590720.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:20.608Z,1761590720.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:20.630Z,1761590720.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494689,-0.819547,-0.289181],[0.863604,0.426305,0.269170],[-0.097318,-0.382893,0.918652]]
2025-10-27T18:45:20.860Z,1761590720.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:21.036Z,1761590721.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512580,-0.809869,-0.285259],[0.853715,0.445165,0.270182],[-0.091825,-0.382020,0.919581]]
2025-10-27T18:45:21.112Z,1761590721.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:21.364Z,1761590721.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:21.438Z,1761590721.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532025,-0.798775,-0.280907],[0.842150,0.464726,0.273518],[-0.087935,-0.382084,0.919934]]
2025-10-27T18:45:21.617Z,1761590721.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:21.851Z,1761590721.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552079,-0.786998,-0.275397],[0.829403,0.484508,0.278105],[-0.085437,-0.381951,0.920225]]
2025-10-27T18:45:21.868Z,1761590721.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:22.120Z,1761590722.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:22.246Z,1761590722.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571987,-0.774602,-0.269855],[0.815921,0.503483,0.284216],[-0.084287,-0.382748,0.920000]]
2025-10-27T18:45:22.372Z,1761590722.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:22.624Z,1761590722.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:22.653Z,1761590722.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591659,-0.761616,-0.264351],[0.801755,0.521532,0.291879],[-0.084432,-0.384637,0.919198]]
2025-10-27T18:45:22.876Z,1761590722.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:23.056Z,1761590723.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610598,-0.748724,-0.258034],[0.787299,0.538671,0.299988],[-0.085613,-0.386322,0.918382]]
2025-10-27T18:45:23.128Z,1761590723.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:23.380Z,1761590723.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:23.458Z,1761590723.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628205,-0.735826,-0.252821],[0.773066,0.553599,0.309674],[-0.087905,-0.389986,0.916615]]
2025-10-27T18:45:23.632Z,1761590723.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:23.862Z,1761590723.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643691,-0.724364,-0.246898],[0.759910,0.566820,0.318201],[-0.090547,-0.392443,0.915309]]
2025-10-27T18:45:23.884Z,1761590723.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:24.136Z,1761590724.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:24.266Z,1761590724.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656624,-0.714595,-0.241244],[0.748467,0.577962,0.325203],[-0.092959,-0.394099,0.914355]]
2025-10-27T18:45:24.388Z,1761590724.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:24.640Z,1761590724.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:24.894Z,1761590724.894 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:25.075Z,1761590725.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675273,-0.699622,-0.233527],[0.731211,0.593533,0.336227],[-0.096626,-0.397803,0.912369]]
2025-10-27T18:45:25.144Z,1761590725.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:25.396Z,1761590725.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:25.478Z,1761590725.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682514,-0.693778,-0.229885],[0.724341,0.600128,0.339377],[-0.097492,-0.398144,0.912127]]
2025-10-27T18:45:25.649Z,1761590725.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:25.884Z,1761590725.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688999,-0.688197,-0.227301],[0.718172,0.606087,0.341889],[-0.097523,-0.398802,0.911837]]
2025-10-27T18:45:25.900Z,1761590725.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:26.152Z,1761590726.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:26.286Z,1761590726.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694908,-0.682936,-0.225170],[0.712612,0.612046,0.342905],[-0.096368,-0.398746,0.911984]]
2025-10-27T18:45:26.404Z,1761590726.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:26.656Z,1761590726.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:26.690Z,1761590726.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700354,-0.677736,-0.224006],[0.707614,0.618000,0.342577],[-0.093741,-0.398434,0.912394]]
2025-10-27T18:45:26.908Z,1761590726.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:27.094Z,1761590727.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705559,-0.672672,-0.222932],[0.702946,0.624505,0.340383],[-0.089744,-0.396870,0.913477]]
2025-10-27T18:45:27.160Z,1761590727.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:27.412Z,1761590727.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:27.500Z,1761590727.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710606,-0.667372,-0.222830],[0.698534,0.631285,0.336942],[-0.084197,-0.395088,0.914777]]
2025-10-27T18:45:27.664Z,1761590727.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:27.902Z,1761590727.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716532,-0.661298,-0.221961],[0.693247,0.639790,0.331778],[-0.077396,-0.391603,0.916873]]
2025-10-27T18:45:27.916Z,1761590727.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:28.168Z,1761590728.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:28.316Z,1761590728.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724442,-0.652885,-0.221190],[0.685756,0.649913,0.327645],[-0.070160,-0.389042,0.918544]]
2025-10-27T18:45:28.423Z,1761590728.423 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:28.672Z,1761590728.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:28.715Z,1761590728.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734821,-0.641781,-0.219444],[0.675299,0.662056,0.325043],[-0.063323,-0.387039,0.919887]]
2025-10-27T18:45:28.924Z,1761590728.924 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:45:28.925Z,1761590728.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:29.116Z,1761590729.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747537,-0.628013,-0.216305],[0.661725,0.675932,0.324401],[-0.057520,-0.385636,0.920856]]
2025-10-27T18:45:29.176Z,1761590729.176 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:45:29.176Z,1761590729.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:29.428Z,1761590729.428 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:45:29.428Z,1761590729.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:29.518Z,1761590729.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761437,-0.612643,-0.211856],[0.646087,0.690620,0.324987],[-0.052789,-0.384334,0.921684]]
2025-10-27T18:45:29.680Z,1761590729.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:29.922Z,1761590729.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775834,-0.596112,-0.206717],[0.629010,0.705183,0.327205],[-0.049278,-0.383883,0.922066]]
2025-10-27T18:45:29.932Z,1761590729.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:30.184Z,1761590730.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:30.333Z,1761590730.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790396,-0.579389,-0.198955],[0.610777,0.720315,0.328783],[-0.047183,-0.381385,0.923211]]
2025-10-27T18:45:30.389Z,1761590730.389 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:45:30.389Z,1761590730.389 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateRudder:A] Stopped
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:45:30.390Z,1761590730.390 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:45:30.391Z,1761590730.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:45:30.391Z,1761590730.391 [marl:UpdateCommandMode] Stopped
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed] Stopped
2025-10-27T18:45:30.392Z,1761590730.392 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:45:30.437Z,1761590730.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:30.688Z,1761590730.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:30.749Z,1761590730.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805055,-0.561658,-0.190855],[0.591363,0.734590,0.332668],[-0.046645,-0.380681,0.923529]]
2025-10-27T18:45:30.930Z,1761590730.930 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:45:30.930Z,1761590730.930 [marl:UpdateRudder:B] Stopped
2025-10-27T18:45:30.930Z,1761590730.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:45:30.930Z,1761590730.930 [marl:UpdateRudder] Stopped
2025-10-27T18:45:30.930Z,1761590730.930 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:45:30.942Z,1761590730.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:31.134Z,1761590731.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819034,-0.544050,-0.182191],[0.571804,0.747914,0.337143],[-0.047160,-0.380309,0.923656]]
2025-10-27T18:45:31.192Z,1761590731.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:31.444Z,1761590731.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:31.540Z,1761590731.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831998,-0.527076,-0.173121],[0.552634,0.759983,0.342084],[-0.048735,-0.380286,0.923584]]
2025-10-27T18:45:31.701Z,1761590731.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:31.948Z,1761590731.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:31.950Z,1761590731.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842934,-0.511919,-0.165535],[0.535636,0.769578,0.347624],[-0.050563,-0.381691,0.922906]]
2025-10-27T18:45:32.200Z,1761590732.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:32.346Z,1761590732.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851630,-0.499412,-0.159106],[0.521572,0.777429,0.351520],[-0.051859,-0.382350,0.922561]]
2025-10-27T18:45:32.452Z,1761590732.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:32.704Z,1761590732.704 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:45:31.9420

2025-10-27T18:45:32.705Z,1761590732.704 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:45:32.705Z,1761590732.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:32.763Z,1761590732.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858691,-0.488652,-0.154497],[0.509790,0.783495,0.355316],[-0.052578,-0.383867,0.921890]]
2025-10-27T18:45:32.956Z,1761590732.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:33.155Z,1761590733.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864347,-0.479465,-0.151714],[0.500137,0.787999,0.359056],[-0.052605,-0.386227,0.920903]]
2025-10-27T18:45:33.208Z,1761590733.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:33.460Z,1761590733.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:33.560Z,1761590733.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869371,-0.471061,-0.149316],[0.491442,0.792530,0.361084],[-0.051755,-0.387296,0.920502]]
2025-10-27T18:45:33.712Z,1761590733.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:33.962Z,1761590733.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874071,-0.462874,-0.147470],[0.483178,0.796848,0.362730],[-0.050387,-0.388306,0.920152]]
2025-10-27T18:45:33.964Z,1761590733.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:34.216Z,1761590734.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:34.366Z,1761590734.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878762,-0.454523,-0.145554],[0.474769,0.801408,0.363787],[-0.048701,-0.388787,0.920040]]
2025-10-27T18:45:34.469Z,1761590734.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:34.720Z,1761590734.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:34.833Z,1761590734.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883743,-0.445537,-0.143164],[0.465627,0.806559,0.364216],[-0.046801,-0.388534,0.920245]]
2025-10-27T18:45:34.972Z,1761590734.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:35.176Z,1761590735.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888947,-0.435897,-0.140593],[0.455835,0.812141,0.364200],[-0.044572,-0.387842,0.920648]]
2025-10-27T18:45:35.241Z,1761590735.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:35.492Z,1761590735.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:35.583Z,1761590735.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895126,-0.424261,-0.136938],[0.443767,0.818546,0.364766],[-0.042666,-0.387279,0.920975]]
2025-10-27T18:45:35.746Z,1761590735.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:35.989Z,1761590735.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902074,-0.410746,-0.132473],[0.429628,0.825478,0.366069],[-0.041008,-0.387136,0.921110]]
2025-10-27T18:45:35.996Z,1761590735.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:36.248Z,1761590736.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:36.386Z,1761590736.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909270,-0.396269,-0.127272],[0.414326,0.832771,0.367189],[-0.039517,-0.386606,0.921398]]
2025-10-27T18:45:36.501Z,1761590736.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:36.753Z,1761590736.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:36.844Z,1761590736.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916165,-0.381801,-0.121938],[0.398991,0.839922,0.367882],[-0.038040,-0.385692,0.921843]]
2025-10-27T18:45:37.024Z,1761590737.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:37.194Z,1761590737.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923019,-0.366907,-0.115823],[0.382990,0.847372,0.367804],[-0.036805,-0.383849,0.922662]]
2025-10-27T18:45:37.276Z,1761590737.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:37.528Z,1761590737.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:37.598Z,1761590737.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929530,-0.352207,-0.109200],[0.367038,0.855240,0.365851],[-0.035463,-0.380150,0.924245]]
2025-10-27T18:45:37.781Z,1761590737.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:38.004Z,1761590738.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935777,-0.337128,-0.103282],[0.350952,0.862335,0.364981],[-0.033981,-0.377788,0.925268]]
2025-10-27T18:45:38.032Z,1761590738.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:38.285Z,1761590738.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:38.410Z,1761590738.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941742,-0.321759,-0.097943],[0.334760,0.868555,0.365441],[-0.032515,-0.376939,0.925667]]
2025-10-27T18:45:38.536Z,1761590738.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:38.790Z,1761590738.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:38.849Z,1761590738.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947479,-0.306052,-0.092816],[0.318317,0.874374,0.366257],[-0.030937,-0.376566,0.925873]]
2025-10-27T18:45:39.040Z,1761590739.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:39.214Z,1761590739.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952821,-0.290637,-0.087537],[0.302104,0.880085,0.366311],[-0.029424,-0.375474,0.926366]]
2025-10-27T18:45:39.293Z,1761590739.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:39.544Z,1761590739.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:39.797Z,1761590739.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:40.022Z,1761590740.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963059,-0.257876,-0.077572],[0.267980,0.889355,0.370451],[-0.026542,-0.377554,0.925607]]
2025-10-27T18:45:40.048Z,1761590740.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:40.302Z,1761590740.302 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:40.426Z,1761590740.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967957,-0.240598,-0.071914],[0.249823,0.893631,0.372843],[-0.025441,-0.378862,0.925103]]
2025-10-27T18:45:40.552Z,1761590740.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:40.810Z,1761590740.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:40.846Z,1761590740.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972523,-0.223350,-0.065687],[0.231468,0.897399,0.375629],[-0.024949,-0.380512,0.924439]]
2025-10-27T18:45:40.976Z,1761590740.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:45:41.056Z,1761590741.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:41.243Z,1761590741.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976523,-0.207183,-0.058969],[0.213977,0.901414,0.376388],[-0.024826,-0.380169,0.924584]]
2025-10-27T18:45:41.311Z,1761590741.311 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:41.560Z,1761590741.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:41.652Z,1761590741.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979938,-0.192311,-0.052329],[0.197707,0.904807,0.377143],[-0.025181,-0.379923,0.924675]]
2025-10-27T18:45:41.812Z,1761590741.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:41.979Z,1761590741.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:45:42.050Z,1761590742.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982704,-0.179361,-0.046083],[0.183395,0.908063,0.376548],[-0.025692,-0.378486,0.925250]]
2025-10-27T18:45:42.064Z,1761590742.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:42.316Z,1761590742.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:42.454Z,1761590742.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984868,-0.168384,-0.041014],[0.171313,0.910092,0.377340],[-0.026211,-0.378656,0.925166]]
2025-10-27T18:45:42.568Z,1761590742.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:42.822Z,1761590742.822 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:45:42.822Z,1761590742.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:42.861Z,1761590742.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986666,-0.158621,-0.036472],[0.160564,0.911910,0.377675],[-0.026648,-0.378495,0.925219]]
2025-10-27T18:45:43.072Z,1761590743.072 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:45:43.072Z,1761590743.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:43.264Z,1761590743.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988131,-0.150086,-0.032742],[0.151239,0.913141,0.378551],[-0.026917,-0.379009,0.925001]]
2025-10-27T18:45:43.324Z,1761590743.324 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:45:43.324Z,1761590743.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:43.576Z,1761590743.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:43.666Z,1761590743.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989471,-0.141664,-0.029633],[0.142232,0.913916,0.380169],[-0.026774,-0.380381,0.924442]]
2025-10-27T18:45:43.699Z,1761590743.699 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:45:43.699Z,1761590743.699 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateRudder:A] Stopped
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:45:43.700Z,1761590743.700 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateCommandMode] Stopped
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:45:43.701Z,1761590743.701 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:45:43.702Z,1761590743.702 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:45:43.702Z,1761590743.702 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:45:43.702Z,1761590743.702 [marl:UpdateSpeed] Stopped
2025-10-27T18:45:43.702Z,1761590743.702 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:45:43.828Z,1761590743.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:44.070Z,1761590744.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990829,-0.132399,-0.026977],[0.132613,0.914592,0.382014],[-0.025905,-0.382088,0.923763]]
2025-10-27T18:45:44.080Z,1761590744.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:44.176Z,1761590744.176 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:45:44.176Z,1761590744.176 [marl:UpdateRudder:B] Stopped
2025-10-27T18:45:44.177Z,1761590744.177 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:45:44.177Z,1761590744.177 [marl:UpdateRudder] Stopped
2025-10-27T18:45:44.177Z,1761590744.177 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:45:44.332Z,1761590744.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:44.476Z,1761590744.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992220,-0.122082,-0.024396],[0.122026,0.914846,0.384925],[-0.024674,-0.384907,0.922625]]
2025-10-27T18:45:44.584Z,1761590744.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:44.837Z,1761590744.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:44.878Z,1761590744.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993740,-0.109658,-0.021364],[0.109364,0.915767,0.386536],[-0.022822,-0.386453,0.922027]]
2025-10-27T18:45:45.088Z,1761590745.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:45.295Z,1761590745.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995369,-0.094579,-0.017211],[0.093867,0.917581,0.386309],[-0.020744,-0.386135,0.922209]]
2025-10-27T18:45:45.340Z,1761590745.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:45.592Z,1761590745.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:45.708Z,1761590745.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996943,-0.077195,-0.012033],[0.075862,0.919678,0.385275],[-0.018675,-0.385010,0.922723]]
2025-10-27T18:45:45.844Z,1761590745.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:46.096Z,1761590746.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:46.133Z,1761590746.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999220,-0.039485,-0.000712],[0.036836,0.925393,0.377214],[-0.014236,-0.376946,0.926126]]
2025-10-27T18:45:46.348Z,1761590746.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:46.534Z,1761590746.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999776,-0.020682,0.004539],[0.017540,0.929032,0.369584],[-0.011861,-0.369421,0.929186]]
2025-10-27T18:45:46.601Z,1761590746.601 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:45:45.8419

2025-10-27T18:45:46.602Z,1761590746.602 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:45:46.602Z,1761590746.602 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:46.852Z,1761590746.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:46.956Z,1761590746.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999950,-0.003882,0.009194],[0.000344,0.934117,0.356967],[-0.009973,-0.356946,0.934072]]
2025-10-27T18:45:47.105Z,1761590747.105 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:47.342Z,1761590747.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999868,0.009430,0.013263],[-0.013385,0.940116,0.340593],[-0.009257,-0.340725,0.940117]]
2025-10-27T18:45:47.356Z,1761590747.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:47.608Z,1761590747.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:47.753Z,1761590747.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999671,0.019473,0.016719],[-0.023815,0.946649,0.321386],[-0.009568,-0.321678,0.946801]]
2025-10-27T18:45:47.860Z,1761590747.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:48.112Z,1761590748.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:48.150Z,1761590748.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999453,0.026451,0.019830],[-0.031213,0.952658,0.302439],[-0.010891,-0.302892,0.952963]]
2025-10-27T18:45:48.364Z,1761590748.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:48.556Z,1761590748.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999341,0.028772,0.022149],[-0.033900,0.957853,0.285252],[-0.013008,-0.285814,0.958197]]
2025-10-27T18:45:48.616Z,1761590748.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:48.868Z,1761590748.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:48.958Z,1761590748.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999396,0.026189,0.022840],[-0.031371,0.962670,0.268855],[-0.014947,-0.269409,0.962910]]
2025-10-27T18:45:49.124Z,1761590749.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:49.362Z,1761590749.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999523,0.021028,0.022621],[-0.026101,0.966666,0.254706],[-0.016511,-0.255175,0.966754]]
2025-10-27T18:45:49.376Z,1761590749.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:49.628Z,1761590749.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:49.778Z,1761590749.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999638,0.015307,0.022142],[-0.020269,0.969314,0.244987],[-0.017712,-0.245347,0.969273]]
2025-10-27T18:45:49.880Z,1761590749.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:50.132Z,1761590750.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:50.172Z,1761590750.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999732,0.009605,0.021071],[-0.014370,0.970847,0.239267],[-0.018158,-0.239506,0.970725]]
2025-10-27T18:45:50.384Z,1761590750.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:50.574Z,1761590750.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999791,0.003992,0.020050],[-0.008614,0.971694,0.236084],[-0.018540,-0.236207,0.971526]]
2025-10-27T18:45:50.636Z,1761590750.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:50.888Z,1761590750.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:50.978Z,1761590750.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999816,-0.000721,0.019183],[-0.003792,0.972182,0.234195],[-0.018818,-0.234225,0.972000]]
2025-10-27T18:45:51.140Z,1761590751.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:51.382Z,1761590751.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999816,-0.004594,0.018601],[0.000099,0.972052,0.234767],[-0.019160,-0.234722,0.971874]]
2025-10-27T18:45:51.392Z,1761590751.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:51.644Z,1761590751.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:51.792Z,1761590751.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999810,-0.006075,0.018509],[0.001494,0.971247,0.238071],[-0.019423,-0.237998,0.971071]]
2025-10-27T18:45:51.897Z,1761590751.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:52.148Z,1761590752.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:52.190Z,1761590752.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999807,-0.005527,0.018840],[0.000809,0.970338,0.241750],[-0.019617,-0.241688,0.970156]]
2025-10-27T18:45:52.400Z,1761590752.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:52.594Z,1761590752.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,-0.003673,0.019332],[-0.001170,0.969587,0.244745],[-0.019643,-0.244720,0.969395]]
2025-10-27T18:45:52.654Z,1761590752.654 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:52.904Z,1761590752.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:52.998Z,1761590752.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999801,-0.000948,0.019922],[-0.003996,0.969093,0.246663],[-0.019540,-0.246694,0.968897]]
2025-10-27T18:45:53.156Z,1761590753.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:53.403Z,1761590753.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999782,0.002771,0.020693],[-0.007787,0.969122,0.246458],[-0.019371,-0.246565,0.968933]]
2025-10-27T18:45:53.408Z,1761590753.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:53.660Z,1761590753.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:53.805Z,1761590753.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999757,0.006669,0.021019],[-0.011618,0.969458,0.244981],[-0.018743,-0.245165,0.969300]]
2025-10-27T18:45:53.912Z,1761590753.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:54.164Z,1761590754.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:54.209Z,1761590754.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999712,0.011118,0.021258],[-0.015936,0.970126,0.242076],[-0.017932,-0.242346,0.970024]]
2025-10-27T18:45:54.416Z,1761590754.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:54.614Z,1761590754.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999640,0.015846,0.021656],[-0.020569,0.970764,0.239152],[-0.017233,-0.239511,0.970741]]
2025-10-27T18:45:54.668Z,1761590754.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:54.921Z,1761590754.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:55.020Z,1761590755.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999546,0.020270,0.022303],[-0.024955,0.971588,0.235361],[-0.016899,-0.235810,0.971652]]
2025-10-27T18:45:55.172Z,1761590755.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:55.422Z,1761590755.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999445,0.024030,0.023053],[-0.028709,0.972556,0.230890],[-0.016873,-0.231424,0.972707]]
2025-10-27T18:45:55.425Z,1761590755.425 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:55.676Z,1761590755.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:55.825Z,1761590755.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999358,0.026691,0.023880],[-0.031422,0.973382,0.227025],[-0.017185,-0.227629,0.973596]]
2025-10-27T18:45:55.929Z,1761590755.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:56.180Z,1761590756.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:56.229Z,1761590756.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999286,0.028506,0.024777],[-0.033343,0.973964,0.224236],[-0.017740,-0.224902,0.974220]]
2025-10-27T18:45:56.432Z,1761590756.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:56.684Z,1761590756.684 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:45:56.684Z,1761590756.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:56.936Z,1761590756.936 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:45:56.936Z,1761590756.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:57.132Z,1761590757.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999250,0.028181,0.026563],[-0.033339,0.974976,0.219796],[-0.019704,-0.220517,0.975184]]
2025-10-27T18:45:57.188Z,1761590757.188 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:45:57.188Z,1761590757.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:57.360Z,1761590757.360 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:45:57.360Z,1761590757.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:45:57.360Z,1761590757.360 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateRudder:A] Stopped
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:45:57.361Z,1761590757.361 [marl:UpdateCommandMode] Stopped
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed] Stopped
2025-10-27T18:45:57.362Z,1761590757.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:45:57.440Z,1761590757.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:57.653Z,1761590757.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999283,0.026818,0.026729],[-0.032049,0.974989,0.219929],[-0.020162,-0.220628,0.975150]]
2025-10-27T18:45:57.692Z,1761590757.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:57.753Z,1761590757.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:45:57.753Z,1761590757.753 [marl:UpdateRudder:B] Stopped
2025-10-27T18:45:57.753Z,1761590757.753 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:45:57.754Z,1761590757.754 [marl:UpdateRudder] Stopped
2025-10-27T18:45:57.754Z,1761590757.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:45:57.944Z,1761590757.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:58.196Z,1761590758.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:58.448Z,1761590758.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:58.463Z,1761590758.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999461,0.022006,0.024343],[-0.026929,0.973939,0.225203],[-0.018753,-0.225738,0.974008]]
2025-10-27T18:45:58.700Z,1761590758.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:58.864Z,1761590758.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999559,0.019687,0.022213],[-0.024260,0.973068,0.229239],[-0.017102,-0.229677,0.973117]]
2025-10-27T18:45:58.952Z,1761590758.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:59.204Z,1761590759.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:59.298Z,1761590759.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,0.018326,0.019973],[-0.022499,0.971914,0.234258],[-0.015119,-0.234621,0.971969]]
2025-10-27T18:45:59.456Z,1761590759.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:59.706Z,1761590759.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999681,0.018309,0.017382],[-0.021929,0.970884,0.238543],[-0.012509,-0.238848,0.970976]]
2025-10-27T18:45:59.708Z,1761590759.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:45:59.962Z,1761590759.962 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:00.089Z,1761590760.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999717,0.018330,0.015189],[-0.021466,0.969958,0.242323],[-0.010291,-0.242580,0.970077]]
2025-10-27T18:46:00.213Z,1761590760.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:00.464Z,1761590760.464 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:45:59.7418

2025-10-27T18:46:00.464Z,1761590760.464 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:46:00.465Z,1761590760.465 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:00.516Z,1761590760.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999732,0.019202,0.012911],[-0.021791,0.968968,0.246224],[-0.007782,-0.246439,0.969127]]
2025-10-27T18:46:00.716Z,1761590760.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:00.902Z,1761590760.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999734,0.020614,0.010330],[-0.022535,0.968371,0.248496],[-0.004881,-0.248662,0.968578]]
2025-10-27T18:46:00.968Z,1761590760.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:01.220Z,1761590761.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:01.302Z,1761590761.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999747,0.021334,0.007173],[-0.022452,0.967782,0.250785],[-0.001591,-0.250883,0.968016]]
2025-10-27T18:46:01.472Z,1761590761.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:01.706Z,1761590761.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999748,0.022050,0.004105],[-0.022374,0.967590,0.251532],[0.001574,-0.251561,0.967840]]
2025-10-27T18:46:01.724Z,1761590761.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:01.976Z,1761590761.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:02.236Z,1761590762.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:02.484Z,1761590762.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:02.526Z,1761590762.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999701,0.024331,-0.002545],[-0.022904,0.967450,0.252025],[0.008594,-0.251891,0.967717]]
2025-10-27T18:46:02.737Z,1761590762.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:02.918Z,1761590762.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999630,0.026672,-0.005410],[-0.024445,0.967340,0.252303],[0.011963,-0.252077,0.967633]]
2025-10-27T18:46:02.988Z,1761590762.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:02.991Z,1761590762.991 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:46:03.143Z,1761590763.143 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:46:03.143Z,1761590763.143 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:46:03.240Z,1761590763.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:03.321Z,1761590763.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999529,0.029604,-0.008119],[-0.026624,0.967680,0.250773],[0.015281,-0.250439,0.968012]]
2025-10-27T18:46:03.492Z,1761590763.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:03.741Z,1761590763.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999221,0.037418,-0.012550],[-0.033166,0.968476,0.246889],[0.021392,-0.246281,0.968962]]
2025-10-27T18:46:03.745Z,1761590763.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:03.996Z,1761590763.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:04.248Z,1761590764.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:04.500Z,1761590764.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:04.550Z,1761590764.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,0.045601,-0.016922],[-0.040266,0.970368,0.238255],[0.027285,-0.237292,0.971055]]
2025-10-27T18:46:04.754Z,1761590764.754 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:04.944Z,1761590764.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998630,0.048682,-0.019205],[-0.042854,0.971324,0.233866],[0.030040,-0.232722,0.972079]]
2025-10-27T18:46:05.007Z,1761590765.007 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:05.257Z,1761590765.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:05.348Z,1761590765.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998528,0.049727,-0.021646],[-0.043445,0.972320,0.229578],[0.032463,-0.228299,0.973050]]
2025-10-27T18:46:05.509Z,1761590765.509 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:05.760Z,1761590765.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:05.772Z,1761590765.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998494,0.049149,-0.024367],[-0.042371,0.973092,0.226488],[0.034843,-0.225114,0.973709]]
2025-10-27T18:46:06.012Z,1761590766.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:06.154Z,1761590766.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998508,0.046973,-0.027854],[-0.039567,0.973818,0.223858],[0.037640,-0.222422,0.974224]]
2025-10-27T18:46:06.264Z,1761590766.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:06.516Z,1761590766.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:06.557Z,1761590766.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,0.044118,-0.031727],[-0.035937,0.974050,0.223460],[0.040762,-0.221989,0.974197]]
2025-10-27T18:46:06.770Z,1761590766.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:06.980Z,1761590766.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998518,0.041190,-0.035570],[-0.032137,0.973730,0.225426],[0.043921,-0.223949,0.973611]]
2025-10-27T18:46:07.020Z,1761590767.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:07.272Z,1761590767.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:07.370Z,1761590767.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998463,0.038887,-0.039494],[-0.028794,0.972789,0.229898],[0.047359,-0.228407,0.972413]]
2025-10-27T18:46:07.524Z,1761590767.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:07.776Z,1761590767.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:08.028Z,1761590768.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:08.170Z,1761590768.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998314,0.035047,-0.046272],[-0.022681,0.969301,0.244830],[0.053432,-0.243368,0.968461]]
2025-10-27T18:46:08.280Z,1761590768.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:08.532Z,1761590768.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:08.581Z,1761590768.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998239,0.033198,-0.049170],[-0.019690,0.967196,0.253268],[0.055965,-0.251853,0.966146]]
2025-10-27T18:46:08.786Z,1761590768.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:08.983Z,1761590768.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998150,0.032064,-0.051656],[-0.017501,0.965191,0.260960],[0.058225,-0.259573,0.963967]]
2025-10-27T18:46:09.036Z,1761590769.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:09.288Z,1761590769.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:09.382Z,1761590769.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998049,0.031980,-0.053619],[-0.016584,0.963792,0.266137],[0.060188,-0.264729,0.962443]]
2025-10-27T18:46:09.540Z,1761590769.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:09.785Z,1761590769.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997909,0.034054,-0.054928],[-0.017898,0.962290,0.271435],[0.062100,-0.269884,0.960888]]
2025-10-27T18:46:09.792Z,1761590769.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:10.044Z,1761590770.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:10.189Z,1761590770.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997745,0.037240,-0.055837],[-0.020636,0.961859,0.272768],[0.063865,-0.271000,0.960458]]
2025-10-27T18:46:10.257Z,1761590770.257 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateRudder:A] Stopped
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:46:10.258Z,1761590770.258 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateCommandMode] Stopped
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:46:10.259Z,1761590770.259 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:46:10.260Z,1761590770.260 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:46:10.260Z,1761590770.260 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:46:10.260Z,1761590770.260 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:46:10.260Z,1761590770.260 [marl:UpdateSpeed] Stopped
2025-10-27T18:46:10.260Z,1761590770.260 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:46:10.296Z,1761590770.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:10.548Z,1761590770.548 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:46:10.548Z,1761590770.548 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:46:10.548Z,1761590770.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:10.594Z,1761590770.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997588,0.040710,-0.056216],[-0.023932,0.962008,0.271970],[0.065152,-0.269969,0.960662]]
2025-10-27T18:46:10.699Z,1761590770.699 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:46:10.699Z,1761590770.699 [marl:UpdateRudder:B] Stopped
2025-10-27T18:46:10.699Z,1761590770.699 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:46:10.699Z,1761590770.699 [marl:UpdateRudder] Stopped
2025-10-27T18:46:10.700Z,1761590770.700 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:46:10.802Z,1761590770.802 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:46:10.803Z,1761590770.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:11.009Z,1761590771.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997437,0.043714,-0.056642],[-0.027001,0.963096,0.267801],[0.066258,-0.265585,0.961808]]
2025-10-27T18:46:11.052Z,1761590771.052 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:46:11.052Z,1761590771.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:11.304Z,1761590771.304 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:46:11.305Z,1761590771.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:11.402Z,1761590771.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997260,0.046061,-0.057891],[-0.029556,0.965427,0.258994],[0.067819,-0.256574,0.964142]]
2025-10-27T18:46:11.558Z,1761590771.558 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:11.805Z,1761590771.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997057,0.048193,-0.059619],[-0.031854,0.967822,0.249611],[0.069730,-0.246977,0.966509]]
2025-10-27T18:46:11.808Z,1761590771.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:12.060Z,1761590772.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:12.105Z,1761590772.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:46:12.261Z,1761590772.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996774,0.050712,-0.062215],[-0.034423,0.970310,0.239403],[0.072509,-0.236489,0.968925]]
2025-10-27T18:46:12.312Z,1761590772.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:12.564Z,1761590772.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:12.657Z,1761590772.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996462,0.053373,-0.064923],[-0.037031,0.972264,0.230934],[0.075448,-0.227713,0.970801]]
2025-10-27T18:46:12.819Z,1761590772.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:13.066Z,1761590773.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996108,0.056042,-0.068037],[-0.039425,0.973615,0.224765],[0.078838,-0.221207,0.972035]]
2025-10-27T18:46:13.068Z,1761590773.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:13.107Z,1761590773.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:46:13.320Z,1761590773.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:13.468Z,1761590773.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995751,0.058892,-0.070789],[-0.041759,0.973955,0.222864],[0.082070,-0.218961,0.972276]]
2025-10-27T18:46:13.572Z,1761590773.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:13.824Z,1761590773.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:13.870Z,1761590773.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995207,0.065587,-0.072537],[-0.046952,0.971126,0.233902],[0.085784,-0.229375,0.969551]]
2025-10-27T18:46:14.077Z,1761590774.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:14.274Z,1761590774.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994458,0.076162,-0.072474],[-0.055135,0.964754,0.257313],[0.089517,-0.251891,0.963607]]
2025-10-27T18:46:14.336Z,1761590774.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:14.588Z,1761590774.588 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:46:13.8418

2025-10-27T18:46:14.589Z,1761590774.589 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:46:14.589Z,1761590774.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:14.835Z,1761590774.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993443,0.089781,-0.070788],[-0.065989,0.955879,0.286253],[0.093365,-0.279704,0.955536]]
2025-10-27T18:46:14.840Z,1761590774.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:15.093Z,1761590775.093 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:15.339Z,1761590775.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992091,0.105392,-0.068175],[-0.078790,0.945688,0.315384],[0.097711,-0.307518,0.946512]]
2025-10-27T18:46:15.347Z,1761590775.347 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:15.596Z,1761590775.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:15.793Z,1761590775.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988491,0.138539,-0.060764],[-0.106889,0.923855,0.367514],[0.107052,-0.356789,0.928031]]
2025-10-27T18:46:15.848Z,1761590775.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:16.100Z,1761590776.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:16.193Z,1761590776.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986287,0.155142,-0.056299],[-0.121375,0.912978,0.389538],[0.111833,-0.377362,0.919288]]
2025-10-27T18:46:16.352Z,1761590776.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:16.600Z,1761590776.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983725,0.171918,-0.052251],[-0.136400,0.903786,0.405668],[0.116965,-0.391939,0.912526]]
2025-10-27T18:46:16.604Z,1761590776.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:16.857Z,1761590776.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:17.108Z,1761590777.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:17.360Z,1761590777.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:17.529Z,1761590777.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977438,0.207036,-0.041853],[-0.169511,0.887077,0.429372],[0.126022,-0.412590,0.902157]]
2025-10-27T18:46:17.613Z,1761590777.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:17.864Z,1761590777.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:17.926Z,1761590777.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973610,0.225275,-0.036528],[-0.187513,0.880881,0.434613],[0.130084,-0.416294,0.899876]]
2025-10-27T18:46:18.117Z,1761590778.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:18.370Z,1761590778.370 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:18.416Z,1761590778.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969368,0.243632,-0.031126],[-0.206140,0.875923,0.436195],[0.133535,-0.416417,0.899314]]
2025-10-27T18:46:18.620Z,1761590778.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:18.861Z,1761590778.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964790,0.261758,-0.025771],[-0.224895,0.871772,0.435243],[0.136395,-0.414122,0.899944]]
2025-10-27T18:46:18.872Z,1761590778.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:19.124Z,1761590779.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:19.262Z,1761590779.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959881,0.279579,-0.021524],[-0.243422,0.868921,0.430956],[0.139188,-0.408427,0.902116]]
2025-10-27T18:46:19.376Z,1761590779.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:19.628Z,1761590779.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:19.672Z,1761590779.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954911,0.296313,-0.018516],[-0.260724,0.866784,0.425099],[0.142012,-0.401104,0.904958]]
2025-10-27T18:46:19.880Z,1761590779.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:20.069Z,1761590780.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950135,0.311380,-0.016898],[-0.276017,0.864974,0.419087],[0.145112,-0.393526,0.907789]]
2025-10-27T18:46:20.141Z,1761590780.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:20.392Z,1761590780.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:20.561Z,1761590780.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941702,0.336157,-0.014007],[-0.300817,0.859888,0.412434],[0.150687,-0.384176,0.910880]]
2025-10-27T18:46:20.644Z,1761590780.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:20.896Z,1761590780.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:20.958Z,1761590780.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937568,0.347624,-0.011114],[-0.312524,0.856061,0.411690],[0.152627,-0.382514,0.911256]]
2025-10-27T18:46:21.148Z,1761590781.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:21.400Z,1761590781.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:21.473Z,1761590781.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933324,0.358988,-0.005885],[-0.324778,0.851142,0.412404],[0.153057,-0.382995,0.910982]]
2025-10-27T18:46:21.652Z,1761590781.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:21.874Z,1761590781.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928555,0.371190,0.002073],[-0.338571,0.844642,0.414667],[0.152169,-0.385743,0.909971]]
2025-10-27T18:46:21.904Z,1761590781.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:22.157Z,1761590782.157 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:22.408Z,1761590782.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:22.430Z,1761590782.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922952,0.384720,0.012277],[-0.354508,0.837182,0.416473],[0.149947,-0.388737,0.909065]]
2025-10-27T18:46:22.660Z,1761590782.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:22.852Z,1761590782.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916294,0.399785,0.024041],[-0.372672,0.829087,0.416809],[0.146702,-0.390879,0.908676]]
2025-10-27T18:46:22.912Z,1761590782.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:23.164Z,1761590783.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:23.250Z,1761590783.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908895,0.415437,0.036364],[-0.391904,0.821082,0.415012],[0.142554,-0.391453,0.909089]]
2025-10-27T18:46:23.416Z,1761590783.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:23.668Z,1761590783.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:23.920Z,1761590783.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:24.069Z,1761590784.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893364,0.445628,0.057588],[-0.429095,0.808060,0.403630],[0.133334,-0.385299,0.913108]]
2025-10-27T18:46:24.172Z,1761590784.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:24.425Z,1761590784.425 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:24.512Z,1761590784.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885184,0.460628,0.065349],[-0.446907,0.802830,0.394636],[0.129316,-0.378531,0.916511]]
2025-10-27T18:46:24.584Z,1761590784.584 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:46:24.584Z,1761590784.584 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateRudder:A] Stopped
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:46:24.585Z,1761590784.585 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateCommandMode] Stopped
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:46:24.586Z,1761590784.586 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:46:24.587Z,1761590784.587 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:46:24.591Z,1761590784.591 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:46:24.591Z,1761590784.591 [marl:UpdateSpeed] Stopped
2025-10-27T18:46:24.591Z,1761590784.591 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:46:24.676Z,1761590784.676 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:46:24.677Z,1761590784.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:24.914Z,1761590784.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876542,0.476006,0.071358],[-0.464418,0.797460,0.385193],[0.126449,-0.370778,0.920073]]
2025-10-27T18:46:24.928Z,1761590784.928 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:46:24.929Z,1761590784.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:25.016Z,1761590785.016 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:46:25.016Z,1761590785.016 [marl:UpdateRudder:B] Stopped
2025-10-27T18:46:25.016Z,1761590785.016 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:46:25.016Z,1761590785.016 [marl:UpdateRudder] Stopped
2025-10-27T18:46:25.016Z,1761590785.016 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:46:25.181Z,1761590785.181 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:46:25.182Z,1761590785.182 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:25.327Z,1761590785.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867492,0.491477,0.076859],[-0.481480,0.790722,0.378068],[0.125037,-0.364977,0.922582]]
2025-10-27T18:46:25.432Z,1761590785.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:25.684Z,1761590785.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:25.748Z,1761590785.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857870,0.507413,0.081182],[-0.498433,0.783229,0.371641],[0.124991,-0.359284,0.924820]]
2025-10-27T18:46:25.936Z,1761590785.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:26.134Z,1761590786.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848647,0.522015,0.085436],[-0.513876,0.775324,0.367157],[0.125421,-0.355491,0.926227]]
2025-10-27T18:46:26.189Z,1761590786.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:26.441Z,1761590786.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:26.537Z,1761590786.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840495,0.534253,0.090235],[-0.527209,0.767994,0.363642],[0.124977,-0.353211,0.927158]]
2025-10-27T18:46:26.692Z,1761590786.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:26.944Z,1761590786.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:27.197Z,1761590787.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:27.449Z,1761590787.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:27.700Z,1761590787.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:27.761Z,1761590787.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832012,0.547235,0.091047],[-0.542803,0.769156,0.337289],[0.114547,-0.330049,0.936988]]
2025-10-27T18:46:27.953Z,1761590787.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:28.160Z,1761590788.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833119,0.546048,0.088002],[-0.542338,0.775287,0.323727],[0.108544,-0.317430,0.942049]]
2025-10-27T18:46:28.204Z,1761590788.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:28.457Z,1761590788.457 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:46:27.6919

2025-10-27T18:46:28.457Z,1761590788.457 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:46:28.457Z,1761590788.457 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:28.566Z,1761590788.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837860,0.539419,0.083773],[-0.538087,0.790259,0.293177],[0.091943,-0.290718,0.952381]]
2025-10-27T18:46:28.708Z,1761590788.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:28.962Z,1761590788.962 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:28.968Z,1761590788.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840875,0.534740,0.083560],[-0.535081,0.798152,0.276844],[0.081346,-0.277503,0.957275]]
2025-10-27T18:46:29.212Z,1761590789.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:29.370Z,1761590789.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843749,0.529815,0.085931],[-0.532149,0.804853,0.262734],[0.070039,-0.267409,0.961034]]
2025-10-27T18:46:29.464Z,1761590789.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:29.716Z,1761590789.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:29.782Z,1761590789.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845448,0.526548,0.089250],[-0.530789,0.809995,0.249341],[0.058998,-0.258178,0.964294]]
2025-10-27T18:46:29.968Z,1761590789.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:30.220Z,1761590790.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:30.472Z,1761590790.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:30.579Z,1761590790.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844764,0.525810,0.099484],[-0.533700,0.814185,0.228621],[0.039213,-0.246226,0.968419]]
2025-10-27T18:46:30.725Z,1761590790.725 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:30.976Z,1761590790.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:31.228Z,1761590791.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:31.386Z,1761590791.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840021,0.530476,0.113842],[-0.542214,0.813368,0.210800],[0.019229,-0.238803,0.970878]]
2025-10-27T18:46:31.480Z,1761590791.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:31.733Z,1761590791.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:31.797Z,1761590791.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837126,0.533444,0.121073],[-0.546938,0.812653,0.201129],[0.008901,-0.234590,0.972054]]
2025-10-27T18:46:31.985Z,1761590791.985 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:32.203Z,1761590792.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834034,0.536624,0.128149],[-0.551712,0.811697,0.191733],[-0.001130,-0.230613,0.973045]]
2025-10-27T18:46:32.237Z,1761590792.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:32.488Z,1761590792.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:32.598Z,1761590792.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830897,0.540124,0.133704],[-0.556324,0.811014,0.180999],[-0.010674,-0.224774,0.974352]]
2025-10-27T18:46:32.740Z,1761590792.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:32.992Z,1761590792.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:33.244Z,1761590793.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:33.408Z,1761590793.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824801,0.547182,0.142458],[-0.564799,0.809141,0.162150],[-0.026544,-0.214201,0.976429]]
2025-10-27T18:46:33.497Z,1761590793.497 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:33.748Z,1761590793.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:33.809Z,1761590793.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821514,0.551633,0.144275],[-0.569281,0.807784,0.152984],[-0.032152,-0.207811,0.977640]]
2025-10-27T18:46:33.000Z,1761590794.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:34.252Z,1761590794.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:34.504Z,1761590794.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:34.618Z,1761590794.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815567,0.559175,0.148911],[-0.577307,0.803860,0.143265],[-0.039593,-0.202810,0.978417]]
2025-10-27T18:46:34.757Z,1761590794.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:35.008Z,1761590795.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:35.260Z,1761590795.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:35.426Z,1761590795.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815769,0.557484,0.154054],[-0.576414,0.805562,0.137174],[-0.047627,-0.200701,0.978494]]
2025-10-27T18:46:35.512Z,1761590795.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:35.765Z,1761590795.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:35.834Z,1761590795.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817334,0.554219,0.157502],[-0.573853,0.807512,0.136447],[-0.051563,-0.201906,0.978047]]
2025-10-27T18:46:36.016Z,1761590796.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:36.234Z,1761590796.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818843,0.550313,0.163252],[-0.571353,0.808756,0.139535],[-0.055244,-0.207532,0.976667]]
2025-10-27T18:46:36.269Z,1761590796.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:36.520Z,1761590796.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:36.639Z,1761590796.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820322,0.545850,0.170644],[-0.568794,0.809763,0.144073],[-0.059539,-0.215248,0.974743]]
2025-10-27T18:46:36.774Z,1761590796.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:37.024Z,1761590797.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:37.276Z,1761590797.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:37.445Z,1761590797.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821359,0.538594,0.187845],[-0.566222,0.809686,0.154274],[-0.069005,-0.233076,0.970007]]
2025-10-27T18:46:37.528Z,1761590797.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:37.546Z,1761590797.546 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:46:37.546Z,1761590797.546 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:46:37.546Z,1761590797.546 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:46:37.547Z,1761590797.547 [marl:UpdateRudder:A] Stopped
2025-10-27T18:46:37.547Z,1761590797.547 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:46:37.547Z,1761590797.547 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:46:37.547Z,1761590797.547 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:46:37.547Z,1761590797.547 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateCommandMode] Stopped
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:46:37.548Z,1761590797.548 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:46:37.549Z,1761590797.549 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:46:37.549Z,1761590797.549 [marl:UpdateSpeed] Stopped
2025-10-27T18:46:37.549Z,1761590797.549 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:46:37.781Z,1761590797.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:37.857Z,1761590797.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819902,0.537329,0.197583],[-0.567794,0.807374,0.160492],[-0.073286,-0.243774,0.967059]]
2025-10-27T18:46:37.926Z,1761590797.926 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:46:37.927Z,1761590797.927 [marl:UpdateRudder:B] Stopped
2025-10-27T18:46:37.927Z,1761590797.927 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:46:37.927Z,1761590797.927 [marl:UpdateRudder] Stopped
2025-10-27T18:46:37.927Z,1761590797.927 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:46:38.032Z,1761590798.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:38.255Z,1761590798.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816873,0.538653,0.206328],[-0.571647,0.803773,0.164826],[-0.077057,-0.252589,0.964500]]
2025-10-27T18:46:38.284Z,1761590798.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:38.536Z,1761590798.536 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:46:38.536Z,1761590798.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:38.675Z,1761590798.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813225,0.541539,0.213073],[-0.576343,0.800164,0.166032],[-0.080580,-0.257825,0.962826]]
2025-10-27T18:46:38.790Z,1761590798.790 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:46:38.791Z,1761590798.791 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:39.040Z,1761590799.040 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:46:39.040Z,1761590799.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:39.117Z,1761590799.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809311,0.545400,0.218072],[-0.581326,0.796890,0.164397],[-0.084117,-0.259819,0.961987]]
2025-10-27T18:46:39.296Z,1761590799.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:39.518Z,1761590799.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805950,0.549075,0.221270],[-0.585461,0.794629,0.160625],[-0.087632,-0.259001,0.961894]]
2025-10-27T18:46:39.544Z,1761590799.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:39.796Z,1761590799.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:39.923Z,1761590799.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802442,0.554313,0.220961],[-0.589869,0.792819,0.153269],[-0.090223,-0.253327,0.963164]]
2025-10-27T18:46:40.048Z,1761590800.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:40.300Z,1761590800.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:40.326Z,1761590800.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799101,0.559174,0.220822],[-0.594132,0.790656,0.147888],[-0.091900,-0.249375,0.964037]]
2025-10-27T18:46:40.552Z,1761590800.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:40.734Z,1761590800.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796666,0.563250,0.219253],[-0.597225,0.789367,0.142199],[-0.092977,-0.244229,0.965250]]
2025-10-27T18:46:40.806Z,1761590800.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:41.056Z,1761590801.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:41.135Z,1761590801.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795950,0.565308,0.216544],[-0.598042,0.789757,0.136489],[-0.093859,-0.238141,0.966685]]
2025-10-27T18:46:41.308Z,1761590801.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:41.537Z,1761590801.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796462,0.565422,0.214351],[-0.597241,0.791032,0.132553],[-0.094610,-0.233593,0.967721]]
2025-10-27T18:46:41.560Z,1761590801.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:41.812Z,1761590801.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:41.941Z,1761590801.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797937,0.564234,0.211983],[-0.595191,0.793096,0.129409],[-0.095105,-0.229431,0.968667]]
2025-10-27T18:46:42.065Z,1761590802.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:42.317Z,1761590802.317 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:46:41.5917

2025-10-27T18:46:42.317Z,1761590802.317 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:46:42.318Z,1761590802.318 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:42.355Z,1761590802.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799828,0.561697,0.211593],[-0.592570,0.795066,0.129347],[-0.095577,-0.228839,0.968761]]
2025-10-27T18:46:42.568Z,1761590802.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:42.822Z,1761590802.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:43.072Z,1761590803.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:43.170Z,1761590803.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803096,0.556021,0.214190],[-0.588007,0.797681,0.133987],[-0.096356,-0.233550,0.967559]]
2025-10-27T18:46:43.231Z,1761590803.231 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:46:43.324Z,1761590803.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:43.576Z,1761590803.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:43.829Z,1761590803.829 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:43.961Z,1761590803.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803550,0.552621,0.221174],[-0.587243,0.796693,0.142920],[-0.097227,-0.244726,0.964705]]
2025-10-27T18:46:44.080Z,1761590804.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:44.235Z,1761590804.235 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:46:44.332Z,1761590804.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:44.374Z,1761590804.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802257,0.553276,0.224208],[-0.589063,0.794625,0.146887],[-0.096892,-0.249914,0.963408]]
2025-10-27T18:46:44.584Z,1761590804.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:44.807Z,1761590804.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801111,0.554471,0.225350],[-0.590792,0.792873,0.149390],[-0.095841,-0.252813,0.962756]]
2025-10-27T18:46:44.836Z,1761590804.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:45.088Z,1761590805.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:45.179Z,1761590805.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799775,0.556524,0.225034],[-0.592890,0.791018,0.150902],[-0.094026,-0.254108,0.962595]]
2025-10-27T18:46:45.341Z,1761590805.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:45.581Z,1761590805.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798372,0.559441,0.222774],[-0.595165,0.789349,0.150685],[-0.091547,-0.252890,0.963154]]
2025-10-27T18:46:45.592Z,1761590805.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:45.844Z,1761590805.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:45.986Z,1761590805.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797448,0.562320,0.218800],[-0.596884,0.788258,0.149594],[-0.088351,-0.249891,0.964235]]
2025-10-27T18:46:46.096Z,1761590806.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:46.348Z,1761590806.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:46.400Z,1761590806.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797234,0.564357,0.214287],[-0.597669,0.787835,0.148690],[-0.084908,-0.246613,0.965387]]
2025-10-27T18:46:46.600Z,1761590806.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:46.831Z,1761590806.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797604,0.565498,0.209856],[-0.597649,0.787929,0.148269],[-0.081505,-0.243680,0.966425]]
2025-10-27T18:46:46.852Z,1761590806.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:47.108Z,1761590807.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:47.198Z,1761590807.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798207,0.566040,0.206070],[-0.597222,0.788307,0.147978],[-0.078685,-0.241187,0.967284]]
2025-10-27T18:46:47.356Z,1761590807.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:47.602Z,1761590807.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798187,0.566969,0.203577],[-0.597594,0.787869,0.148810],[-0.076021,-0.240434,0.967684]]
2025-10-27T18:46:47.608Z,1761590807.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:47.860Z,1761590807.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:48.006Z,1761590808.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797424,0.568596,0.202025],[-0.598891,0.786706,0.149745],[-0.073790,-0.240401,0.967865]]
2025-10-27T18:46:48.112Z,1761590808.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:48.364Z,1761590808.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:48.418Z,1761590808.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796034,0.570846,0.201156],[-0.600984,0.784887,0.150899],[-0.071745,-0.241013,0.967867]]
2025-10-27T18:46:48.617Z,1761590808.617 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:48.837Z,1761590808.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794489,0.572914,0.201387],[-0.603185,0.782918,0.152340],[-0.070392,-0.242506,0.967593]]
2025-10-27T18:46:48.868Z,1761590808.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:49.120Z,1761590809.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:49.218Z,1761590809.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792340,0.575932,0.201246],[-0.606218,0.780313,0.153660],[-0.068537,-0.243750,0.967413]]
2025-10-27T18:46:49.372Z,1761590809.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:49.625Z,1761590809.625 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:49.628Z,1761590809.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790038,0.579465,0.200152],[-0.609421,0.777827,0.153593],[-0.066682,-0.243321,0.967651]]
2025-10-27T18:46:49.876Z,1761590809.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:50.027Z,1761590810.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787913,0.582936,0.198440],[-0.612388,0.775572,0.153196],[-0.064601,-0.242227,0.968066]]
2025-10-27T18:46:50.134Z,1761590810.134 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:50.384Z,1761590810.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:50.430Z,1761590810.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786280,0.585978,0.195946],[-0.614741,0.773798,0.152746],[-0.062117,-0.240557,0.968645]]
2025-10-27T18:46:50.638Z,1761590810.638 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:50.842Z,1761590810.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785111,0.588547,0.192910],[-0.616490,0.772532,0.152100],[-0.059512,-0.238342,0.969356]]
2025-10-27T18:46:50.888Z,1761590810.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:50.998Z,1761590810.998 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:46:50.998Z,1761590810.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateRudder:A] Stopped
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:46:50.999Z,1761590810.999 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:46:50.000Z,1761590811.000 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:46:50.000Z,1761590811.000 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:46:50.000Z,1761590811.000 [marl:UpdateCommandMode] Stopped
2025-10-27T18:46:51.000Z,1761590811.000 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:46:51.000Z,1761590811.000 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:46:51.000Z,1761590811.000 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:46:51.000Z,1761590811.000 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:46:51.001Z,1761590811.001 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:46:51.001Z,1761590811.001 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:46:51.001Z,1761590811.001 [marl:UpdateSpeed] Stopped
2025-10-27T18:46:51.001Z,1761590811.001 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:46:51.141Z,1761590811.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:51.238Z,1761590811.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785203,0.589611,0.189247],[-0.616611,0.772585,0.151336],[-0.056980,-0.235521,0.970197]]
2025-10-27T18:46:51.270Z,1761590811.270 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:46:51.270Z,1761590811.270 [marl:UpdateRudder:B] Stopped
2025-10-27T18:46:51.270Z,1761590811.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:46:51.270Z,1761590811.270 [marl:UpdateRudder] Stopped
2025-10-27T18:46:51.270Z,1761590811.270 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:46:51.392Z,1761590811.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:51.644Z,1761590811.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:51.655Z,1761590811.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786556,0.588908,0.185789],[-0.615097,0.773792,0.151332],[-0.054641,-0.233309,0.970866]]
2025-10-27T18:46:51.896Z,1761590811.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:52.058Z,1761590812.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788506,0.587557,0.181757],[-0.612766,0.775835,0.150323],[-0.052690,-0.229905,0.971786]]
2025-10-27T18:46:52.150Z,1761590812.150 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:52.400Z,1761590812.400 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:46:52.400Z,1761590812.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:52.449Z,1761590812.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790541,0.585257,0.180330],[-0.610276,0.777413,0.152287],[-0.051064,-0.230441,0.971746]]
2025-10-27T18:46:52.652Z,1761590812.652 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:46:52.652Z,1761590812.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:52.854Z,1761590812.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792539,0.583035,0.178750],[-0.607796,0.779080,0.153684],[-0.049657,-0.230444,0.971818]]
2025-10-27T18:46:52.904Z,1761590812.904 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:46:52.904Z,1761590812.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:53.156Z,1761590813.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:53.260Z,1761590813.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794596,0.580807,0.176860],[-0.605240,0.780774,0.155164],[-0.047967,-0.230336,0.971928]]
2025-10-27T18:46:53.408Z,1761590813.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:53.660Z,1761590813.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:53.663Z,1761590813.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796712,0.578568,0.174668],[-0.602607,0.782493,0.156745],[-0.045989,-0.230137,0.972071]]
2025-10-27T18:46:53.912Z,1761590813.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:54.065Z,1761590814.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798889,0.576051,0.173038],[-0.599879,0.784047,0.159423],[-0.043834,-0.231163,0.971927]]
2025-10-27T18:46:54.164Z,1761590814.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:54.416Z,1761590814.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:54.478Z,1761590814.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801121,0.573491,0.171213],[-0.597051,0.785690,0.161928],[-0.041656,-0.231947,0.971836]]
2025-10-27T18:46:54.668Z,1761590814.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:54.875Z,1761590814.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803568,0.570586,0.169438],[-0.593928,0.787349,0.165318],[-0.039079,-0.233478,0.971576]]
2025-10-27T18:46:54.920Z,1761590814.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:55.172Z,1761590815.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:55.278Z,1761590815.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805533,0.568158,0.168267],[-0.591435,0.788336,0.169499],[-0.036349,-0.236057,0.971059]]
2025-10-27T18:46:55.426Z,1761590815.426 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:55.676Z,1761590815.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:55.683Z,1761590815.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806962,0.566194,0.168037],[-0.589626,0.788691,0.174090],[-0.033960,-0.239562,0.970287]]
2025-10-27T18:46:55.928Z,1761590815.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:56.091Z,1761590816.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807400,0.565527,0.168179],[-0.589166,0.787993,0.178747],[-0.031438,-0.243406,0.969415]]
2025-10-27T18:46:56.184Z,1761590816.184 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:46:55.4416

2025-10-27T18:46:56.185Z,1761590816.185 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:46:56.185Z,1761590816.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:56.436Z,1761590816.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:56.489Z,1761590816.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806643,0.566272,0.169301],[-0.590300,0.786187,0.182908],[-0.029527,-0.247480,0.968443]]
2025-10-27T18:46:56.688Z,1761590816.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:56.894Z,1761590816.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804759,0.568094,0.172139],[-0.592928,0.783116,0.187526],[-0.028272,-0.252979,0.967059]]
2025-10-27T18:46:56.940Z,1761590816.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:57.192Z,1761590817.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:57.444Z,1761590817.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:57.696Z,1761590817.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:57.706Z,1761590817.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800447,0.573288,0.175003],[-0.598734,0.778517,0.188226],[-0.028335,-0.255445,0.966408]]
2025-10-27T18:46:57.948Z,1761590817.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:58.110Z,1761590818.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798470,0.576374,0.173890],[-0.601343,0.777393,0.184519],[-0.028829,-0.251900,0.967324]]
2025-10-27T18:46:58.203Z,1761590818.203 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:58.452Z,1761590818.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:58.510Z,1761590818.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796738,0.579548,0.171270],[-0.603639,0.776710,0.179840],[-0.028801,-0.246670,0.968671]]
2025-10-27T18:46:58.704Z,1761590818.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:58.914Z,1761590818.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795031,0.583196,0.166756],[-0.605945,0.776066,0.174790],[-0.027477,-0.240009,0.970382]]
2025-10-27T18:46:58.956Z,1761590818.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:59.208Z,1761590819.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:59.460Z,1761590819.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:59.712Z,1761590819.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:46:59.732Z,1761590819.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790897,0.591933,0.155229],[-0.611581,0.773365,0.166960],[-0.021220,-0.226983,0.973668]]
2025-10-27T18:46:59.964Z,1761590819.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:00.135Z,1761590820.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788709,0.596107,0.150317],[-0.614528,0.771293,0.165719],[-0.017153,-0.223078,0.974650]]
2025-10-27T18:47:00.216Z,1761590820.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:00.468Z,1761590820.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:00.529Z,1761590820.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788051,0.598222,0.145277],[-0.615462,0.770781,0.164631],[-0.013491,-0.219150,0.975598]]
2025-10-27T18:47:00.721Z,1761590820.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:00.939Z,1761590820.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788693,0.598222,0.141754],[-0.614698,0.771251,0.165280],[-0.010454,-0.217492,0.976006]]
2025-10-27T18:47:00.972Z,1761590820.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:01.224Z,1761590821.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:01.339Z,1761590821.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789791,0.597336,0.139355],[-0.613327,0.771927,0.167207],[-0.007693,-0.217529,0.976023]]
2025-10-27T18:47:01.476Z,1761590821.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:01.728Z,1761590821.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:01.750Z,1761590821.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791071,0.595973,0.137925],[-0.611706,0.772471,0.170601],[-0.004870,-0.219327,0.975639]]
2025-10-27T18:47:01.980Z,1761590821.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:02.146Z,1761590822.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791918,0.594945,0.137501],[-0.610624,0.772290,0.175234],[-0.001936,-0.222732,0.974878]]
2025-10-27T18:47:02.232Z,1761590822.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:02.484Z,1761590822.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:02.553Z,1761590822.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792800,0.594121,0.135972],[-0.609481,0.772354,0.178891],[0.001264,-0.224697,0.974428]]
2025-10-27T18:47:02.737Z,1761590822.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:02.962Z,1761590822.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793111,0.593634,0.136288],[-0.609060,0.771307,0.184748],[0.004553,-0.229533,0.973290]]
2025-10-27T18:47:02.988Z,1761590822.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:03.043Z,1761590823.043 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:47:03.240Z,1761590823.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:03.492Z,1761590823.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:03.584Z,1761590823.584 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:47:03.584Z,1761590823.584 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:47:03.744Z,1761590823.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:03.765Z,1761590823.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794247,0.592296,0.135488],[-0.607497,0.770125,0.194563],[0.010896,-0.236839,0.971488]]
2025-10-27T18:47:03.996Z,1761590823.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:04.265Z,1761590824.265 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:04.516Z,1761590824.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:04.577Z,1761590824.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795556,0.591212,0.132508],[-0.605631,0.769703,0.201914],[0.017382,-0.240885,0.970398]]
2025-10-27T18:47:04.683Z,1761590824.683 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:47:04.683Z,1761590824.683 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:47:04.683Z,1761590824.684 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:47:04.684Z,1761590824.684 [marl:UpdateRudder:A] Stopped
2025-10-27T18:47:04.684Z,1761590824.684 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:47:04.684Z,1761590824.684 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:47:04.684Z,1761590824.684 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:47:04.684Z,1761590824.684 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateCommandMode] Stopped
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:47:04.685Z,1761590824.685 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:47:04.686Z,1761590824.686 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:47:04.686Z,1761590824.686 [marl:UpdateSpeed] Stopped
2025-10-27T18:47:04.686Z,1761590824.686 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:47:04.771Z,1761590824.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:04.974Z,1761590824.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795862,0.590905,0.132041],[-0.605143,0.769017,0.205950],[0.020156,-0.243812,0.969613]]
2025-10-27T18:47:05.020Z,1761590825.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:05.085Z,1761590825.085 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:47:05.085Z,1761590825.085 [marl:UpdateRudder:B] Stopped
2025-10-27T18:47:05.085Z,1761590825.085 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:47:05.085Z,1761590825.085 [marl:UpdateRudder] Stopped
2025-10-27T18:47:05.085Z,1761590825.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:47:05.272Z,1761590825.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:05.378Z,1761590825.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795523,0.591388,0.131924],[-0.605485,0.767591,0.210219],[0.023058,-0.247112,0.968713]]
2025-10-27T18:47:05.524Z,1761590825.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:05.776Z,1761590825.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:05.786Z,1761590825.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794512,0.592742,0.131935],[-0.606693,0.765536,0.214191],[0.025959,-0.250221,0.967841]]
2025-10-27T18:47:06.028Z,1761590826.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:06.186Z,1761590826.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793069,0.594596,0.132276],[-0.608477,0.763256,0.217246],[0.028213,-0.252778,0.967113]]
2025-10-27T18:47:06.280Z,1761590826.280 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:47:06.280Z,1761590826.280 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:47:06.280Z,1761590826.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:06.532Z,1761590826.532 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:47:06.532Z,1761590826.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:06.787Z,1761590826.787 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:47:06.788Z,1761590826.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:07.028Z,1761590827.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789132,0.601514,0.124306],[-0.613189,0.759755,0.216265],[0.035644,-0.246885,0.968389]]
2025-10-27T18:47:07.036Z,1761590827.036 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:47:07.036Z,1761590827.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:07.288Z,1761590827.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:07.540Z,1761590827.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:07.792Z,1761590827.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:07.863Z,1761590827.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792396,0.601113,0.103790],[-0.608623,0.767611,0.200877],[0.041079,-0.222343,0.974103]]
2025-10-27T18:47:08.044Z,1761590828.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:08.286Z,1761590828.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799381,0.595176,0.082190],[-0.599299,0.780116,0.179610],[0.042782,-0.192833,0.980298]]
2025-10-27T18:47:08.296Z,1761590828.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:08.548Z,1761590828.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:08.685Z,1761590828.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810061,0.583596,0.056710],[-0.584718,0.796826,0.152227],[0.043652,-0.156472,0.986717]]
2025-10-27T18:47:08.802Z,1761590828.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:09.052Z,1761590829.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:09.304Z,1761590829.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:09.494Z,1761590829.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835617,0.549207,0.010793],[-0.547552,0.831205,0.096360],[0.043950,-0.086430,0.995288]]
2025-10-27T18:47:09.556Z,1761590829.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:09.808Z,1761590829.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:09.897Z,1761590829.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847647,0.530529,-0.005836],[-0.528709,0.845556,0.074176],[0.044287,-0.059790,0.997228]]
2025-10-27T18:47:10.060Z,1761590830.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:10.303Z,1761590830.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858327,0.512798,-0.017715],[-0.511149,0.857557,0.057640],[0.044749,-0.040419,0.998180]]
2025-10-27T18:47:10.313Z,1761590830.313 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:47:09.5416

2025-10-27T18:47:10.313Z,1761590830.313 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:47:10.314Z,1761590830.314 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:10.564Z,1761590830.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:10.706Z,1761590830.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867536,0.496735,-0.025223],[-0.495326,0.867449,0.046741],[0.045098,-0.028056,0.998589]]
2025-10-27T18:47:10.818Z,1761590830.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:11.068Z,1761590831.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:11.118Z,1761590831.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875356,0.482602,-0.029110],[-0.481372,0.875575,0.040621],[0.045092,-0.021546,0.998751]]
2025-10-27T18:47:11.320Z,1761590831.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:11.519Z,1761590831.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882238,0.469770,-0.031189],[-0.468666,0.882608,0.036804],[0.044817,-0.017853,0.998836]]
2025-10-27T18:47:11.572Z,1761590831.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:11.824Z,1761590831.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:11.921Z,1761590831.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888651,0.457370,-0.033351],[-0.456402,0.889167,0.032870],[0.044688,-0.013989,0.998903]]
2025-10-27T18:47:12.080Z,1761590832.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:12.326Z,1761590832.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894785,0.445129,-0.034917],[-0.444242,0.895389,0.030435],[0.044811,-0.011721,0.998927]]
2025-10-27T18:47:12.328Z,1761590832.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:12.582Z,1761590832.582 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:12.734Z,1761590832.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900924,0.432456,-0.036316],[-0.431641,0.901602,0.028291],[0.044977,-0.009813,0.998940]]
2025-10-27T18:47:12.832Z,1761590832.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:13.084Z,1761590833.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:13.147Z,1761590833.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907137,0.419021,-0.039039],[-0.418334,0.907956,0.024756],[0.045819,-0.006125,0.998931]]
2025-10-27T18:47:13.336Z,1761590833.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:13.538Z,1761590833.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913718,0.404049,-0.043185],[-0.403540,0.914737,0.020304],[0.047706,-0.001126,0.998861]]
2025-10-27T18:47:13.589Z,1761590833.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:13.840Z,1761590833.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:13.942Z,1761590833.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920635,0.387425,-0.048310],[-0.387163,0.921889,0.015050],[0.050367,0.004848,0.998719]]
2025-10-27T18:47:14.094Z,1761590834.094 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:14.344Z,1761590834.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:14.348Z,1761590834.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927964,0.368863,-0.053134],[-0.368867,0.929427,0.010082],[0.053103,0.010243,0.998536]]
2025-10-27T18:47:14.355Z,1761590834.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:47:14.597Z,1761590834.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:14.761Z,1761590834.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935346,0.349014,-0.057597],[-0.349244,0.937010,0.006360],[0.056189,0.014166,0.998320]]
2025-10-27T18:47:14.848Z,1761590834.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:15.100Z,1761590835.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:15.154Z,1761590835.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942472,0.328597,-0.061401],[-0.329016,0.944318,0.003439],[0.059112,0.016961,0.998107]]
2025-10-27T18:47:15.355Z,1761590835.355 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:15.359Z,1761590835.359 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:47:15.557Z,1761590835.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948903,0.309206,-0.063050],[-0.309542,0.950875,0.004620],[0.061381,0.015132,0.998000]]
2025-10-27T18:47:15.605Z,1761590835.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:15.856Z,1761590835.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:15.962Z,1761590835.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954740,0.290664,-0.063133],[-0.290794,0.956758,0.007322],[0.062531,0.011368,0.997978]]
2025-10-27T18:47:16.108Z,1761590836.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:16.360Z,1761590836.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:16.370Z,1761590836.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959851,0.273656,-0.061635],[-0.273471,0.961811,0.011580],[0.062450,0.005740,0.998032]]
2025-10-27T18:47:16.615Z,1761590836.615 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:16.796Z,1761590836.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964190,0.258682,-0.058489],[-0.258008,0.965958,0.018913],[0.061390,-0.003145,0.998109]]
2025-10-27T18:47:16.864Z,1761590836.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:17.116Z,1761590837.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:17.368Z,1761590837.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:17.590Z,1761590837.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971194,0.233132,-0.049308],[-0.231581,0.972179,0.035198],[0.056142,-0.022766,0.998163]]
2025-10-27T18:47:17.620Z,1761590837.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:17.872Z,1761590837.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:17.982Z,1761590837.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974544,0.219414,-0.046055],[-0.217827,0.975282,0.037089],[0.053054,-0.026113,0.998250]]
2025-10-27T18:47:18.045Z,1761590838.045 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateRudder:A] Stopped
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:47:18.046Z,1761590838.046 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:47:18.047Z,1761590838.047 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateCommandMode] Stopped
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:47:18.051Z,1761590838.051 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:47:18.052Z,1761590838.052 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:47:18.052Z,1761590838.052 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:47:18.052Z,1761590838.052 [marl:UpdateSpeed] Stopped
2025-10-27T18:47:18.052Z,1761590838.052 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:47:18.124Z,1761590838.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:18.376Z,1761590838.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:18.388Z,1761590838.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977907,0.204417,-0.043711],[-0.202907,0.978513,0.036614],[0.050256,-0.026936,0.998373]]
2025-10-27T18:47:18.464Z,1761590838.464 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:47:18.464Z,1761590838.464 [marl:UpdateRudder:B] Stopped
2025-10-27T18:47:18.464Z,1761590838.464 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:47:18.464Z,1761590838.464 [marl:UpdateRudder] Stopped
2025-10-27T18:47:18.465Z,1761590838.465 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:47:18.628Z,1761590838.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:18.830Z,1761590838.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981120,0.188464,-0.043418],[-0.187201,0.981815,0.031555],[0.048575,-0.022831,0.998559]]
2025-10-27T18:47:18.880Z,1761590838.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:19.132Z,1761590839.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:19.193Z,1761590839.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984003,0.172376,-0.044989],[-0.171475,0.984915,0.023201],[0.048309,-0.015116,0.998718]]
2025-10-27T18:47:19.384Z,1761590839.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:19.603Z,1761590839.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986444,0.156986,-0.047781],[-0.156508,0.987583,0.013608],[0.049324,-0.005946,0.998765]]
2025-10-27T18:47:19.639Z,1761590839.639 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:19.888Z,1761590839.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:20.002Z,1761590840.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988434,0.142736,-0.051233],[-0.142695,0.989757,0.004493],[0.051349,0.002870,0.998677]]
2025-10-27T18:47:20.141Z,1761590840.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:20.392Z,1761590840.392 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:47:20.392Z,1761590840.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:20.408Z,1761590840.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990093,0.129713,-0.053761],[-0.129873,0.991530,0.000523],[0.053374,0.006464,0.998554]]
2025-10-27T18:47:20.643Z,1761590840.643 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:47:20.644Z,1761590840.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:20.836Z,1761590840.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991807,0.115279,-0.055034],[-0.115579,0.993296,-0.002285],[0.054401,0.008627,0.998482]]
2025-10-27T18:47:20.896Z,1761590840.896 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:47:20.896Z,1761590840.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:21.148Z,1761590841.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:21.214Z,1761590841.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993909,0.095634,-0.054766],[-0.096155,0.995342,-0.006967],[0.053844,0.012190,0.998475]]
2025-10-27T18:47:21.400Z,1761590841.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:21.618Z,1761590841.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995769,0.074540,-0.053745],[-0.075067,0.997148,-0.007851],[0.053007,0.011852,0.998524]]
2025-10-27T18:47:21.652Z,1761590841.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:21.904Z,1761590841.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:22.040Z,1761590842.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997148,0.053900,-0.052830],[-0.054384,0.998490,-0.007756],[0.052332,0.010607,0.998573]]
2025-10-27T18:47:22.159Z,1761590842.159 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:22.412Z,1761590842.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:22.432Z,1761590842.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998081,0.033908,-0.051808],[-0.034243,0.999398,-0.005591],[0.051587,0.007354,0.998641]]
2025-10-27T18:47:22.664Z,1761590842.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:22.846Z,1761590842.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998614,0.014279,-0.050651],[-0.014378,0.999895,-0.001586],[0.050623,0.002312,0.998715]]
2025-10-27T18:47:22.916Z,1761590842.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:23.168Z,1761590843.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:23.242Z,1761590843.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998739,-0.004671,-0.049986],[0.004829,0.999984,0.003030],[0.049971,-0.003267,0.998745]]
2025-10-27T18:47:23.421Z,1761590843.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:23.646Z,1761590843.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998526,-0.022216,-0.049518],[0.022600,0.999719,0.007199],[0.049344,-0.008308,0.998747]]
2025-10-27T18:47:23.672Z,1761590843.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:23.924Z,1761590843.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:24.104Z,1761590844.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998031,-0.039562,-0.048664],[0.040079,0.999149,0.009698],[0.048239,-0.011629,0.998768]]
2025-10-27T18:47:24.177Z,1761590844.177 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:47:23.4415

2025-10-27T18:47:24.178Z,1761590844.178 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:47:24.178Z,1761590844.178 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:24.428Z,1761590844.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:24.501Z,1761590844.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997304,-0.055792,-0.047661],[0.056432,0.998332,0.012185],[0.046901,-0.014842,0.998789]]
2025-10-27T18:47:24.680Z,1761590844.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:24.905Z,1761590844.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996347,-0.071662,-0.046440],[0.072337,0.997295,0.013021],[0.045381,-0.016333,0.998836]]
2025-10-27T18:47:24.932Z,1761590844.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:25.184Z,1761590845.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:25.311Z,1761590845.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995237,-0.086534,-0.044880],[0.087204,0.996103,0.013188],[0.043564,-0.017039,0.998905]]
2025-10-27T18:47:25.436Z,1761590845.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:25.688Z,1761590845.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:25.721Z,1761590845.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993998,-0.100682,-0.042802],[0.101318,0.994770,0.012957],[0.041274,-0.017216,0.999000]]
2025-10-27T18:47:25.940Z,1761590845.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:26.193Z,1761590846.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:26.444Z,1761590846.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:26.522Z,1761590846.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991032,-0.128210,-0.037654],[0.128690,0.991628,0.010586],[0.035982,-0.015337,0.999235]]
2025-10-27T18:47:26.696Z,1761590846.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:26.926Z,1761590846.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989185,-0.142473,-0.034858],[0.142848,0.989708,0.008509],[0.033287,-0.013396,0.999356]]
2025-10-27T18:47:26.948Z,1761590846.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:27.200Z,1761590847.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:27.331Z,1761590847.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987286,-0.155678,-0.032107],[0.155948,0.987747,0.006070],[0.030769,-0.011000,0.999466]]
2025-10-27T18:47:27.453Z,1761590847.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:27.704Z,1761590847.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:27.756Z,1761590847.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985107,-0.169442,-0.029227],[0.169642,0.985496,0.004465],[0.028046,-0.009357,0.999563]]
2025-10-27T18:47:27.956Z,1761590847.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:28.138Z,1761590848.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982456,-0.184657,-0.026110],[0.184766,0.982781,0.001831],[0.025322,-0.006623,0.999657]]
2025-10-27T18:47:28.209Z,1761590848.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:28.460Z,1761590848.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:28.548Z,1761590848.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979156,-0.201830,-0.022748],[0.201845,0.979416,-0.001682],[0.022619,-0.002944,0.999740]]
2025-10-27T18:47:28.712Z,1761590848.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:28.947Z,1761590848.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975616,-0.218549,-0.020269],[0.218530,0.975825,-0.003176],[0.020473,-0.001331,0.999790]]
2025-10-27T18:47:28.964Z,1761590848.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:29.216Z,1761590849.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:29.468Z,1761590849.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:29.720Z,1761590849.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:29.763Z,1761590849.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967093,-0.253973,-0.015140],[0.253918,0.967210,-0.005462],[0.016031,0.001438,0.999870]]
2025-10-27T18:47:29.972Z,1761590849.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:30.158Z,1761590850.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962709,-0.270231,-0.012916],[0.270181,0.962794,-0.005499],[0.013921,0.001805,0.999901]]
2025-10-27T18:47:30.228Z,1761590850.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:30.476Z,1761590850.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:30.571Z,1761590850.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958235,-0.285767,-0.011082],[0.285736,0.958299,-0.004318],[0.011853,0.000971,0.999929]]
2025-10-27T18:47:30.728Z,1761590850.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:30.965Z,1761590850.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953939,-0.299852,-0.009451],[0.299837,0.953986,-0.002998],[0.009915,0.000026,0.999951]]
2025-10-27T18:47:30.980Z,1761590850.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:31.232Z,1761590851.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:31.369Z,1761590851.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949563,-0.313477,-0.007909],[0.313484,0.949593,-0.000341],[0.007617,-0.002156,0.999969]]
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateRudder:A] Stopped
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:47:31.457Z,1761590851.457 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode] Stopped
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:47:31.458Z,1761590851.458 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:47:31.459Z,1761590851.459 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:47:31.459Z,1761590851.459 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:47:31.459Z,1761590851.459 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:47:31.459Z,1761590851.459 [marl:UpdateSpeed] Stopped
2025-10-27T18:47:31.459Z,1761590851.459 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:47:31.484Z,1761590851.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:31.736Z,1761590851.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:31.784Z,1761590851.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945499,-0.325553,-0.006832],[0.325583,0.945506,0.003777],[0.005230,-0.005796,0.999970]]
2025-10-27T18:47:31.845Z,1761590851.845 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:47:31.845Z,1761590851.845 [marl:UpdateRudder:B] Stopped
2025-10-27T18:47:31.845Z,1761590851.845 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:47:31.845Z,1761590851.845 [marl:UpdateRudder] Stopped
2025-10-27T18:47:31.845Z,1761590851.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:47:31.988Z,1761590851.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:32.178Z,1761590852.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941419,-0.337195,-0.005375],[0.337227,0.941399,0.006768],[0.002778,-0.008184,0.999963]]
2025-10-27T18:47:32.240Z,1761590852.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:32.492Z,1761590852.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:32.582Z,1761590852.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937056,-0.349166,-0.003003],[0.349179,0.937025,0.007656],[0.000140,-0.008222,0.999966]]
2025-10-27T18:47:32.745Z,1761590852.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:32.986Z,1761590852.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932211,-0.361915,-0.000267],[0.361904,0.932175,0.008648],[-0.002881,-0.008158,0.999963]]
2025-10-27T18:47:32.996Z,1761590852.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:33.248Z,1761590853.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:33.392Z,1761590853.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926619,-0.375992,0.002890],[0.375953,0.926593,0.009206],[-0.006139,-0.007444,0.999953]]
2025-10-27T18:47:33.500Z,1761590853.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:33.752Z,1761590853.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:33.794Z,1761590853.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920083,-0.391681,0.005858],[0.391624,0.920082,0.008892],[-0.008873,-0.005888,0.999943]]
2025-10-27T18:47:34.006Z,1761590854.006 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:34.198Z,1761590854.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912444,-0.409104,0.008924],[0.409038,0.912479,0.008312],[-0.011544,-0.003934,0.999926]]
2025-10-27T18:47:34.257Z,1761590854.257 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:47:34.257Z,1761590854.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:34.508Z,1761590854.508 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:47:34.508Z,1761590854.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:34.602Z,1761590854.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904049,-0.427266,0.011792],[0.427204,0.904124,0.007504],[-0.013867,-0.001746,0.999902]]
2025-10-27T18:47:34.760Z,1761590854.760 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:47:34.761Z,1761590854.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:35.008Z,1761590855.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894881,-0.446073,0.014379],[0.446041,0.894996,0.005521],[-0.015332,0.001473,0.999881]]
2025-10-27T18:47:35.012Z,1761590855.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:35.264Z,1761590855.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:35.410Z,1761590855.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885069,-0.465194,0.015720],[0.465184,0.885203,0.004489],[-0.016003,0.003340,0.999866]]
2025-10-27T18:47:35.516Z,1761590855.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:35.768Z,1761590855.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:35.814Z,1761590855.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874963,-0.483911,0.016410],[0.483934,0.875100,0.002851],[-0.015741,0.005447,0.999861]]
2025-10-27T18:47:36.020Z,1761590856.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:36.218Z,1761590856.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864828,-0.501768,0.017355],[0.501838,0.864962,0.000398],[-0.015211,0.008365,0.999849]]
2025-10-27T18:47:36.272Z,1761590856.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:36.525Z,1761590856.525 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:36.622Z,1761590856.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855300,-0.517860,0.016815],[0.517929,0.855424,0.000303],[-0.014541,0.008449,0.999859]]
2025-10-27T18:47:36.778Z,1761590856.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:37.028Z,1761590857.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:37.065Z,1761590857.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838678,-0.544391,0.016017],[0.544414,0.838810,0.003292],[-0.015227,0.005959,0.999866]]
2025-10-27T18:47:37.281Z,1761590857.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:37.533Z,1761590857.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:37.784Z,1761590857.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:37.846Z,1761590857.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823531,-0.567023,0.016772],[0.566970,0.823698,0.008188],[-0.018457,0.002766,0.999826]]
2025-10-27T18:47:38.037Z,1761590858.037 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:47:37.2915

2025-10-27T18:47:38.038Z,1761590858.038 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:47:38.038Z,1761590858.038 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:38.245Z,1761590858.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816372,-0.577260,0.017551],[0.577149,0.816560,0.011340],[-0.020878,0.000872,0.999782]]
2025-10-27T18:47:38.290Z,1761590858.290 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:38.541Z,1761590858.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:38.646Z,1761590858.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808352,-0.588404,0.018628],[0.588250,0.808567,0.013441],[-0.022970,0.000093,0.999736]]
2025-10-27T18:47:38.794Z,1761590858.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:39.044Z,1761590859.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:39.058Z,1761590859.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799863,-0.599842,0.020211],[0.599631,0.800118,0.015912],[-0.025716,-0.000608,0.999669]]
2025-10-27T18:47:39.296Z,1761590859.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:39.456Z,1761590859.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790866,-0.611625,0.021126],[0.611350,0.791146,0.018429],[-0.027985,-0.001660,0.999607]]
2025-10-27T18:47:39.548Z,1761590859.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:39.800Z,1761590859.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:39.854Z,1761590859.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781545,-0.623475,0.021591],[0.623138,0.781838,0.020667],[-0.029766,-0.002698,0.999553]]
2025-10-27T18:47:40.052Z,1761590860.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:40.258Z,1761590860.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771964,-0.635266,0.022580],[0.634888,0.772289,0.022071],[-0.031459,-0.002703,0.999501]]
2025-10-27T18:47:40.304Z,1761590860.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:40.556Z,1761590860.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:40.662Z,1761590860.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762314,-0.646796,0.023051],[0.646366,0.762656,0.023810],[-0.032980,-0.003251,0.999451]]
2025-10-27T18:47:40.809Z,1761590860.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:41.060Z,1761590861.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:41.312Z,1761590861.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:41.469Z,1761590861.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742959,-0.668909,0.023925],[0.668418,0.743338,0.025831],[-0.035063,-0.003200,0.999380]]
2025-10-27T18:47:41.564Z,1761590861.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:41.816Z,1761590861.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:41.874Z,1761590861.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733280,-0.679501,0.024061],[0.678978,0.733667,0.026852],[-0.035899,-0.003353,0.999350]]
2025-10-27T18:47:42.068Z,1761590862.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:42.278Z,1761590862.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723420,-0.689985,0.024184],[0.689426,0.723815,0.027989],[-0.036817,-0.003575,0.999316]]
2025-10-27T18:47:42.320Z,1761590862.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:42.572Z,1761590862.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:42.684Z,1761590862.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714111,-0.699600,0.024602],[0.699016,0.714527,0.028776],[-0.037711,-0.003352,0.999283]]
2025-10-27T18:47:42.827Z,1761590862.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:43.076Z,1761590863.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:43.087Z,1761590863.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703781,-0.709953,0.025667],[0.709358,0.704245,0.029164],[-0.038781,-0.002318,0.999245]]
2025-10-27T18:47:43.328Z,1761590863.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:43.490Z,1761590863.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693612,-0.719894,0.025604],[0.719212,0.694076,0.031515],[-0.040459,-0.003444,0.999175]]
2025-10-27T18:47:43.581Z,1761590863.581 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:43.832Z,1761590863.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:43.897Z,1761590863.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682534,-0.730374,0.026484],[0.729637,0.683040,0.032950],[-0.042156,-0.003166,0.999106]]
2025-10-27T18:47:44.087Z,1761590864.087 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:44.299Z,1761590864.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670497,-0.741401,0.027546],[0.740590,0.671056,0.034793],[-0.044281,-0.002928,0.999015]]
2025-10-27T18:47:44.342Z,1761590864.342 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:44.592Z,1761590864.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:44.701Z,1761590864.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657363,-0.753011,0.029129],[0.752144,0.658005,0.036162],[-0.046397,-0.001863,0.998921]]
2025-10-27T18:47:44.829Z,1761590864.829 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:47:44.829Z,1761590864.829 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateRudder:A] Stopped
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:47:44.830Z,1761590864.830 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateCommandMode] Stopped
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:47:44.835Z,1761590864.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:47:44.836Z,1761590864.836 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:47:44.836Z,1761590864.836 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:47:44.836Z,1761590864.836 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:47:44.836Z,1761590864.836 [marl:UpdateSpeed] Stopped
2025-10-27T18:47:44.836Z,1761590864.836 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:47:44.844Z,1761590864.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:45.096Z,1761590865.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:45.154Z,1761590865.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643381,-0.764925,0.030815],[0.763999,0.644119,0.037638],[-0.048639,-0.000673,0.998816]]
2025-10-27T18:47:45.244Z,1761590865.244 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:47:45.244Z,1761590865.244 [marl:UpdateRudder:B] Stopped
2025-10-27T18:47:45.244Z,1761590865.244 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:47:45.244Z,1761590865.244 [marl:UpdateRudder] Stopped
2025-10-27T18:47:45.244Z,1761590865.244 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:47:45.348Z,1761590865.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:45.491Z,1761590865.491 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:47:45.561Z,1761590865.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628546,-0.777112,0.032063],[0.776131,0.629363,0.039034],[-0.050513,0.000350,0.998723]]
2025-10-27T18:47:45.600Z,1761590865.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:45.852Z,1761590865.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:46.104Z,1761590866.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:46.356Z,1761590866.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:46.367Z,1761590866.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596953,-0.801653,0.031618],[0.800606,0.597789,0.040956],[-0.051734,0.000865,0.998661]]
2025-10-27T18:47:46.491Z,1761590866.491 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:47:46.608Z,1761590866.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:46.803Z,1761590866.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580420,-0.813744,0.030541],[0.812697,0.581222,0.041276],[-0.051340,0.000863,0.998681]]
2025-10-27T18:47:46.860Z,1761590866.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:47.112Z,1761590867.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:47.174Z,1761590867.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564157,-0.825197,0.027878],[0.824161,0.564845,0.041325],[-0.049848,-0.000338,0.998757]]
2025-10-27T18:47:47.364Z,1761590867.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:47.579Z,1761590867.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548192,-0.835946,0.026066],[0.835000,0.548811,0.039771],[-0.047552,-0.000038,0.998869]]
2025-10-27T18:47:47.616Z,1761590867.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:47.868Z,1761590867.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:47.982Z,1761590867.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533223,-0.845664,0.022914],[0.844772,0.533713,0.038852],[-0.045085,-0.001360,0.998982]]
2025-10-27T18:47:48.120Z,1761590868.120 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:47:48.120Z,1761590868.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:48.372Z,1761590868.372 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-27T18:47:48.372Z,1761590868.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:48.387Z,1761590868.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519827,-0.854070,0.018572],[0.853193,0.520140,0.038940],[-0.042918,-0.004396,0.999069]]
2025-10-27T18:47:48.624Z,1761590868.624 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-27T18:47:48.624Z,1761590868.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:48.852Z,1761590868.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508100,-0.861161,0.015364],[0.860325,0.508293,0.038468],[-0.040936,-0.006327,0.999142]]
2025-10-27T18:47:48.876Z,1761590868.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:49.128Z,1761590869.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:49.200Z,1761590869.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497628,-0.867304,0.012264],[0.866487,0.497706,0.038590],[-0.039573,-0.008577,0.999180]]
2025-10-27T18:47:49.380Z,1761590869.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:49.597Z,1761590869.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488075,-0.872748,0.009640],[0.871933,0.488052,0.039211],[-0.038926,-0.010733,0.999184]]
2025-10-27T18:47:49.632Z,1761590869.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:49.884Z,1761590869.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:50.136Z,1761590870.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:50.388Z,1761590870.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:50.407Z,1761590870.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470461,-0.882388,0.007544],[0.881510,0.470347,0.041388],[-0.040069,-0.012822,0.999115]]
2025-10-27T18:47:50.643Z,1761590870.643 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:50.836Z,1761590870.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461128,-0.887310,0.006524],[0.886352,0.460951,0.043626],[-0.041717,-0.014334,0.999027]]
2025-10-27T18:47:50.892Z,1761590870.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:51.144Z,1761590871.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:51.214Z,1761590871.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450839,-0.892579,0.006822],[0.891529,0.450657,0.045641],[-0.043812,-0.014495,0.998935]]
2025-10-27T18:47:51.396Z,1761590871.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:51.617Z,1761590871.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439551,-0.898188,0.007241],[0.897041,0.439374,0.047617],[-0.045950,-0.014434,0.998839]]
2025-10-27T18:47:51.648Z,1761590871.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:51.901Z,1761590871.901 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:47:51.1427

2025-10-27T18:47:51.901Z,1761590871.901 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-27T18:47:51.902Z,1761590871.902 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:52.050Z,1761590872.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427243,-0.904104,0.007696],[0.902877,0.427082,0.049133],[-0.047708,-0.014043,0.998763]]
2025-10-27T18:47:52.152Z,1761590872.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:52.404Z,1761590872.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:52.430Z,1761590872.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413725,-0.910364,0.008343],[0.909075,0.413599,0.050186],[-0.049138,-0.013178,0.998705]]
2025-10-27T18:47:52.657Z,1761590872.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:52.842Z,1761590872.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398787,-0.917001,0.008793],[0.915667,0.398696,0.050940],[-0.050218,-0.012263,0.998663]]
2025-10-27T18:47:52.908Z,1761590872.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:53.160Z,1761590873.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:53.233Z,1761590873.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384137,-0.923243,0.007801],[0.921856,0.384001,0.052196],[-0.051185,-0.012859,0.998606]]
2025-10-27T18:47:53.412Z,1761590873.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:53.638Z,1761590873.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368328,-0.929651,0.009110],[0.928264,0.368287,0.051869],[-0.051575,-0.010648,0.998612]]
2025-10-27T18:47:53.664Z,1761590873.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:53.916Z,1761590873.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:54.044Z,1761590874.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351912,-0.935980,0.009973],[0.934609,0.351945,0.051391],[-0.051611,-0.008764,0.998629]]
2025-10-27T18:47:54.168Z,1761590874.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:54.420Z,1761590874.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:54.446Z,1761590874.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334398,-0.942374,0.010422],[0.941002,0.334479,0.051377],[-0.051902,-0.007373,0.998625]]
2025-10-27T18:47:54.672Z,1761590874.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:54.850Z,1761590874.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316125,-0.948652,0.011099],[0.947269,0.316267,0.051539],[-0.052403,-0.005779,0.998609]]
2025-10-27T18:47:54.924Z,1761590874.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:55.176Z,1761590875.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:55.254Z,1761590875.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296834,-0.954852,0.012169],[0.953498,0.297063,0.050944],[-0.052259,-0.003519,0.998627]]
2025-10-27T18:47:55.428Z,1761590875.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:55.659Z,1761590875.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276835,-0.960829,0.013028],[0.959522,0.277138,0.050109],[-0.051757,-0.001371,0.998659]]
2025-10-27T18:47:55.680Z,1761590875.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:55.932Z,1761590875.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:56.062Z,1761590876.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256472,-0.966433,0.015118],[0.965231,0.256908,0.048242],[-0.050506,0.002219,0.998721]]
2025-10-27T18:47:56.184Z,1761590876.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:56.436Z,1761590876.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:56.688Z,1761590876.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:56.870Z,1761590876.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215711,-0.976342,0.015005],[0.975346,0.216173,0.044388],[-0.046582,0.005060,0.998902]]
2025-10-27T18:47:56.940Z,1761590876.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:57.192Z,1761590877.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:57.276Z,1761590877.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195535,-0.980584,0.014900],[0.979728,0.195994,0.041457],[-0.043573,0.006492,0.999029]]
2025-10-27T18:47:57.444Z,1761590877.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:57.678Z,1761590877.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175762,-0.984342,0.013390],[0.983614,0.176154,0.038391],[-0.040149,0.006423,0.999173]]
2025-10-27T18:47:57.696Z,1761590877.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:57.771Z,1761590877.771 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateRudder:A] Stopped
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:47:57.772Z,1761590877.772 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateCommandMode] Stopped
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:47:57.773Z,1761590877.773 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:47:57.774Z,1761590877.774 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:47:57.774Z,1761590877.774 [marl:UpdateSpeed] Stopped
2025-10-27T18:47:57.774Z,1761590877.774 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:47:57.948Z,1761590877.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:58.081Z,1761590878.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157506,-0.987449,0.011660],[0.986849,0.157823,0.034952],[-0.036354,0.006002,0.999321]]
2025-10-27T18:47:58.149Z,1761590878.149 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:47:58.150Z,1761590878.150 [marl:UpdateRudder:B] Stopped
2025-10-27T18:47:58.150Z,1761590878.150 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:47:58.150Z,1761590878.150 [marl:UpdateRudder] Stopped
2025-10-27T18:47:58.150Z,1761590878.150 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:47:58.200Z,1761590878.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:58.452Z,1761590878.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:58.499Z,1761590878.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140687,-0.989994,0.010929],[0.989514,0.140966,0.031464],[-0.032690,0.006388,0.999445]]
2025-10-27T18:47:58.704Z,1761590878.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:58.892Z,1761590878.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125371,-0.992071,0.008729],[0.991680,0.125571,0.028328],[-0.029200,0.005105,0.999561]]
2025-10-27T18:47:58.956Z,1761590878.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:59.208Z,1761590879.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:59.293Z,1761590879.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111783,-0.993715,0.005917],[0.993396,0.111899,0.025369],[-0.025872,0.003042,0.999661]]
2025-10-27T18:47:59.460Z,1761590879.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:59.697Z,1761590879.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099139,-0.995065,0.004148],[0.994804,0.099209,0.022847],[-0.023146,0.001862,0.999730]]
2025-10-27T18:47:59.712Z,1761590879.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:47:59.964Z,1761590879.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:00.102Z,1761590880.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087416,-0.996168,0.002785],[0.995952,0.087455,0.020763],[-0.020927,0.000959,0.999781]]
2025-10-27T18:48:00.216Z,1761590880.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:00.469Z,1761590880.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:00.517Z,1761590880.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076730,-0.997052,0.000435],[0.996874,0.076725,0.018846],[-0.018824,-0.001012,0.999822]]
2025-10-27T18:48:00.720Z,1761590880.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:00.910Z,1761590880.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066882,-0.997761,-0.000811],[0.997615,0.066859,0.017179],[-0.017086,-0.001958,0.999852]]
2025-10-27T18:48:00.975Z,1761590880.975 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:01.224Z,1761590881.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:01.314Z,1761590881.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057229,-0.998357,-0.002813],[0.998237,0.057177,0.015929],[-0.015742,-0.003720,0.999869]]
2025-10-27T18:48:01.477Z,1761590881.477 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:01.717Z,1761590881.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047654,-0.998850,-0.005260],[0.998755,0.047571,0.015037],[-0.014770,-0.005970,0.999873]]
2025-10-27T18:48:01.728Z,1761590881.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:01.980Z,1761590881.980 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-27T18:48:01.980Z,1761590881.980 [DAT](ERROR): Ack receipt timeout failure.
2025-10-27T18:48:01.981Z,1761590881.981 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:02.125Z,1761590882.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038224,-0.999249,-0.006423],[0.999168,0.038128,0.014469],[-0.014213,-0.006971,0.999875]]
2025-10-27T18:48:02.232Z,1761590882.232 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-27T18:48:02.232Z,1761590882.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:02.485Z,1761590882.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:02.530Z,1761590882.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028562,-0.999574,-0.005995],[0.999494,0.028475,0.014179],[-0.014002,-0.006397,0.999882]]
2025-10-27T18:48:02.740Z,1761590882.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:02.930Z,1761590882.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018140,-0.999806,-0.007689],[0.999740,0.018031,0.013925],[-0.013784,-0.007939,0.999873]]
2025-10-27T18:48:02.988Z,1761590882.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:03.240Z,1761590883.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:03.336Z,1761590883.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005957,-0.999943,-0.008838],[0.999891,0.005836,0.013559],[-0.013506,-0.008918,0.999869]]
2025-10-27T18:48:03.412Z,1761590883.412 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:48:03.493Z,1761590883.493 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:03.744Z,1761590883.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:03.955Z,1761590883.955 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:48:03.955Z,1761590883.955 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:48:03.996Z,1761590883.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:04.141Z,1761590884.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023859,-0.999676,-0.008837],[0.999623,-0.023976,0.013364],[-0.013572,-0.008515,0.999872]]
2025-10-27T18:48:04.248Z,1761590884.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:04.500Z,1761590884.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:04.555Z,1761590884.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041527,-0.999106,-0.007909],[0.999041,-0.041631,0.013541],[-0.013858,-0.007339,0.999877]]
2025-10-27T18:48:04.753Z,1761590884.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:04.951Z,1761590884.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060803,-0.998127,-0.006793],[0.998047,-0.060893,0.013953],[-0.014341,-0.005932,0.999880]]
2025-10-27T18:48:05.004Z,1761590885.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:05.256Z,1761590885.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:05.354Z,1761590885.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081073,-0.996702,-0.003425],[0.996596,-0.081115,0.014707],[-0.014936,-0.002221,0.999886]]
2025-10-27T18:48:05.508Z,1761590885.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:05.760Z,1761590885.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:05.764Z,1761590885.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102759,-0.994706,-0.001183],[0.994587,-0.102765,0.015371],[-0.015411,0.000403,0.999881]]
2025-10-27T18:48:06.012Z,1761590886.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:06.267Z,1761590886.267 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:06.516Z,1761590886.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:06.575Z,1761590886.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146572,-0.989181,0.006050],[0.989107,-0.146472,0.014643],[-0.013599,0.008131,0.999874]]
2025-10-27T18:48:06.790Z,1761590886.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:06.987Z,1761590886.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169020,-0.985571,0.009034],[0.985550,-0.168900,0.012786],[-0.011076,0.011064,0.999877]]
2025-10-27T18:48:06.999Z,1761590886.999 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-27T18:48:06.999Z,1761590886.999 [NAL9602] Data Fault, FailCount= 1
2025-10-27T18:48:06.999Z,1761590886.999 [NAL9602](ERROR): Data Fault
2025-10-27T18:48:07.040Z,1761590887.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:07.095Z,1761590887.095 [marl:NeedComms] Running Loop=1
2025-10-27T18:48:07.095Z,1761590887.095 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-27T18:48:07.095Z,1761590887.095 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-27T18:48:07.095Z,1761590887.095 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:48:07.096Z,1761590887.096 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-27T18:48:07.096Z,1761590887.096 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-27T18:48:07.097Z,1761590887.097 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-27T18:48:07.097Z,1761590887.097 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-27T18:48:07.097Z,1761590887.097 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:48:07.098Z,1761590887.098 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:48:07.098Z,1761590887.098 [marl:NeedComms:A] Running Loop=1
2025-10-27T18:48:07.103Z,1761590887.103 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-27T18:48:07.104Z,1761590887.104 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-27T18:48:07.104Z,1761590887.104 [marl:NeedComms:A] Stopped
2025-10-27T18:48:07.251Z,1761590887.251 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-27T18:48:07.292Z,1761590887.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:07.401Z,1761590887.401 [NAL9602](INFO): Powering down
2025-10-27T18:48:07.544Z,1761590887.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:07.778Z,1761590887.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212871,-0.976992,0.013096],[0.977076,-0.212811,0.005865],[-0.002943,0.014045,0.999897]]
2025-10-27T18:48:07.796Z,1761590887.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:08.048Z,1761590888.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:08.183Z,1761590888.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232795,-0.972430,0.013635],[0.972525,-0.232791,0.001845],[0.001380,0.013690,0.999905]]
2025-10-27T18:48:08.300Z,1761590888.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:08.552Z,1761590888.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:08.610Z,1761590888.610 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-27T18:48:08.610Z,1761590888.610 [NAL9602] No Fault, FailCount= 1
2025-10-27T18:48:08.632Z,1761590888.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250696,-0.968000,0.011271],[0.968053,-0.250736,-0.002243],[0.004997,0.010348,0.999934]]
2025-10-27T18:48:08.806Z,1761590888.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:09.033Z,1761590889.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266501,-0.963779,0.010316],[0.963804,-0.266563,-0.005119],[0.007684,0.008578,0.999934]]
2025-10-27T18:48:09.056Z,1761590889.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:09.308Z,1761590889.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:09.438Z,1761590889.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281486,-0.959524,0.008875],[0.959522,-0.281549,-0.006948],[0.009166,0.006560,0.999936]]
2025-10-27T18:48:09.561Z,1761590889.561 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:09.812Z,1761590889.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:09.844Z,1761590889.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296035,-0.955155,0.006524],[0.955154,-0.296068,-0.004908],[0.006620,0.004778,0.999967]]
2025-10-27T18:48:10.064Z,1761590890.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:10.245Z,1761590890.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310019,-0.950727,0.002610],[0.950729,-0.310013,0.002437],[-0.001508,0.003237,0.999994]]
2025-10-27T18:48:10.316Z,1761590890.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:10.568Z,1761590890.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:10.649Z,1761590890.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322909,-0.946425,-0.003273],[0.946325,-0.322922,0.013771],[-0.014090,0.001350,0.999900]]
2025-10-27T18:48:10.823Z,1761590890.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:11.054Z,1761590891.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335330,-0.942041,-0.010567],[0.941626,-0.335496,0.027986],[-0.029909,-0.000566,0.999552]]
2025-10-27T18:48:11.072Z,1761590891.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:11.133Z,1761590891.133 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:48:11.133Z,1761590891.133 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:48:11.133Z,1761590891.133 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateRudder:A] Stopped
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:48:11.134Z,1761590891.134 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateCommandMode] Stopped
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:48:11.135Z,1761590891.135 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:48:11.136Z,1761590891.136 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:48:11.136Z,1761590891.136 [marl:UpdateSpeed] Stopped
2025-10-27T18:48:11.136Z,1761590891.136 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:48:11.324Z,1761590891.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:11.492Z,1761590891.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358677,-0.933036,-0.028210],[0.930902,-0.359766,0.063170],[-0.069089,-0.003603,0.997604]]
2025-10-27T18:48:11.528Z,1761590891.528 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:48:11.528Z,1761590891.528 [marl:UpdateRudder:B] Stopped
2025-10-27T18:48:11.528Z,1761590891.528 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:48:11.528Z,1761590891.528 [marl:UpdateRudder] Stopped
2025-10-27T18:48:11.528Z,1761590891.528 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:48:11.578Z,1761590891.578 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:11.828Z,1761590891.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:11.894Z,1761590891.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369515,-0.928393,-0.039301],[0.924791,-0.371549,0.081925],[-0.090661,-0.006073,0.995863]]
2025-10-27T18:48:12.084Z,1761590892.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:12.301Z,1761590892.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379848,-0.923734,-0.049298],[0.918182,-0.382974,0.101357],[-0.112507,-0.006764,0.993628]]
2025-10-27T18:48:12.332Z,1761590892.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:12.584Z,1761590892.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:12.836Z,1761590892.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:13.092Z,1761590893.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:13.157Z,1761590893.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399788,-0.914124,-0.067435],[0.903036,-0.405414,0.142007],[-0.157151,-0.004123,0.987566]]
2025-10-27T18:48:13.341Z,1761590893.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:13.556Z,1761590893.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409506,-0.909015,-0.077445],[0.894471,-0.416754,0.161981],[-0.179519,-0.002940,0.983750]]
2025-10-27T18:48:13.592Z,1761590893.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:13.844Z,1761590893.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:13.973Z,1761590893.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419334,-0.903616,-0.087387],[0.885064,-0.428342,0.182165],[-0.202039,-0.000955,0.979377]]
2025-10-27T18:48:14.097Z,1761590894.097 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:14.348Z,1761590894.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:14.363Z,1761590894.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428845,-0.898229,-0.096315],[0.875139,-0.439521,0.202370],[-0.224107,0.002496,0.974561]]
2025-10-27T18:48:14.601Z,1761590894.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:14.852Z,1761590894.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:15.104Z,1761590895.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:15.176Z,1761590895.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450386,-0.885834,-0.111580],[0.853108,-0.463836,0.238880],[-0.263363,0.012399,0.964617]]
2025-10-27T18:48:15.356Z,1761590895.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:15.581Z,1761590895.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462175,-0.878864,-0.118289],[0.841332,-0.476724,0.254745],[-0.280278,0.018217,0.959746]]
2025-10-27T18:48:15.608Z,1761590895.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:15.860Z,1761590895.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:15.982Z,1761590895.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474754,-0.871137,-0.125415],[0.829154,-0.490485,0.268193],[-0.295147,0.023338,0.955167]]
2025-10-27T18:48:16.112Z,1761590896.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:16.364Z,1761590896.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:16.385Z,1761590896.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487705,-0.862729,-0.133577],[0.816977,-0.504961,0.278501],[-0.307722,0.026697,0.951102]]
2025-10-27T18:48:16.613Z,1761590896.613 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:48:16.618Z,1761590896.618 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:16.831Z,1761590896.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500605,-0.853980,-0.141822],[0.804923,-0.519474,0.286785],[-0.318582,0.029410,0.947439]]
2025-10-27T18:48:16.868Z,1761590896.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:17.120Z,1761590897.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:17.196Z,1761590897.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513970,-0.844181,-0.152292],[0.792809,-0.535270,0.291444],[-0.327549,0.029054,0.944387]]
2025-10-27T18:48:17.372Z,1761590897.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:17.597Z,1761590897.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527030,-0.834166,-0.162500],[0.780873,-0.550779,0.294754],[-0.335375,0.028452,0.941655]]
2025-10-27T18:48:17.615Z,1761590897.615 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:48:17.624Z,1761590897.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:17.879Z,1761590897.879 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:18.002Z,1761590898.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539605,-0.824299,-0.171343],[0.769138,-0.565414,0.297882],[-0.342424,0.028952,0.939099]]
2025-10-27T18:48:18.128Z,1761590898.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:18.380Z,1761590898.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:18.483Z,1761590898.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551780,-0.814007,-0.181471],[0.757456,-0.580193,0.299395],[-0.348998,0.027744,0.936713]]
2025-10-27T18:48:18.632Z,1761590898.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:18.884Z,1761590898.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:18.887Z,1761590898.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563373,-0.803973,-0.190364],[0.745947,-0.594022,0.301166],[-0.355210,0.027667,0.934377]]
2025-10-27T18:48:19.137Z,1761590899.137 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:19.388Z,1761590899.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:19.414Z,1761590899.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574472,-0.794080,-0.198540],[0.734659,-0.607166,0.302698],[-0.360914,0.028032,0.932178]]
2025-10-27T18:48:19.640Z,1761590899.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:19.818Z,1761590899.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585127,-0.784398,-0.205782],[0.723513,-0.619569,0.304406],[-0.366272,0.029231,0.930049]]
2025-10-27T18:48:19.892Z,1761590899.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:20.144Z,1761590900.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:20.226Z,1761590900.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594821,-0.775035,-0.213326],[0.712847,-0.631218,0.305636],[-0.371533,0.029730,0.927943]]
2025-10-27T18:48:20.400Z,1761590900.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:20.633Z,1761590900.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604610,-0.765148,-0.221349],[0.702091,-0.643185,0.305583],[-0.376184,0.029351,0.926080]]
2025-10-27T18:48:20.648Z,1761590900.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:20.900Z,1761590900.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:21.033Z,1761590901.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613869,-0.755247,-0.229712],[0.691452,-0.654822,0.305127],[-0.380867,0.028473,0.924191]]
2025-10-27T18:48:21.152Z,1761590901.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:21.404Z,1761590901.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:21.451Z,1761590901.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622935,-0.745281,-0.237716],[0.680561,-0.666151,0.305089],[-0.385732,0.028270,0.922178]]
2025-10-27T18:48:21.656Z,1761590901.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:21.841Z,1761590901.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632639,-0.734599,-0.245221],[0.668926,-0.677886,0.304972],[-0.390264,0.028902,0.920249]]
2025-10-27T18:48:21.908Z,1761590901.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:22.160Z,1761590902.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:22.247Z,1761590902.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642510,-0.723739,-0.251758],[0.656753,-0.689374,0.305677],[-0.394786,0.031058,0.918248]]
2025-10-27T18:48:22.412Z,1761590902.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:22.650Z,1761590902.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652688,-0.712155,-0.258524],[0.643944,-0.701237,0.305947],[-0.399168,0.033213,0.916276]]
2025-10-27T18:48:22.664Z,1761590902.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:22.916Z,1761590902.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:23.072Z,1761590903.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663713,-0.699910,-0.263839],[0.630395,-0.713272,0.306341],[-0.402601,0.037000,0.914628]]
2025-10-27T18:48:23.168Z,1761590903.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:23.422Z,1761590903.422 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:23.474Z,1761590903.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675428,-0.686824,-0.268458],[0.616325,-0.725658,0.305883],[-0.404897,0.041145,0.913436]]
2025-10-27T18:48:23.672Z,1761590903.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:23.877Z,1761590903.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687213,-0.673700,-0.271784],[0.602505,-0.737586,0.304885],[-0.405865,0.045770,0.912786]]
2025-10-27T18:48:23.925Z,1761590903.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:24.176Z,1761590904.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:24.294Z,1761590904.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711494,-0.645971,-0.276583],[0.576319,-0.761630,0.296272],[-0.402037,0.051395,0.914180]]
2025-10-27T18:48:24.359Z,1761590904.359 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:48:24.359Z,1761590904.359 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateRudder:A] Stopped
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:48:24.360Z,1761590904.360 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateCommandMode] Stopped
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:48:24.361Z,1761590904.361 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:48:24.362Z,1761590904.362 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:48:24.362Z,1761590904.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:48:24.362Z,1761590904.362 [marl:UpdateSpeed] Stopped
2025-10-27T18:48:24.362Z,1761590904.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:48:24.430Z,1761590904.430 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:24.680Z,1761590904.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:24.704Z,1761590904.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722911,-0.632445,-0.278230],[0.564559,-0.772827,0.289847],[-0.398336,0.052456,0.915738]]
2025-10-27T18:48:24.742Z,1761590904.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:48:24.742Z,1761590904.742 [marl:UpdateRudder:B] Stopped
2025-10-27T18:48:24.743Z,1761590904.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:48:24.743Z,1761590904.743 [marl:UpdateRudder] Stopped
2025-10-27T18:48:24.743Z,1761590904.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:48:24.933Z,1761590904.933 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:25.094Z,1761590905.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733302,-0.619616,-0.279900],[0.553934,-0.783174,0.282482],[-0.394241,0.052099,0.917529]]
2025-10-27T18:48:25.184Z,1761590905.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:25.436Z,1761590905.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:25.501Z,1761590905.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742676,-0.608340,-0.279918],[0.544118,-0.791862,0.277291],[-0.390344,0.053629,0.919106]]
2025-10-27T18:48:25.688Z,1761590905.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:25.901Z,1761590905.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750939,-0.597100,-0.282068],[0.534967,-0.800476,0.270276],[-0.387171,0.052064,0.920537]]
2025-10-27T18:48:25.941Z,1761590905.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:26.192Z,1761590906.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:26.307Z,1761590906.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757870,-0.586047,-0.286675],[0.526475,-0.808886,0.261777],[-0.385300,0.047466,0.921570]]
2025-10-27T18:48:26.445Z,1761590906.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:26.696Z,1761590906.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:26.948Z,1761590906.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:27.200Z,1761590907.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:27.452Z,1761590907.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:27.514Z,1761590907.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773917,-0.552046,-0.310319],[0.500771,-0.833424,0.233739],[-0.387661,0.025496,0.921449]]
2025-10-27T18:48:27.704Z,1761590907.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:27.930Z,1761590907.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778551,-0.540507,-0.318920],[0.491884,-0.841144,0.224781],[-0.389753,0.018131,0.920741]]
2025-10-27T18:48:27.956Z,1761590907.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:28.208Z,1761590908.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:28.322Z,1761590908.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783951,-0.527669,-0.327086],[0.482232,-0.849386,0.214466],[-0.390989,0.010400,0.920336]]
2025-10-27T18:48:28.461Z,1761590908.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:28.712Z,1761590908.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:28.740Z,1761590908.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789994,-0.514050,-0.334159],[0.472177,-0.857756,0.203233],[-0.391099,0.002771,0.920345]]
2025-10-27T18:48:28.964Z,1761590908.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:29.131Z,1761590909.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796838,-0.498595,-0.341250],[0.461816,-0.866801,0.188104],[-0.389583,-0.007706,0.920959]]
2025-10-27T18:48:29.217Z,1761590909.217 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:29.468Z,1761590909.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:29.534Z,1761590909.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804087,-0.482709,-0.347039],[0.451766,-0.875571,0.171123],[-0.386460,-0.019183,0.922107]]
2025-10-27T18:48:29.721Z,1761590909.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:29.972Z,1761590909.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:30.224Z,1761590910.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:30.341Z,1761590910.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820218,-0.452284,-0.350259],[0.431507,-0.891143,0.140238],[-0.375558,-0.036113,0.926095]]
2025-10-27T18:48:30.476Z,1761590910.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:30.728Z,1761590910.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:30.795Z,1761590910.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829383,-0.437587,-0.347336],[0.420143,-0.898314,0.128495],[-0.368244,-0.039359,0.928896]]
2025-10-27T18:48:30.980Z,1761590910.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:31.150Z,1761590911.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839341,-0.422134,-0.342504],[0.407073,-0.905658,0.118641],[-0.360274,-0.039843,0.931995]]
2025-10-27T18:48:31.232Z,1761590911.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:31.484Z,1761590911.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:31.554Z,1761590911.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849560,-0.406622,-0.336014],[0.392643,-0.912853,0.111937],[-0.352248,-0.036837,0.935181]]
2025-10-27T18:48:31.736Z,1761590911.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:31.959Z,1761590911.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858668,-0.393722,-0.328134],[0.379046,-0.918756,0.110504],[-0.344983,-0.029491,0.938145]]
2025-10-27T18:48:31.988Z,1761590911.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:32.240Z,1761590912.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:32.362Z,1761590912.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866244,-0.383189,-0.320605],[0.366843,-0.923451,0.112537],[-0.339186,-0.020127,0.940504]]
2025-10-27T18:48:32.492Z,1761590912.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:32.745Z,1761590912.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:32.823Z,1761590912.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873231,-0.372165,-0.314581],[0.354482,-0.928089,0.113986],[-0.334381,-0.011977,0.942362]]
2025-10-27T18:48:32.996Z,1761590912.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:33.171Z,1761590913.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879663,-0.360415,-0.310314],[0.341679,-0.932778,0.114805],[-0.330831,-0.005038,0.943676]]
2025-10-27T18:48:33.252Z,1761590913.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:33.504Z,1761590913.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:33.574Z,1761590913.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885506,-0.347921,-0.307945],[0.328764,-0.937524,0.113857],[-0.328319,-0.000420,0.944567]]
2025-10-27T18:48:33.758Z,1761590913.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:33.978Z,1761590913.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890496,-0.335920,-0.306878],[0.316502,-0.941885,0.112600],[-0.326868,0.003143,0.945065]]
2025-10-27T18:48:34.008Z,1761590914.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:34.260Z,1761590914.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:34.382Z,1761590914.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894662,-0.324452,-0.307101],[0.305032,-0.945887,0.110693],[-0.326398,0.005357,0.945217]]
2025-10-27T18:48:34.512Z,1761590914.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:34.766Z,1761590914.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:34.849Z,1761590914.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898340,-0.312757,-0.308493],[0.293964,-0.949818,0.106915],[-0.326450,0.005361,0.945199]]
2025-10-27T18:48:35.016Z,1761590915.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:35.268Z,1761590915.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:35.520Z,1761590915.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:35.638Z,1761590915.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906937,-0.285497,-0.309769],[0.269359,-0.958377,0.094656],[-0.323899,0.002408,0.946088]]
2025-10-27T18:48:35.772Z,1761590915.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:36.024Z,1761590916.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:36.045Z,1761590916.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912168,-0.270526,-0.307839],[0.256246,-0.962713,0.086730],[-0.319823,0.000230,0.947477]]
2025-10-27T18:48:36.276Z,1761590916.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:36.446Z,1761590916.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917755,-0.256719,-0.303020],[0.243468,-0.966486,0.081418],[-0.313766,0.000946,0.949500]]
2025-10-27T18:48:36.528Z,1761590916.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:36.783Z,1761590916.783 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:36.879Z,1761590916.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923825,-0.242783,-0.295979],[0.229953,-0.970072,0.077980],[-0.306054,0.003979,0.952006]]
2025-10-27T18:48:37.032Z,1761590917.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:37.278Z,1761590917.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930372,-0.227655,-0.287368],[0.214846,-0.973702,0.075798],[-0.297067,0.008781,0.954816]]
2025-10-27T18:48:37.284Z,1761590917.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:37.536Z,1761590917.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:37.709Z,1761590917.709 [NAL9602](INFO): Powering up NAL9602
2025-10-27T18:48:37.756Z,1761590917.756 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:48:37.756Z,1761590917.756 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:48:37.757Z,1761590917.757 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:48:37.757Z,1761590917.757 [marl:UpdateRudder:A] Stopped
2025-10-27T18:48:37.757Z,1761590917.757 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:48:37.757Z,1761590917.757 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode] Stopped
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:48:37.758Z,1761590917.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:48:37.759Z,1761590917.759 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:48:37.779Z,1761590917.779 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:48:37.779Z,1761590917.779 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:48:37.779Z,1761590917.779 [marl:UpdateSpeed] Stopped
2025-10-27T18:48:37.779Z,1761590917.779 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:48:37.788Z,1761590917.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:38.040Z,1761590918.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:38.088Z,1761590918.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943908,-0.190157,-0.269960],[0.177566,-0.981576,0.070559],[-0.278404,0.018665,0.960283]]
2025-10-27T18:48:38.111Z,1761590918.111 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:48:38.111Z,1761590918.111 [marl:UpdateRudder:B] Stopped
2025-10-27T18:48:38.111Z,1761590918.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:48:38.111Z,1761590918.111 [marl:UpdateRudder] Stopped
2025-10-27T18:48:38.111Z,1761590918.111 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:48:38.292Z,1761590918.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:38.491Z,1761590918.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950198,-0.167863,-0.262574],[0.156059,-0.985584,0.065338],[-0.269757,0.021107,0.962697]]
2025-10-27T18:48:38.545Z,1761590918.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:38.797Z,1761590918.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:38.898Z,1761590918.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955391,-0.145918,-0.256779],[0.135264,-0.989065,0.058777],[-0.262547,0.021422,0.964681]]
2025-10-27T18:48:39.048Z,1761590919.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:39.298Z,1761590919.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958913,-0.129418,-0.252463],[0.118655,-0.991271,0.057466],[-0.257696,0.025149,0.965899]]
2025-10-27T18:48:39.300Z,1761590919.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:39.552Z,1761590919.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:39.702Z,1761590919.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961053,-0.116861,-0.250442],[0.106059,-0.992767,0.056253],[-0.255205,0.027500,0.966496]]
2025-10-27T18:48:39.804Z,1761590919.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:40.056Z,1761590920.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:40.109Z,1761590920.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962598,-0.106441,-0.249151],[0.095726,-0.993900,0.054769],[-0.253461,0.028871,0.966915]]
2025-10-27T18:48:40.308Z,1761590920.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:40.509Z,1761590920.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963836,-0.097536,-0.248004],[0.086919,-0.994781,0.053435],[-0.251922,0.029946,0.967284]]
2025-10-27T18:48:40.560Z,1761590920.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:40.814Z,1761590920.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:40.924Z,1761590920.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964855,-0.088601,-0.247394],[0.078586,-0.995648,0.050089],[-0.250756,0.028887,0.967619]]
2025-10-27T18:48:41.065Z,1761590921.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:41.316Z,1761590921.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:41.319Z,1761590921.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965686,-0.078057,-0.247703],[0.069192,-0.996619,0.044308],[-0.250324,0.025649,0.967822]]
2025-10-27T18:48:41.568Z,1761590921.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:41.726Z,1761590921.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966326,-0.065547,-0.248833],[0.057727,-0.997586,0.038603],[-0.250763,0.022939,0.967777]]
2025-10-27T18:48:41.820Z,1761590921.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:42.072Z,1761590922.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:42.125Z,1761590922.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966492,-0.051283,-0.251523],[0.044305,-0.998462,0.033331],[-0.252845,0.021070,0.967277]]
2025-10-27T18:48:42.324Z,1761590922.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:42.529Z,1761590922.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966026,-0.035460,-0.256000],[0.029192,-0.999175,0.028246],[-0.256790,0.019814,0.966264]]
2025-10-27T18:48:42.576Z,1761590922.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:42.830Z,1761590922.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:42.936Z,1761590922.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965026,-0.017946,-0.261539],[0.011901,-0.999625,0.024677],[-0.261883,0.020701,0.964877]]
2025-10-27T18:48:43.080Z,1761590923.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:43.332Z,1761590923.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:43.348Z,1761590923.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963521,0.000632,-0.267631],[-0.006744,-0.999737,0.021920],[-0.267546,0.022925,0.963272]]
2025-10-27T18:48:43.584Z,1761590923.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:43.750Z,1761590923.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961630,0.020428,-0.273589],[-0.026362,-0.999490,0.018029],[-0.273081,0.024550,0.961678]]
2025-10-27T18:48:43.836Z,1761590923.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:44.088Z,1761590924.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:44.146Z,1761590924.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959496,0.040306,-0.278826],[-0.046440,-0.998802,0.015427],[-0.277870,0.027750,0.960218]]
2025-10-27T18:48:44.340Z,1761590924.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:44.551Z,1761590924.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957124,0.060204,-0.283354],[-0.066463,-0.997710,0.012518],[-0.281952,0.030814,0.958934]]
2025-10-27T18:48:44.594Z,1761590924.594 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:44.844Z,1761590924.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:44.953Z,1761590924.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954635,0.079423,-0.286993],[-0.085651,-0.996283,0.009191],[-0.285196,0.033355,0.957889]]
2025-10-27T18:48:45.096Z,1761590925.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:45.348Z,1761590925.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:45.362Z,1761590925.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952145,0.097560,-0.289657],[-0.104028,-0.994550,0.006978],[-0.287397,0.036777,0.957105]]
2025-10-27T18:48:45.601Z,1761590925.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:45.766Z,1761590925.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949702,0.116067,-0.290851],[-0.122020,-0.992525,0.002349],[-0.288404,0.037720,0.956765]]
2025-10-27T18:48:45.853Z,1761590925.853 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:46.104Z,1761590926.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:46.166Z,1761590926.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947140,0.134907,-0.291078],[-0.140768,-0.990042,-0.000814],[-0.288289,0.040204,0.956699]]
2025-10-27T18:48:46.356Z,1761590926.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:46.570Z,1761590926.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944321,0.154043,-0.290737],[-0.160215,-0.987079,-0.002609],[-0.287383,0.044116,0.956799]]
2025-10-27T18:48:46.608Z,1761590926.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:46.860Z,1761590926.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:46.974Z,1761590926.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940828,0.173795,-0.290925],[-0.180803,-0.983515,-0.002837],[-0.286622,0.049931,0.956742]]
2025-10-27T18:48:47.113Z,1761590927.113 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:47.364Z,1761590927.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:47.416Z,1761590927.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936904,0.191761,-0.292300],[-0.199634,-0.979866,-0.002950],[-0.286980,0.055589,0.956322]]
2025-10-27T18:48:47.616Z,1761590927.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:47.745Z,1761590927.745 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:48:47.782Z,1761590927.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932616,0.206374,-0.296037],[-0.215411,-0.976521,-0.002138],[-0.289528,0.061775,0.955174]]
2025-10-27T18:48:47.868Z,1761590927.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:48.120Z,1761590928.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:48.373Z,1761590928.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:48.590Z,1761590928.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922750,0.233302,-0.306761],[-0.239336,-0.970763,-0.018365],[-0.302077,0.056472,0.951609]]
2025-10-27T18:48:48.594Z,1761590928.594 [NAL9602](INFO): NAL9602 initialized
2025-10-27T18:48:48.624Z,1761590928.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:48.753Z,1761590928.753 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:48:48.876Z,1761590928.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:48.993Z,1761590928.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917916,0.245341,-0.311831],[-0.247377,-0.968334,-0.033674],[-0.310218,0.046230,0.949541]]
2025-10-27T18:48:49.129Z,1761590929.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:49.381Z,1761590929.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:49.426Z,1761590929.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913165,0.257278,-0.316129],[-0.254380,-0.965750,-0.051167],[-0.318465,0.033693,0.947336]]
2025-10-27T18:48:49.633Z,1761590929.633 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:49.802Z,1761590929.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907978,0.271656,-0.319027],[-0.263354,-0.962173,-0.069774],[-0.325914,0.020664,0.945174]]
2025-10-27T18:48:49.885Z,1761590929.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:50.136Z,1761590930.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:50.388Z,1761590930.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:50.640Z,1761590930.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:50.647Z,1761590930.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896788,0.305884,-0.319698],[-0.291216,-0.952028,-0.093997],[-0.333114,0.008806,0.942845]]
2025-10-27T18:48:50.893Z,1761590930.893 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:51.052Z,1761590931.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890651,0.323850,-0.319160],[-0.309944,-0.946000,-0.094967],[-0.332680,0.014339,0.942931]]
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateRudder:A] Stopped
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:48:51.141Z,1761590931.141 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateCommandMode] Stopped
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:48:51.142Z,1761590931.142 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:48:51.144Z,1761590931.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:51.144Z,1761590931.144 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:48:51.144Z,1761590931.144 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:48:51.144Z,1761590931.144 [marl:UpdateSpeed] Stopped
2025-10-27T18:48:51.145Z,1761590931.145 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:48:51.397Z,1761590931.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:51.458Z,1761590931.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882920,0.341733,-0.321979],[-0.332274,-0.939277,-0.085752],[-0.331732,0.031273,0.942855]]
2025-10-27T18:48:51.534Z,1761590931.534 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-27T18:48:51.534Z,1761590931.534 [marl:UpdateRudder:B] Stopped
2025-10-27T18:48:51.534Z,1761590931.534 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:48:51.534Z,1761590931.534 [marl:UpdateRudder] Stopped
2025-10-27T18:48:51.534Z,1761590931.534 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:48:51.648Z,1761590931.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:51.858Z,1761590931.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873005,0.359606,-0.329463],[-0.357133,-0.931405,-0.070295],[-0.332142,0.056295,0.941548]]
2025-10-27T18:48:51.901Z,1761590931.901 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:52.152Z,1761590932.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:52.261Z,1761590932.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861117,0.377691,-0.340334],[-0.382334,-0.922315,-0.056168],[-0.335110,0.081754,0.938625]]
2025-10-27T18:48:52.405Z,1761590932.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:52.656Z,1761590932.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:52.667Z,1761590932.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849262,0.393171,-0.352377],[-0.403314,-0.913823,-0.047589],[-0.340721,0.101703,0.934647]]
2025-10-27T18:48:52.908Z,1761590932.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:53.071Z,1761590933.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838318,0.407260,-0.362438],[-0.417941,-0.906960,-0.052426],[-0.350068,0.107528,0.930532]]
2025-10-27T18:48:53.160Z,1761590933.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:53.412Z,1761590933.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:53.474Z,1761590933.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828355,0.420517,-0.370126],[-0.426709,-0.901715,-0.069489],[-0.362970,0.100375,0.926379]]
2025-10-27T18:48:53.664Z,1761590933.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:53.892Z,1761590933.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819921,0.433013,-0.374471],[-0.431042,-0.897429,-0.093939],[-0.376738,0.084390,0.922468]]
2025-10-27T18:48:53.918Z,1761590933.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:54.168Z,1761590934.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:54.281Z,1761590934.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813247,0.444290,-0.375813],[-0.433907,-0.893312,-0.117122],[-0.387755,0.067819,0.919264]]
2025-10-27T18:48:54.420Z,1761590934.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:54.672Z,1761590934.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:54.690Z,1761590934.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806340,0.456937,-0.375533],[-0.440976,-0.887590,-0.133135],[-0.394153,0.058249,0.917197]]
2025-10-27T18:48:54.924Z,1761590934.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:55.160Z,1761590935.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782915,0.496224,-0.375241],[-0.476662,-0.866061,-0.150769],[-0.399797,0.060824,0.914583]]
2025-10-27T18:48:55.176Z,1761590935.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:55.428Z,1761590935.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:55.558Z,1761590935.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766882,0.519147,-0.377332],[-0.499971,-0.851889,-0.155929],[-0.402395,0.069076,0.912857]]
2025-10-27T18:48:55.680Z,1761590935.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:55.932Z,1761590935.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:55.965Z,1761590935.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752767,0.536717,-0.381152],[-0.519797,-0.839904,-0.156119],[-0.403923,0.080600,0.911236]]
2025-10-27T18:48:56.184Z,1761590936.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:56.365Z,1761590936.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739093,0.555972,-0.380312],[-0.540185,-0.826494,-0.158452],[-0.402420,0.088328,0.911184]]
2025-10-27T18:48:56.436Z,1761590936.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:56.689Z,1761590936.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:56.820Z,1761590936.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726527,0.576793,-0.373454],[-0.561593,-0.811604,-0.160970],[-0.395944,0.092780,0.913576]]
2025-10-27T18:48:56.940Z,1761590936.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:57.174Z,1761590937.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713958,0.594079,-0.370586],[-0.580814,-0.798076,-0.160403],[-0.391048,0.100720,0.914842]]
2025-10-27T18:48:57.192Z,1761590937.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:57.444Z,1761590937.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:57.577Z,1761590937.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699976,0.607850,-0.374902],[-0.594962,-0.786703,-0.164679],[-0.395036,0.107781,0.912321]]
2025-10-27T18:48:57.697Z,1761590937.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:57.948Z,1761590937.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:57.984Z,1761590937.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685794,0.620563,-0.380247],[-0.604375,-0.776673,-0.177512],[-0.405485,0.108075,0.907690]]
2025-10-27T18:48:58.200Z,1761590938.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:58.401Z,1761590938.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674091,0.635142,-0.377089],[-0.614272,-0.765544,-0.191343],[-0.410208,0.102653,0.906196]]
2025-10-27T18:48:58.452Z,1761590938.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:58.704Z,1761590938.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:58.830Z,1761590938.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663187,0.653198,-0.365398],[-0.628927,-0.751017,-0.201058],[-0.405751,0.096469,0.908878]]
2025-10-27T18:48:58.956Z,1761590938.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:59.194Z,1761590939.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653139,0.669139,-0.354489],[-0.644727,-0.736927,-0.203139],[-0.397161,0.095870,0.912728]]
2025-10-27T18:48:59.208Z,1761590939.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:59.460Z,1761590939.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:59.598Z,1761590939.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642453,0.683439,-0.346648],[-0.659946,-0.723356,-0.203044],[-0.389518,0.098323,0.915755]]
2025-10-27T18:48:59.712Z,1761590939.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:48:59.964Z,1761590939.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:00.216Z,1761590940.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:00.468Z,1761590940.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:00.724Z,1761590940.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:00.837Z,1761590940.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596008,0.729167,-0.336288],[-0.701000,-0.676744,-0.224980],[-0.391629,0.101648,0.914491]]
2025-10-27T18:49:00.972Z,1761590940.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:01.214Z,1761590941.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589813,0.740093,-0.323084],[-0.705746,-0.666862,-0.239202],[-0.392484,0.086930,0.915641]]
2025-10-27T18:49:01.224Z,1761590941.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:01.476Z,1761590941.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:01.619Z,1761590941.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593897,0.745189,-0.303281],[-0.704629,-0.663712,-0.250966],[-0.388308,0.064652,0.919259]]
2025-10-27T18:49:01.728Z,1761590941.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:01.980Z,1761590941.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:02.022Z,1761590942.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600366,0.749161,-0.279854],[-0.704130,-0.661088,-0.259158],[-0.379160,0.041464,0.924402]]
2025-10-27T18:49:02.232Z,1761590942.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:02.426Z,1761590942.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598627,0.760796,-0.250670],[-0.711516,-0.648774,-0.269885],[-0.367955,0.016795,0.929692]]
2025-10-27T18:49:02.484Z,1761590942.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:02.736Z,1761590942.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:02.840Z,1761590942.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589642,0.776040,-0.223795],[-0.721358,-0.630641,-0.286241],[-0.363269,-0.007344,0.931655]]
2025-10-27T18:49:02.989Z,1761590942.989 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:03.235Z,1761590943.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570531,0.793902,-0.210272],[-0.736059,-0.607856,-0.297873],[-0.364297,-0.015173,0.931159]]
2025-10-27T18:49:03.240Z,1761590943.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:03.357Z,1761590943.357 [marl:NeedComms:C] Running Loop=1
2025-10-27T18:49:03.492Z,1761590943.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:03.667Z,1761590943.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540684,0.813933,-0.212540],[-0.766068,-0.580791,-0.275358],[-0.347565,0.013939,0.937552]]
2025-10-27T18:49:03.720Z,1761590943.720 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:49:03.739Z,1761590943.739 [Radio_Surface](INFO): Powering up
2025-10-27T18:49:03.747Z,1761590943.747 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:03.996Z,1761590943.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:04.056Z,1761590944.056 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:49:04.056Z,1761590944.056 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:49:04.096Z,1761590944.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516805,0.822937,-0.235983],[-0.796710,-0.563199,-0.219227],[-0.313316,0.074712,0.946705]]
2025-10-27T18:49:04.199Z,1761590944.199 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:49:04.199Z,1761590944.199 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:49:04.199Z,1761590944.199 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateRudder:A] Stopped
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:49:04.200Z,1761590944.200 [marl:UpdateCommandMode] Stopped
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed] Stopped
2025-10-27T18:49:04.201Z,1761590944.201 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:49:04.248Z,1761590944.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:04.477Z,1761590944.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487111,0.842966,-0.228323],[-0.836780,-0.525339,-0.154333],[-0.250044,0.115879,0.961275]]
2025-10-27T18:49:04.500Z,1761590944.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:04.560Z,1761590944.560 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:49:04.560Z,1761590944.560 [marl:UpdateRudder:B] Stopped
2025-10-27T18:49:04.560Z,1761590944.560 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:49:04.560Z,1761590944.560 [marl:UpdateRudder] Stopped
2025-10-27T18:49:04.561Z,1761590944.561 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:49:04.753Z,1761590944.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:04.890Z,1761590944.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465565,0.864035,-0.191554],[-0.863761,-0.490762,-0.114320],[-0.192784,0.112234,0.974801]]
2025-10-27T18:49:05.004Z,1761590945.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:05.257Z,1761590945.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:05.286Z,1761590945.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479192,0.869767,-0.117813],[-0.872020,-0.487037,-0.048748],[-0.099779,0.079376,0.991839]]
2025-10-27T18:49:05.511Z,1761590945.511 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:05.691Z,1761590945.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478939,0.877345,-0.029703],[-0.876536,-0.479799,-0.038441],[-0.047977,0.007625,0.998819]]
2025-10-27T18:49:05.760Z,1761590945.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:06.012Z,1761590946.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:06.192Z,1761590946.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470511,0.880855,0.052088],[-0.880908,-0.465474,-0.085646],[-0.051196,-0.086182,0.994963]]
2025-10-27T18:49:06.264Z,1761590946.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:06.516Z,1761590946.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:06.594Z,1761590946.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459279,0.873934,0.159068],[-0.888288,-0.452391,-0.079285],[0.002671,-0.177712,0.984079]]
2025-10-27T18:49:06.771Z,1761590946.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:06.999Z,1761590946.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425250,0.875263,0.230384],[-0.902038,-0.430699,-0.028719],[0.074089,-0.220028,0.972676]]
2025-10-27T18:49:07.020Z,1761590947.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:07.272Z,1761590947.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:07.406Z,1761590947.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414999,0.878750,0.235744],[-0.905699,-0.423649,-0.015195],[0.086520,-0.219819,0.971696]]
2025-10-27T18:49:07.524Z,1761590947.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:07.776Z,1761590947.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:07.806Z,1761590947.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420007,0.877905,0.229951],[-0.903259,-0.428920,-0.012283],[0.087847,-0.212865,0.973125]]
2025-10-27T18:49:08.029Z,1761590948.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:08.210Z,1761590948.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399057,0.889973,0.220683],[-0.906461,-0.419164,0.051274],[0.138135,-0.179580,0.973997]]
2025-10-27T18:49:08.280Z,1761590948.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:08.532Z,1761590948.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:08.640Z,1761590948.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361829,0.916145,0.172507],[-0.914589,-0.384689,0.124668],[0.180575,-0.112665,0.977087]]
2025-10-27T18:49:08.785Z,1761590948.785 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:08.991Z,1761590948.991 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-27T18:49:08.992Z,1761590948.992 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-27T18:49:09.036Z,1761590949.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:09.288Z,1761590949.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:09.447Z,1761590949.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304889,0.952290,-0.013618],[-0.946793,-0.301519,0.112560],[0.103084,0.047212,0.993552]]
2025-10-27T18:49:09.545Z,1761590949.545 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:09.796Z,1761590949.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:09.859Z,1761590949.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304087,0.951990,-0.035296],[-0.949855,-0.300156,0.087645],[0.072843,0.060178,0.995526]]
2025-10-27T18:49:10.048Z,1761590950.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:10.300Z,1761590950.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:10.552Z,1761590950.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:10.658Z,1761590950.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315006,0.943238,0.105225],[-0.943560,-0.323191,0.072402],[0.102300,-0.076479,0.991809]]
2025-10-27T18:49:10.806Z,1761590950.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:11.056Z,1761590951.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:11.064Z,1761590951.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304341,0.938775,0.161486],[-0.941740,-0.322011,0.097134],[0.143187,-0.122516,0.982083]]
2025-10-27T18:49:11.308Z,1761590951.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:11.466Z,1761590951.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295205,0.943927,0.147837],[-0.943708,-0.312238,0.109188],[0.149226,-0.107282,0.982966]]
2025-10-27T18:49:11.560Z,1761590951.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:11.812Z,1761590951.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:11.878Z,1761590951.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299937,0.946882,0.115986],[-0.944174,-0.312028,0.105710],[0.136286,-0.077805,0.987610]]
2025-10-27T18:49:12.064Z,1761590952.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:12.316Z,1761590952.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:12.568Z,1761590952.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:12.822Z,1761590952.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:13.072Z,1761590953.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:13.083Z,1761590953.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304006,0.942391,0.139566],[-0.946240,-0.315689,0.070505],[0.110503,-0.110629,0.987700]]
2025-10-27T18:49:13.324Z,1761590953.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:13.486Z,1761590953.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315844,0.939580,0.132031],[-0.944025,-0.325153,0.055613],[0.095183,-0.107075,0.989684]]
2025-10-27T18:49:13.576Z,1761590953.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:13.828Z,1761590953.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:13.890Z,1761590953.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332804,0.936061,0.114151],[-0.937491,-0.341489,0.067055],[0.101749,-0.084699,0.991198]]
2025-10-27T18:49:14.080Z,1761590954.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:14.296Z,1761590954.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331247,0.936863,0.112086],[-0.933188,-0.342843,0.107788],[0.139410,-0.068893,0.987835]]
2025-10-27T18:49:14.332Z,1761590954.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:14.584Z,1761590954.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:14.698Z,1761590954.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307259,0.941648,0.137443],[-0.932313,-0.326817,0.154864],[0.190746,-0.080557,0.978328]]
2025-10-27T18:49:14.837Z,1761590954.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:15.088Z,1761590955.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:15.104Z,1761590955.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283627,0.947104,0.150163],[-0.934330,-0.308186,0.179022],[0.215831,-0.089527,0.972318]]
2025-10-27T18:49:15.344Z,1761590955.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:15.516Z,1761590955.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273219,0.950405,0.148601],[-0.941522,-0.295875,0.161226],[0.197198,-0.095861,0.975666]]
2025-10-27T18:49:15.596Z,1761590955.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:15.848Z,1761590955.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:16.100Z,1761590956.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:16.314Z,1761590956.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267496,0.959427,0.089139],[-0.953967,-0.276718,0.115643],[0.135618,-0.054101,0.989283]]
2025-10-27T18:49:16.353Z,1761590956.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:16.604Z,1761590956.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:16.718Z,1761590956.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274028,0.959607,0.063741],[-0.948937,-0.280562,0.144231],[0.156288,-0.020963,0.987489]]
2025-10-27T18:49:16.856Z,1761590956.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:17.108Z,1761590957.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:17.150Z,1761590957.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266265,0.958868,0.098360],[-0.947489,-0.279115,0.156073],[0.177107,-0.051638,0.982836]]
2025-10-27T18:49:17.362Z,1761590957.362 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:17.609Z,1761590957.609 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:49:17.609Z,1761590957.609 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateRudder:A] Stopped
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:49:17.610Z,1761590957.610 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:49:17.612Z,1761590957.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:17.611Z,1761590957.611 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateCommandMode] Stopped
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:49:17.613Z,1761590957.613 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:49:17.614Z,1761590957.614 [marl:UpdateSpeed] Stopped
2025-10-27T18:49:17.614Z,1761590957.614 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:49:17.864Z,1761590957.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:17.948Z,1761590957.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267151,0.958172,0.102653],[-0.941552,-0.282222,0.183930],[0.205207,-0.047516,0.977564]]
2025-10-27T18:49:18.000Z,1761590958.000 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:49:18.000Z,1761590958.000 [marl:UpdateRudder:B] Stopped
2025-10-27T18:49:18.000Z,1761590958.000 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:49:18.000Z,1761590958.000 [marl:UpdateRudder] Stopped
2025-10-27T18:49:18.001Z,1761590958.001 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:49:18.116Z,1761590958.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:18.361Z,1761590958.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255472,0.960684,0.108722],[-0.943215,-0.272350,0.190186],[0.212319,-0.053961,0.975709]]
2025-10-27T18:49:18.368Z,1761590958.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:18.620Z,1761590958.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:18.765Z,1761590958.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244759,0.962139,0.119921],[-0.948957,-0.263089,0.173968],[0.198931,-0.071220,0.977422]]
2025-10-27T18:49:18.872Z,1761590958.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:18.875Z,1761590958.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:49:19.124Z,1761590959.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:19.167Z,1761590959.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235756,0.962037,0.137490],[-0.953013,-0.256563,0.161062],[0.190222,-0.093058,0.977321]]
2025-10-27T18:49:19.376Z,1761590959.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:19.559Z,1761590959.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227228,0.964561,0.134123],[-0.952071,-0.248990,0.177666],[0.204765,-0.087324,0.974908]]
2025-10-27T18:49:19.636Z,1761590959.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:19.879Z,1761590959.879 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-27T18:49:19.879Z,1761590959.879 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:49:19.888Z,1761590959.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:19.961Z,1761590959.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211400,0.971274,0.109252],[-0.953010,-0.229648,0.197569],[0.216983,-0.062352,0.974182]]
2025-10-27T18:49:20.140Z,1761590960.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:20.371Z,1761590960.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199968,0.976248,0.083385],[-0.956625,-0.212931,0.198820],[0.211853,-0.040011,0.976482]]
2025-10-27T18:49:20.392Z,1761590960.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:20.644Z,1761590960.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:20.798Z,1761590960.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198695,0.977938,0.064487],[-0.956598,-0.207829,0.204274],[0.213169,-0.021100,0.976788]]
2025-10-27T18:49:20.896Z,1761590960.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:21.149Z,1761590961.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:21.173Z,1761590961.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195302,0.978830,0.061230],[-0.954750,-0.204034,0.216385],[0.224298,-0.016199,0.974386]]
2025-10-27T18:49:21.400Z,1761590961.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:21.585Z,1761590961.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188642,0.979313,0.073213],[-0.955711,-0.200222,0.215703],[0.225900,-0.029280,0.973710]]
2025-10-27T18:49:21.652Z,1761590961.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:21.904Z,1761590961.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:21.983Z,1761590961.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191390,0.978481,0.077107],[-0.956182,-0.203607,0.210382],[0.221554,-0.033463,0.974574]]
2025-10-27T18:49:22.156Z,1761590962.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:22.408Z,1761590962.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:22.660Z,1761590962.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:22.830Z,1761590962.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207629,0.971643,0.113141],[-0.948672,-0.228215,0.218950],[0.238561,-0.061874,0.969154]]
2025-10-27T18:49:22.912Z,1761590962.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:23.164Z,1761590963.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:23.194Z,1761590963.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216977,0.966866,0.134505],[-0.942706,-0.243311,0.228268],[0.253431,-0.077269,0.964262]]
2025-10-27T18:49:23.416Z,1761590963.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:23.600Z,1761590963.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225439,0.963097,0.147040],[-0.938435,-0.255213,0.232823],[0.261758,-0.085500,0.961339]]
2025-10-27T18:49:23.669Z,1761590963.669 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:23.920Z,1761590963.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:24.001Z,1761590964.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229666,0.961600,0.150263],[-0.934751,-0.260936,0.241148],[0.271097,-0.085075,0.958785]]
2025-10-27T18:49:24.172Z,1761590964.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:24.406Z,1761590964.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222788,0.964143,0.144199],[-0.930875,-0.254327,0.262276],[0.289545,-0.075799,0.954158]]
2025-10-27T18:49:24.424Z,1761590964.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:24.676Z,1761590964.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:24.836Z,1761590964.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202421,0.969769,0.136286],[-0.931148,-0.233696,0.279910],[0.303298,-0.070243,0.950303]]
2025-10-27T18:49:24.928Z,1761590964.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:25.180Z,1761590965.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:25.224Z,1761590965.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188502,0.973569,0.128960],[-0.935576,-0.217949,0.277843],[0.298606,-0.068278,0.951931]]
2025-10-27T18:49:25.433Z,1761590965.433 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:25.618Z,1761590965.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194801,0.973834,0.117043],[-0.937665,-0.219911,0.269118],[0.287815,-0.057322,0.955969]]
2025-10-27T18:49:25.693Z,1761590965.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:25.944Z,1761590965.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:26.021Z,1761590966.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214119,0.970494,0.110885],[-0.931794,-0.236994,0.274944],[0.293110,-0.044452,0.955045]]
2025-10-27T18:49:26.196Z,1761590966.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:26.448Z,1761590966.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:26.451Z,1761590966.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224277,0.966903,0.121649],[-0.924648,-0.250557,0.286788],[0.307777,-0.048163,0.950239]]
2025-10-27T18:49:26.700Z,1761590966.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:26.952Z,1761590966.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:27.204Z,1761590967.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:27.261Z,1761590967.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217579,0.965081,0.145869],[-0.917497,-0.253212,0.306729],[0.332954,-0.067097,0.940553]]
2025-10-27T18:49:27.457Z,1761590967.457 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:27.657Z,1761590967.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208956,0.966541,0.148783],[-0.915581,-0.246811,0.317483],[0.343582,-0.069883,0.936519]]
2025-10-27T18:49:27.709Z,1761590967.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:27.960Z,1761590967.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:28.062Z,1761590968.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203185,0.968453,0.144270],[-0.916685,-0.239929,0.319568],[0.344101,-0.067318,0.936516]]
2025-10-27T18:49:28.213Z,1761590968.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:28.464Z,1761590968.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:28.467Z,1761590968.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198874,0.971146,0.131623],[-0.920746,-0.231153,0.314316],[0.335672,-0.058682,0.940149]]
2025-10-27T18:49:28.716Z,1761590968.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:28.870Z,1761590968.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191487,0.974631,0.115875],[-0.926582,-0.218445,0.306151],[0.323696,-0.048744,0.944905]]
2025-10-27T18:49:28.968Z,1761590968.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:29.220Z,1761590969.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:29.274Z,1761590969.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183256,0.977585,0.103654],[-0.931375,-0.206392,0.299905],[0.314576,-0.041582,0.948321]]
2025-10-27T18:49:29.472Z,1761590969.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:29.692Z,1761590969.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171355,0.980674,0.094424],[-0.933819,-0.192219,0.301718],[0.314037,-0.036475,0.948710]]
2025-10-27T18:49:29.724Z,1761590969.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:29.976Z,1761590969.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:30.120Z,1761590970.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153082,0.983845,0.092822],[-0.936728,-0.174387,0.303527],[0.314811,-0.040485,0.948291]]
2025-10-27T18:49:30.229Z,1761590970.229 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:30.480Z,1761590970.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:30.522Z,1761590970.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142253,0.984742,0.100237],[-0.942376,-0.165716,0.290631],[0.302807,-0.053118,0.951570]]
2025-10-27T18:49:30.733Z,1761590970.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:30.984Z,1761590970.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:31.003Z,1761590971.003 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:49:31.007Z,1761590971.007 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:49:31.007Z,1761590971.007 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateRudder:A] Stopped
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:49:31.008Z,1761590971.008 [marl:UpdateCommandMode] Stopped
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed] Stopped
2025-10-27T18:49:31.009Z,1761590971.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:49:31.236Z,1761590971.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:31.346Z,1761590971.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171236,0.977885,0.120081],[-0.951845,-0.195660,0.236027],[0.254302,-0.073882,0.964299]]
2025-10-27T18:49:31.370Z,1761590971.370 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:49:31.370Z,1761590971.370 [marl:UpdateRudder:B] Stopped
2025-10-27T18:49:31.370Z,1761590971.370 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:49:31.370Z,1761590971.370 [marl:UpdateRudder] Stopped
2025-10-27T18:49:31.370Z,1761590971.370 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:49:31.488Z,1761590971.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:31.741Z,1761590971.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:31.743Z,1761590971.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187536,0.972970,0.134757],[-0.951927,-0.213855,0.219318],[0.242208,-0.087149,0.966302]]
2025-10-27T18:49:31.992Z,1761590971.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:32.150Z,1761590972.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194339,0.968385,0.156409],[-0.952309,-0.224493,0.206664],[0.235243,-0.108787,0.965829]]
2025-10-27T18:49:32.244Z,1761590972.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:32.496Z,1761590972.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:32.542Z,1761590972.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201157,0.963708,0.175507],[-0.952008,-0.234530,0.196660],[0.230685,-0.127525,0.964636]]
2025-10-27T18:49:32.751Z,1761590972.751 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:32.000Z,1761590973.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:33.104Z,1761590973.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216396,0.958629,0.184941],[-0.949075,-0.250979,0.190437],[0.228975,-0.134313,0.964122]]
2025-10-27T18:49:33.253Z,1761590973.253 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:33.505Z,1761590973.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:33.575Z,1761590973.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218145,0.957037,0.191032],[-0.952072,-0.251704,0.173795],[0.214411,-0.143964,0.966076]]
2025-10-27T18:49:33.756Z,1761590973.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:33.992Z,1761590973.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203736,0.962057,0.181488],[-0.959616,-0.232966,0.157683],[0.193981,-0.142033,0.970669]]
2025-10-27T18:49:34.008Z,1761590974.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:34.260Z,1761590974.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:34.390Z,1761590974.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194480,0.967320,0.162696],[-0.966204,-0.217522,0.138326],[0.169195,-0.130295,0.976932]]
2025-10-27T18:49:34.512Z,1761590974.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:34.772Z,1761590974.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:34.864Z,1761590974.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203604,0.968929,0.140433],[-0.968657,-0.220207,0.114947],[0.142299,-0.112628,0.983395]]
2025-10-27T18:49:35.021Z,1761590975.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:35.272Z,1761590975.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:35.310Z,1761590975.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225420,0.965688,0.128969],[-0.967696,-0.237272,0.085241],[0.112917,-0.105588,0.987978]]
2025-10-27T18:49:35.524Z,1761590975.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:35.768Z,1761590975.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255297,0.957060,0.137331],[-0.962959,-0.264439,0.052740],[0.086792,-0.118780,0.989120]]
2025-10-27T18:49:35.776Z,1761590975.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:36.028Z,1761590976.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:36.239Z,1761590976.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282097,0.945594,0.162092],[-0.957003,-0.289251,0.021874],[0.067569,-0.148952,0.986533]]
2025-10-27T18:49:36.280Z,1761590976.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:36.534Z,1761590976.534 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:36.786Z,1761590976.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:36.866Z,1761590976.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297438,0.931332,0.210121],[-0.954207,-0.297342,-0.032803],[0.031927,-0.210256,0.977125]]
2025-10-27T18:49:37.036Z,1761590977.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:37.288Z,1761590977.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:37.338Z,1761590977.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299279,0.930689,0.210358],[-0.954121,-0.294043,-0.056505],[0.009266,-0.217618,0.975990]]
2025-10-27T18:49:37.540Z,1761590977.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:37.713Z,1761590977.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307520,0.930325,0.199815],[-0.951484,-0.298335,-0.075331],[-0.010471,-0.213286,0.976934]]
2025-10-27T18:49:37.792Z,1761590977.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:38.044Z,1761590978.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:38.119Z,1761590978.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314348,0.928736,0.196556],[-0.948769,-0.300385,-0.098015],[-0.031988,-0.217297,0.975581]]
2025-10-27T18:49:38.296Z,1761590978.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:38.522Z,1761590978.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316103,0.928164,0.196442],[-0.946441,-0.294151,-0.133133],[-0.065785,-0.228005,0.971435]]
2025-10-27T18:49:38.548Z,1761590978.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:38.803Z,1761590978.803 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:38.926Z,1761590978.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317372,0.931024,0.180191],[-0.941549,-0.286738,-0.176824],[-0.112960,-0.225777,0.967608]]
2025-10-27T18:49:39.053Z,1761590979.053 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:39.305Z,1761590979.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:39.342Z,1761590979.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328012,0.933312,0.146070],[-0.931005,-0.293170,-0.217442],[-0.160118,-0.207316,0.965082]]
2025-10-27T18:49:39.556Z,1761590979.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:39.746Z,1761590979.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349740,0.929860,0.114202],[-0.916291,-0.314119,-0.248475],[-0.195174,-0.191544,0.961883]]
2025-10-27T18:49:39.808Z,1761590979.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:40.060Z,1761590980.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:40.137Z,1761590980.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376417,0.920137,0.107969],[-0.901727,-0.337132,-0.270610],[-0.212598,-0.199221,0.956615]]
2025-10-27T18:49:40.313Z,1761590980.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:40.538Z,1761590980.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397591,0.908867,0.126023],[-0.891105,-0.349722,-0.289182],[-0.218755,-0.227276,0.948942]]
2025-10-27T18:49:40.579Z,1761590980.579 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:40.819Z,1761590980.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:41.068Z,1761590981.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:41.321Z,1761590981.321 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:41.374Z,1761590981.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404090,0.898639,0.170763],[-0.882183,-0.333518,-0.332443],[-0.241794,-0.284981,0.927535]]
2025-10-27T18:49:41.573Z,1761590981.573 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:41.778Z,1761590981.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402375,0.900434,0.165264],[-0.876636,-0.326950,-0.353006],[-0.263825,-0.286917,0.920910]]
2025-10-27T18:49:41.825Z,1761590981.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:42.076Z,1761590982.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:42.190Z,1761590982.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403938,0.904335,0.137885],[-0.865098,-0.328632,-0.378954],[-0.297388,-0.272358,0.915085]]
2025-10-27T18:49:42.328Z,1761590982.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:42.580Z,1761590982.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:42.595Z,1761590982.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416233,0.904392,0.093944],[-0.845139,-0.346699,-0.406867],[-0.335396,-0.248747,0.908644]]
2025-10-27T18:49:42.832Z,1761590982.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:43.084Z,1761590983.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:43.336Z,1761590983.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:43.399Z,1761590983.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466168,0.884176,0.030347],[-0.802154,-0.407958,-0.436028],[-0.373145,-0.227605,0.899421]]
2025-10-27T18:49:43.588Z,1761590983.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:43.841Z,1761590983.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:43.867Z,1761590983.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483138,0.875092,0.028150],[-0.787915,-0.420538,-0.449819],[-0.381795,-0.239504,0.892676]]
2025-10-27T18:49:44.092Z,1761590984.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:44.269Z,1761590984.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492701,0.869524,0.034254],[-0.775328,-0.420773,-0.470974],[-0.395110,-0.258607,0.881482]]
2025-10-27T18:49:44.344Z,1761590984.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:44.596Z,1761590984.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:44.672Z,1761590984.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511677,0.858471,0.034852],[-0.758168,-0.432067,-0.488365],[-0.404188,-0.276308,0.871943]]
2025-10-27T18:49:44.848Z,1761590984.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:45.100Z,1761590985.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:45.161Z,1761590985.161 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:49:45.162Z,1761590985.162 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:49:45.162Z,1761590985.162 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:49:45.162Z,1761590985.162 [marl:UpdateRudder:A] Stopped
2025-10-27T18:49:45.162Z,1761590985.162 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:49:45.162Z,1761590985.162 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:49:45.163Z,1761590985.163 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateCommandMode] Stopped
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:49:45.164Z,1761590985.164 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:49:45.165Z,1761590985.165 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:49:45.165Z,1761590985.165 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:49:45.165Z,1761590985.165 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:49:45.165Z,1761590985.165 [marl:UpdateSpeed] Stopped
2025-10-27T18:49:45.165Z,1761590985.165 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:49:45.352Z,1761590985.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:45.478Z,1761590985.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542592,0.839754,0.020176],[-0.729945,-0.459483,-0.506019],[-0.415662,-0.289289,0.862286]]
2025-10-27T18:49:45.533Z,1761590985.533 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:49:45.533Z,1761590985.533 [marl:UpdateRudder:B] Stopped
2025-10-27T18:49:45.533Z,1761590985.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:49:45.533Z,1761590985.533 [marl:UpdateRudder] Stopped
2025-10-27T18:49:45.533Z,1761590985.533 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:49:45.604Z,1761590985.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:45.856Z,1761590985.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:45.888Z,1761590985.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548757,0.835705,0.021531],[-0.726314,-0.463858,-0.507251],[-0.413925,-0.293995,0.861529]]
2025-10-27T18:49:46.109Z,1761590986.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:46.288Z,1761590986.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552772,0.832200,0.043430],[-0.733174,-0.460902,-0.500025],[-0.396104,-0.308242,0.864921]]
2025-10-27T18:49:46.360Z,1761590986.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:46.612Z,1761590986.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:46.690Z,1761590986.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563655,0.823235,0.067650],[-0.733281,-0.460994,-0.499784],[-0.380254,-0.331312,0.863504]]
2025-10-27T18:49:46.864Z,1761590986.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:47.116Z,1761590987.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:47.368Z,1761590987.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:47.408Z,1761590987.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599835,0.797978,0.058551],[-0.710751,-0.497798,-0.497021],[-0.367465,-0.339747,0.865761]]
2025-10-27T18:49:47.620Z,1761590987.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:47.817Z,1761590987.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621658,0.780600,0.064852],[-0.723572,-0.540584,-0.429200],[-0.299975,-0.313740,0.900878]]
2025-10-27T18:49:47.872Z,1761590987.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:48.126Z,1761590988.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:48.200Z,1761590988.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658821,0.746545,0.092874],[-0.733024,-0.609262,-0.302450],[-0.169208,-0.267339,0.948630]]
2025-10-27T18:49:48.380Z,1761590988.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:48.603Z,1761590988.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674659,0.732733,0.089092],[-0.729883,-0.644252,-0.228497],[-0.110030,-0.219184,0.969459]]
2025-10-27T18:49:48.632Z,1761590988.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:48.884Z,1761590988.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:49.006Z,1761590989.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679960,0.729866,0.070354],[-0.724915,-0.654704,-0.214152],[-0.110241,-0.196615,0.974263]]
2025-10-27T18:49:49.136Z,1761590989.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:49.388Z,1761590989.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:49.412Z,1761590989.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684222,0.728713,0.028588],[-0.721644,-0.670888,-0.170702],[-0.105213,-0.137429,0.984908]]
2025-10-27T18:49:49.640Z,1761590989.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:49.820Z,1761590989.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687629,0.726062,-0.000941],[-0.721977,-0.683896,-0.105050],[-0.076917,-0.071556,0.994466]]
2025-10-27T18:49:49.892Z,1761590989.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:50.003Z,1761590990.003 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:49:50.144Z,1761590990.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:50.219Z,1761590990.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686597,0.726903,-0.014029],[-0.724426,-0.685636,-0.071483],[-0.061580,-0.038917,0.997343]]
2025-10-27T18:49:50.397Z,1761590990.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:50.622Z,1761590990.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673642,0.738653,-0.024462],[-0.734245,-0.672660,-0.091717],[-0.084201,-0.043823,0.995485]]
2025-10-27T18:49:50.648Z,1761590990.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:50.900Z,1761590990.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:51.007Z,1761590991.007 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:49:51.026Z,1761590991.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664268,0.747470,-0.006125],[-0.742346,-0.660630,-0.111766],[-0.087588,-0.069695,0.993716]]
2025-10-27T18:49:51.153Z,1761590991.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:51.404Z,1761590991.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:51.433Z,1761590991.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673073,0.739540,0.007319],[-0.732678,-0.665414,-0.142854],[-0.100776,-0.101514,0.989717]]
2025-10-27T18:49:51.656Z,1761590991.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:51.835Z,1761590991.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700062,0.713740,0.022115],[-0.703343,-0.683852,-0.194049],[-0.123377,-0.151400,0.980743]]
2025-10-27T18:49:51.908Z,1761590991.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:52.160Z,1761590992.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:52.238Z,1761590992.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715025,0.694832,0.077124],[-0.691598,-0.686918,-0.223241],[-0.102137,-0.212962,0.971707]]
2025-10-27T18:49:52.412Z,1761590992.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:52.641Z,1761590992.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711010,0.691912,0.125387],[-0.699479,-0.677658,-0.226953],[-0.072062,-0.249071,0.965801]]
2025-10-27T18:49:52.664Z,1761590992.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:52.916Z,1761590992.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:53.168Z,1761590993.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:53.420Z,1761590993.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:53.460Z,1761590993.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693728,0.716638,0.071918],[-0.715961,-0.675297,-0.177128],[-0.078371,-0.174370,0.981557]]
2025-10-27T18:49:53.672Z,1761590993.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:53.854Z,1761590993.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690421,0.723376,0.006812],[-0.719890,-0.686106,-0.104960],[-0.071252,-0.077370,0.994453]]
2025-10-27T18:49:53.924Z,1761590993.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:54.176Z,1761590994.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:54.257Z,1761590994.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688535,0.724605,-0.029454],[-0.723674,-0.689152,-0.036938],[-0.047064,-0.004118,0.998883]]
2025-10-27T18:49:54.428Z,1761590994.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:54.662Z,1761590994.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692965,0.718426,-0.060520],[-0.718920,-0.694882,-0.017101],[-0.054340,0.031659,0.998020]]
2025-10-27T18:49:54.680Z,1761590994.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:54.932Z,1761590994.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:55.067Z,1761590995.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709881,0.704307,-0.004460],[-0.703984,-0.709723,-0.026447],[-0.021793,-0.015635,0.999640]]
2025-10-27T18:49:55.184Z,1761590995.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:55.436Z,1761590995.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:55.472Z,1761590995.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704631,0.699347,0.120037],[-0.704101,-0.710089,0.003900],[0.087964,-0.081770,0.992762]]
2025-10-27T18:49:55.688Z,1761590995.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:55.873Z,1761590995.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669360,0.728543,0.145544],[-0.730743,-0.680965,0.047974],[0.134062,-0.074243,0.988188]]
2025-10-27T18:49:55.940Z,1761590995.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:56.192Z,1761590996.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:56.286Z,1761590996.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654422,0.751397,0.084461],[-0.751008,-0.658901,0.042859],[0.087856,-0.035383,0.995505]]
2025-10-27T18:49:56.444Z,1761590996.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:56.683Z,1761590996.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659986,0.748472,0.064872],[-0.749076,-0.662200,0.019402],[0.057480,-0.035789,0.997705]]
2025-10-27T18:49:56.696Z,1761590996.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:56.948Z,1761590996.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:57.200Z,1761590997.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:57.452Z,1761590997.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:57.501Z,1761590997.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663596,0.739575,0.112558],[-0.747082,-0.662968,-0.048385],[0.038838,-0.116198,0.992466]]
2025-10-27T18:49:57.704Z,1761590997.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:57.893Z,1761590997.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646099,0.753175,0.123621],[-0.762697,-0.643288,-0.066891],[0.029143,-0.137504,0.990072]]
2025-10-27T18:49:57.956Z,1761590997.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:58.208Z,1761590998.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:58.304Z,1761590998.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627428,0.772779,0.095641],[-0.778674,-0.622588,-0.077787],[-0.000567,-0.123279,0.992372]]
2025-10-27T18:49:58.460Z,1761590998.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:58.702Z,1761590998.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640202,0.763967,0.080594],[-0.767103,-0.630132,-0.120362],[-0.041168,-0.138880,0.989453]]
2025-10-27T18:49:58.712Z,1761590998.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:58.760Z,1761590998.760 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:49:58.760Z,1761590998.760 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:49:58.760Z,1761590998.760 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:49:58.760Z,1761590998.760 [marl:UpdateRudder:A] Stopped
2025-10-27T18:49:58.761Z,1761590998.761 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:49:58.761Z,1761590998.761 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:49:58.761Z,1761590998.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:49:58.762Z,1761590998.762 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:49:58.763Z,1761590998.763 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:49:58.768Z,1761590998.768 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:49:58.768Z,1761590998.768 [marl:UpdateCommandMode] Stopped
2025-10-27T18:49:58.769Z,1761590998.769 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:49:58.769Z,1761590998.769 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:49:58.770Z,1761590998.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:49:58.770Z,1761590998.770 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:49:58.776Z,1761590998.776 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:49:58.776Z,1761590998.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:49:58.777Z,1761590998.777 [marl:UpdateSpeed] Stopped
2025-10-27T18:49:58.777Z,1761590998.777 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:49:58.964Z,1761590998.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:59.190Z,1761590999.190 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-27T18:49:59.190Z,1761590999.190 [marl:UpdateRudder:B] Stopped
2025-10-27T18:49:59.190Z,1761590999.190 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:49:59.190Z,1761590999.190 [marl:UpdateRudder] Stopped
2025-10-27T18:49:59.190Z,1761590999.190 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:49:59.216Z,1761590999.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:59.468Z,1761590999.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:59.512Z,1761590999.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665611,0.736273,0.121916],[-0.746266,-0.658167,-0.099514],[0.006972,-0.157220,0.987539]]
2025-10-27T18:49:59.720Z,1761590999.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:49:59.913Z,1761590999.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654106,0.750357,0.095446],[-0.756241,-0.646130,-0.103027],[-0.015637,-0.139571,0.990089]]
2025-10-27T18:49:59.972Z,1761590999.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:00.224Z,1761591000.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:00.318Z,1761591000.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665929,0.742289,0.074461],[-0.745775,-0.659861,-0.091671],[-0.018913,-0.116578,0.993001]]
2025-10-27T18:50:00.476Z,1761591000.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:00.729Z,1761591000.729 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:00.741Z,1761591000.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685137,0.724863,0.071839],[-0.728413,-0.681616,-0.069386],[-0.001329,-0.099868,0.995000]]
2025-10-27T18:50:00.980Z,1761591000.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:01.125Z,1761591001.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684135,0.723187,0.094656],[-0.728776,-0.682981,-0.049210],[0.029061,-0.102649,0.994293]]
2025-10-27T18:50:01.232Z,1761591001.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:01.484Z,1761591001.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:01.533Z,1761591001.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664590,0.735570,0.131364],[-0.742247,-0.670121,-0.002805],[0.085967,-0.099369,0.991330]]
2025-10-27T18:50:01.737Z,1761591001.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:01.934Z,1761591001.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655207,0.743376,0.134520],[-0.748525,-0.662880,0.017321],[0.102047,-0.089343,0.990759]]
2025-10-27T18:50:01.990Z,1761591001.990 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:02.240Z,1761591002.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:02.340Z,1761591002.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666107,0.738531,0.104277],[-0.743623,-0.668401,-0.016288],[0.057670,-0.088392,0.994415]]
2025-10-27T18:50:02.492Z,1761591002.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:02.744Z,1761591002.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:02.778Z,1761591002.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664929,0.738327,0.112885],[-0.746230,-0.663125,-0.058355],[0.031772,-0.123040,0.991893]]
2025-10-27T18:50:02.996Z,1761591002.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:03.146Z,1761591003.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668599,0.736814,0.100403],[-0.742734,-0.668284,-0.041734],[0.036348,-0.102476,0.994071]]
2025-10-27T18:50:03.249Z,1761591003.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:03.500Z,1761591003.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:03.553Z,1761591003.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679511,0.731071,0.061646],[-0.732361,-0.680913,0.002414],[0.043740,-0.043507,0.998095]]
2025-10-27T18:50:03.752Z,1761591003.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:03.956Z,1761591003.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688248,0.720075,0.088353],[-0.720206,-0.692815,0.036199],[0.087278,-0.038719,0.995431]]
2025-10-27T18:50:03.983Z,1761591003.983 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-27T18:50:04.017Z,1761591004.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:04.083Z,1761591004.083 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T18:50:04.083Z,1761591004.083 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T18:50:04.268Z,1761591004.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:04.358Z,1761591004.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679223,0.721595,0.134006],[-0.724042,-0.688679,0.038515],[0.120079,-0.070866,0.990232]]
2025-10-27T18:50:04.520Z,1761591004.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:04.774Z,1761591004.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:04.831Z,1761591004.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687036,0.711212,0.148860],[-0.717575,-0.696320,0.014993],[0.114317,-0.096517,0.988745]]
2025-10-27T18:50:05.024Z,1761591005.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:05.278Z,1761591005.278 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:05.528Z,1761591005.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:05.580Z,1761591005.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681498,0.719296,0.134814],[-0.725497,-0.688211,0.004472],[0.095997,-0.094760,0.990861]]
2025-10-27T18:50:05.781Z,1761591005.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:05.974Z,1761591005.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675678,0.724701,0.135158],[-0.731590,-0.681742,-0.001920],[0.090751,-0.100178,0.990822]]
2025-10-27T18:50:06.032Z,1761591006.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:06.284Z,1761591006.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:06.537Z,1761591006.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:06.791Z,1761591006.791 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:07.042Z,1761591007.042 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:07.292Z,1761591007.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:07.544Z,1761591007.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:07.605Z,1761591007.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679412,0.716582,0.157825],[-0.719948,-0.692555,0.045185],[0.141681,-0.082927,0.986433]]
2025-10-27T18:50:07.796Z,1761591007.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:07.000Z,1761591008.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654952,0.745241,0.125114],[-0.740774,-0.665893,0.088549],[0.149303,-0.034686,0.988183]]
2025-10-27T18:50:08.051Z,1761591008.051 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:08.300Z,1761591008.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:08.403Z,1761591008.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671157,0.734920,0.097163],[-0.733266,-0.677405,0.058687],[0.108949,-0.031858,0.993537]]
2025-10-27T18:50:08.552Z,1761591008.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:08.808Z,1761591008.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:08.841Z,1761591008.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684336,0.718806,0.122485],[-0.723278,-0.690469,0.011010],[0.092486,-0.081056,0.992409]]
2025-10-27T18:50:09.056Z,1761591009.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:09.210Z,1761591009.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684096,0.706833,0.179998],[-0.718955,-0.695050,-0.003055],[0.122948,-0.131501,0.983662]]
2025-10-27T18:50:09.308Z,1761591009.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:09.560Z,1761591009.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:09.615Z,1761591009.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672569,0.718541,0.177059],[-0.727883,-0.685492,0.016960],[0.133559,-0.117472,0.984054]]
2025-10-27T18:50:09.812Z,1761591009.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:10.014Z,1761591010.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668313,0.731734,0.133877],[-0.735418,-0.676991,0.029041],[0.111884,-0.079047,0.990572]]
2025-10-27T18:50:10.065Z,1761591010.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:10.316Z,1761591010.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:10.418Z,1761591010.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684878,0.721566,0.101413],[-0.722270,-0.690655,0.036355],[0.096274,-0.048348,0.994180]]
2025-10-27T18:50:10.569Z,1761591010.569 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:10.822Z,1761591010.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:10.837Z,1761591010.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692299,0.712138,0.116540],[-0.714760,-0.698925,0.024915],[0.099196,-0.066050,0.992873]]
2025-10-27T18:50:11.072Z,1761591011.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:11.225Z,1761591011.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697484,0.697327,0.165079],[-0.707813,-0.706367,-0.006783],[0.111876,-0.121576,0.986257]]
2025-10-27T18:50:11.324Z,1761591011.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:11.576Z,1761591011.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:11.640Z,1761591011.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724412,0.660342,0.197929],[-0.678191,-0.734151,-0.032837],[0.123626,-0.158021,0.979666]]
2025-10-27T18:50:11.828Z,1761591011.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:12.033Z,1761591012.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739287,0.639851,0.209871],[-0.658939,-0.751611,-0.029665],[0.138760,-0.160224,0.977279]]
2025-10-27T18:50:12.080Z,1761591012.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateRudder:A] Stopped
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:50:12.092Z,1761591012.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateCommandMode] Stopped
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:50:12.093Z,1761591012.093 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:50:12.094Z,1761591012.094 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:50:12.094Z,1761591012.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:50:12.094Z,1761591012.094 [marl:UpdateSpeed] Stopped
2025-10-27T18:50:12.094Z,1761591012.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:50:12.332Z,1761591012.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:12.438Z,1761591012.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733557,0.644014,0.217116],[-0.658416,-0.752613,0.007866],[0.168470,-0.137183,0.976114]]
2025-10-27T18:50:12.494Z,1761591012.494 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:50:12.494Z,1761591012.494 [marl:UpdateRudder:B] Stopped
2025-10-27T18:50:12.494Z,1761591012.494 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:50:12.494Z,1761591012.494 [marl:UpdateRudder] Stopped
2025-10-27T18:50:12.494Z,1761591012.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:50:12.595Z,1761591012.595 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:12.845Z,1761591012.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731163,0.651095,0.203654],[-0.656115,-0.752903,0.051479],[0.186850,-0.095981,0.977688]]
2025-10-27T18:50:12.848Z,1761591012.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:13.100Z,1761591013.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:13.252Z,1761591013.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732809,0.655074,0.184035],[-0.649972,-0.753933,0.095508],[0.201315,-0.049628,0.978268]]
2025-10-27T18:50:13.353Z,1761591013.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:13.604Z,1761591013.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:13.649Z,1761591013.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722011,0.672869,0.161081],[-0.658700,-0.739730,0.137525],[0.211693,-0.006810,0.977313]]
2025-10-27T18:50:13.856Z,1761591013.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:14.055Z,1761591014.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703852,0.699352,0.124492],[-0.684173,-0.714561,0.145980],[0.191048,0.017574,0.981423]]
2025-10-27T18:50:14.109Z,1761591014.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:14.360Z,1761591014.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:14.460Z,1761591014.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690767,0.713280,0.118626],[-0.700622,-0.700814,0.134121],[0.178801,0.009535,0.983839]]
2025-10-27T18:50:14.613Z,1761591014.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:14.862Z,1761591014.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708209,0.694154,0.128802],[-0.689377,-0.719285,0.085957],[0.152313,-0.027918,0.987938]]
2025-10-27T18:50:14.864Z,1761591014.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:15.116Z,1761591015.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:15.373Z,1761591015.373 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:15.624Z,1761591015.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:15.674Z,1761591015.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722435,0.667506,0.180343],[-0.681103,-0.731932,-0.019316],[0.119105,-0.136787,0.983414]]
2025-10-27T18:50:15.876Z,1761591015.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:16.076Z,1761591016.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734110,0.655123,0.178598],[-0.672376,-0.738054,-0.056449],[0.094834,-0.161525,0.982302]]
2025-10-27T18:50:16.128Z,1761591016.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:16.380Z,1761591016.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:16.478Z,1761591016.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756351,0.637145,0.148256],[-0.649555,-0.758339,-0.054767],[0.077534,-0.137723,0.987431]]
2025-10-27T18:50:16.632Z,1761591016.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:16.882Z,1761591016.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752416,0.641237,0.150613],[-0.646417,-0.762767,0.018193],[0.126549,-0.083670,0.988425]]
2025-10-27T18:50:16.884Z,1761591016.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:17.136Z,1761591017.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:17.286Z,1761591017.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720670,0.678199,0.143806],[-0.667542,-0.734818,0.120127],[0.187141,-0.009425,0.982288]]
2025-10-27T18:50:17.388Z,1761591017.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:17.640Z,1761591017.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:17.698Z,1761591017.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700086,0.709466,0.080858],[-0.694190,-0.702755,0.155679],[0.167272,0.052858,0.984493]]
2025-10-27T18:50:17.892Z,1761591017.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:18.094Z,1761591018.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709637,0.703914,0.030316],[-0.697027,-0.707671,0.115567],[0.102803,0.060879,0.992837]]
2025-10-27T18:50:18.144Z,1761591018.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:18.396Z,1761591018.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:18.498Z,1761591018.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727879,0.681996,0.071233],[-0.679578,-0.731328,0.057737],[0.091472,-0.006383,0.995787]]
2025-10-27T18:50:18.648Z,1761591018.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:18.900Z,1761591018.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:18.904Z,1761591018.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741831,0.647013,0.176242],[-0.657294,-0.753635,0.000060],[0.132861,-0.115798,0.984347]]
2025-10-27T18:50:19.152Z,1761591019.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:19.307Z,1761591019.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737687,0.622263,0.261928],[-0.652791,-0.756399,-0.041525],[0.172283,-0.201617,0.964194]]
2025-10-27T18:50:19.404Z,1761591019.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:19.656Z,1761591019.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:19.710Z,1761591019.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711428,0.652748,0.260367],[-0.683766,-0.728493,-0.041971],[0.162280,-0.207889,0.964597]]
2025-10-27T18:50:19.908Z,1761591019.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:20.114Z,1761591020.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708612,0.672556,0.213397],[-0.693495,-0.719619,-0.034839],[0.130133,-0.172676,0.976344]]
2025-10-27T18:50:20.160Z,1761591020.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:20.412Z,1761591020.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:20.664Z,1761591020.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:20.916Z,1761591020.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:20.924Z,1761591020.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755205,0.625347,0.196487],[-0.631134,-0.774659,0.039672],[0.177019,-0.094050,0.979703]]
2025-10-27T18:50:21.128Z,1761591021.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:50:21.173Z,1761591021.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:21.327Z,1761591021.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751857,0.636271,0.172831],[-0.640428,-0.767080,0.037962],[0.156729,-0.082144,0.984220]]
2025-10-27T18:50:21.420Z,1761591021.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:21.672Z,1761591021.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:21.737Z,1761591021.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739183,0.659991,0.134242],[-0.663154,-0.748029,0.026077],[0.117627,-0.069747,0.990605]]
2025-10-27T18:50:21.925Z,1761591021.925 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:22.131Z,1761591022.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:50:22.135Z,1761591022.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721086,0.680426,0.130596],[-0.677599,-0.731902,0.071962],[0.144549,-0.036601,0.988821]]
2025-10-27T18:50:22.176Z,1761591022.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:22.428Z,1761591022.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:22.680Z,1761591022.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:22.932Z,1761591022.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:22.946Z,1761591022.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710644,0.701993,0.046808],[-0.698334,-0.711899,0.074364],[0.085526,0.020159,0.996132]]
2025-10-27T18:50:23.184Z,1761591023.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:23.436Z,1761591023.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:23.688Z,1761591023.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:23.758Z,1761591023.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707465,0.703894,0.063457],[-0.704495,-0.709525,0.016142],[0.056387,-0.033286,0.997854]]
2025-10-27T18:50:23.940Z,1761591023.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:24.154Z,1761591024.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703690,0.698768,0.128621],[-0.703622,-0.710498,0.010429],[0.098673,-0.083162,0.991639]]
2025-10-27T18:50:24.192Z,1761591024.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:24.445Z,1761591024.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:24.559Z,1761591024.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711019,0.690545,0.132663],[-0.700481,-0.712070,-0.047785],[0.061468,-0.126904,0.990009]]
2025-10-27T18:50:24.696Z,1761591024.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:24.948Z,1761591024.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:24.963Z,1761591024.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713847,0.695126,0.084981],[-0.700100,-0.711277,-0.062808],[0.016786,-0.104331,0.994401]]
2025-10-27T18:50:25.200Z,1761591025.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:25.366Z,1761591025.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701330,0.706516,0.094717],[-0.709947,-0.704245,-0.003668],[0.064113,-0.069816,0.995498]]
2025-10-27T18:50:25.389Z,1761591025.389 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:50:25.389Z,1761591025.389 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateRudder:A] Stopped
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:50:25.390Z,1761591025.390 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:50:25.391Z,1761591025.391 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:50:25.391Z,1761591025.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateCommandMode] Stopped
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:50:25.392Z,1761591025.392 [marl:UpdateSpeed] Stopped
2025-10-27T18:50:25.393Z,1761591025.393 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:50:25.452Z,1761591025.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:25.704Z,1761591025.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:25.779Z,1761591025.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682589,0.725562,0.087365],[-0.724519,-0.687510,0.049011],[0.095625,-0.029844,0.994970]]
2025-10-27T18:50:25.807Z,1761591025.807 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:50:25.807Z,1761591025.807 [marl:UpdateRudder:B] Stopped
2025-10-27T18:50:25.807Z,1761591025.807 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:50:25.807Z,1761591025.807 [marl:UpdateRudder] Stopped
2025-10-27T18:50:25.808Z,1761591025.808 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:50:25.956Z,1761591025.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:26.174Z,1761591026.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689599,0.723297,0.035973],[-0.723736,-0.690076,0.001182],[0.025679,-0.025220,0.999352]]
2025-10-27T18:50:26.208Z,1761591026.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:26.460Z,1761591026.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:26.578Z,1761591026.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705821,0.706753,0.048139],[-0.707932,-0.701290,-0.083807],[-0.025471,-0.093232,0.995319]]
2025-10-27T18:50:26.712Z,1761591026.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:26.964Z,1761591026.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:26.982Z,1761591026.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716387,0.689933,0.103838],[-0.697537,-0.704988,-0.128196],[-0.015243,-0.164269,0.986298]]
2025-10-27T18:50:27.218Z,1761591027.218 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:27.387Z,1761591027.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725718,0.668520,0.162525],[-0.687328,-0.714879,-0.128566],[0.030237,-0.205011,0.978293]]
2025-10-27T18:50:27.468Z,1761591027.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:27.721Z,1761591027.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:27.789Z,1761591027.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739448,0.650253,0.174321],[-0.670861,-0.733361,-0.110123],[0.056233,-0.198375,0.978512]]
2025-10-27T18:50:27.972Z,1761591027.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:28.224Z,1761591028.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:28.476Z,1761591028.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:28.598Z,1761591028.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758792,0.642330,0.107920],[-0.647737,-0.761559,-0.021549],[0.068346,-0.086255,0.993926]]
2025-10-27T18:50:28.728Z,1761591028.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:28.980Z,1761591028.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:29.005Z,1761591029.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745539,0.659468,0.096298],[-0.658726,-0.751104,0.043851],[0.101248,-0.030741,0.994386]]
2025-10-27T18:50:29.233Z,1761591029.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:29.411Z,1761591029.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733335,0.674376,0.086233],[-0.668010,-0.738312,0.093050],[0.126418,0.010633,0.991920]]
2025-10-27T18:50:29.484Z,1761591029.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:29.736Z,1761591029.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:29.810Z,1761591029.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716870,0.691302,0.090549],[-0.683631,-0.722463,0.103425],[0.136916,0.012240,0.990507]]
2025-10-27T18:50:29.988Z,1761591029.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:30.219Z,1761591030.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722084,0.682822,0.111125],[-0.675943,-0.730567,0.096816],[0.147292,-0.005205,0.989079]]
2025-10-27T18:50:30.240Z,1761591030.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:30.495Z,1761591030.495 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:30.620Z,1761591030.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730384,0.671661,0.124138],[-0.669203,-0.740067,0.066851],[0.136772,-0.034247,0.990010]]
2025-10-27T18:50:30.744Z,1761591030.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:30.996Z,1761591030.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:31.022Z,1761591031.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744812,0.653453,0.135109],[-0.658479,-0.752537,0.009649],[0.107980,-0.081780,0.990784]]
2025-10-27T18:50:31.248Z,1761591031.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:31.426Z,1761591031.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762975,0.630737,0.141564],[-0.640476,-0.767249,-0.033450],[0.087517,-0.116190,0.989364]]
2025-10-27T18:50:31.500Z,1761591031.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:31.753Z,1761591031.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:31.829Z,1761591031.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766893,0.626760,0.138013],[-0.637131,-0.769354,-0.046457],[0.077063,-0.123560,0.989340]]
2025-10-27T18:50:32.004Z,1761591032.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:32.245Z,1761591032.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763211,0.633539,0.127030],[-0.640955,-0.767179,-0.024770],[0.081762,-0.100326,0.991589]]
2025-10-27T18:50:32.256Z,1761591032.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:32.508Z,1761591032.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:32.638Z,1761591032.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766153,0.627736,0.137688],[-0.630054,-0.775909,0.031576],[0.126655,-0.062559,0.989972]]
2025-10-27T18:50:32.760Z,1761591032.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:33.012Z,1761591033.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:33.042Z,1761591033.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764981,0.625951,0.151621],[-0.620011,-0.779449,0.089702],[0.174329,-0.025386,0.984360]]
2025-10-27T18:50:33.048Z,1761591033.048 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185029.00,A,3646.63213,N,12151.91438,W,0.156,0.00,271025,,,A*79
2025-10-27T18:50:33.050Z,1761591033.050 [NAL9602](INFO): GPS fix at 20251027T185029: (36.777202, -121.865240)
2025-10-27T18:50:33.099Z,1761591033.099 [UniversalFixResidualReporter](INFO): Fix residual: 0.5 %DT, over the last 600.8 m. Residual distance 3.1 m at bearing -53.6 degrees. Fix at (36.7772, -121.8652) with 48.2 m made good.
2025-10-27T18:50:33.109Z,1761591033.109 [marl:NeedComms:C] Stopped
2025-10-27T18:50:33.110Z,1761591033.110 [marl:NeedComms:D] Running Loop=1
2025-10-27T18:50:33.111Z,1761591033.111 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761591040.00. Resetting abort timer.
2025-10-27T18:50:33.264Z,1761591033.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:33.448Z,1761591033.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761643,0.639596,0.104005],[-0.631414,-0.768608,0.102756],[0.145662,0.012593,0.989254]]
2025-10-27T18:50:33.516Z,1761591033.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:33.768Z,1761591033.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:34.024Z,1761591034.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:34.035Z,1761591034.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780071,0.616620,0.106160],[-0.618493,-0.785579,0.018230],[0.094638,-0.051438,0.994182]]
2025-10-27T18:50:34.272Z,1761591034.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:34.436Z,1761591034.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786440,0.596733,0.159441],[-0.606878,-0.794551,-0.019686],[0.114937,-0.112243,0.987011]]
2025-10-27T18:50:34.524Z,1761591034.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:34.778Z,1761591034.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:34.929Z,1761591034.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784689,0.591126,0.186635],[-0.604285,-0.796571,-0.017695],[0.138208,-0.126666,0.982270]]
2025-10-27T18:50:35.028Z,1761591035.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:35.280Z,1761591035.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:35.428Z,1761591035.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778433,0.598305,0.189928],[-0.611217,-0.791369,-0.012170],[0.143022,-0.125561,0.981723]]
2025-10-27T18:50:35.532Z,1761591035.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:35.784Z,1761591035.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:35.836Z,1761591035.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785694,0.591442,0.181333],[-0.600524,-0.799584,0.005954],[0.148512,-0.104217,0.983404]]
2025-10-27T18:50:36.036Z,1761591036.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:36.236Z,1761591036.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786695,0.603877,0.128230],[-0.599743,-0.796842,0.073151],[0.146353,-0.019357,0.989043]]
2025-10-27T18:50:36.288Z,1761591036.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:36.540Z,1761591036.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:36.794Z,1761591036.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:37.044Z,1761591037.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:37.296Z,1761591037.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:37.548Z,1761591037.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:37.800Z,1761591037.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:38.052Z,1761591038.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:38.304Z,1761591038.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:38.556Z,1761591038.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:38.810Z,1761591038.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:39.060Z,1761591039.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:39.312Z,1761591039.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:39.346Z,1761591039.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834730,0.541470,0.100180],[-0.550607,-0.823226,-0.138312],[0.007579,-0.170613,0.985309]]
2025-10-27T18:50:39.564Z,1761591039.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:39.749Z,1761591039.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841251,0.533577,0.087129],[-0.536388,-0.843901,-0.010909],[0.067708,-0.055912,0.996137]]
2025-10-27T18:50:39.816Z,1761591039.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:40.068Z,1761591040.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:40.148Z,1761591040.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827487,0.560209,0.037828],[-0.559378,-0.828340,0.030806],[0.048592,0.004332,0.998809]]
2025-10-27T18:50:40.320Z,1761591040.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:40.550Z,1761591040.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809250,0.587348,0.011720],[-0.587156,-0.809311,0.016246],[0.019027,0.006265,0.999799]]
2025-10-27T18:50:40.572Z,1761591040.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:40.825Z,1761591040.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:40.954Z,1761591040.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836917,0.545058,0.049820],[-0.547283,-0.834567,-0.063085],[0.007193,-0.080062,0.996764]]
2025-10-27T18:50:41.076Z,1761591041.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:41.328Z,1761591041.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:41.360Z,1761591041.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866713,0.486816,0.108715],[-0.498805,-0.846592,-0.185676],[0.001647,-0.215156,0.976578]]
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateRudder] Running Loop=1
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateRudder:A] Running Loop=1
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateRudder:A] Stopped
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateRudder:B] Running Loop=1
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateCommandMode] Running Loop=1
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-27T18:50:41.393Z,1761591041.393 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateCommandMode:A] Stopped
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateCommandMode] Stopped
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateSpeed] Running Loop=1
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-27T18:50:41.394Z,1761591041.394 [marl:UpdateSpeed:A] Running Loop=1
2025-10-27T18:50:41.395Z,1761591041.395 [marl:UpdateSpeed:A] Stopped
2025-10-27T18:50:41.411Z,1761591041.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-27T18:50:41.411Z,1761591041.411 [marl:UpdateSpeed] Stopped
2025-10-27T18:50:41.411Z,1761591041.411 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-27T18:50:41.580Z,1761591041.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:41.766Z,1761591041.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866976,0.476297,0.146609],[-0.498313,-0.832108,-0.243474],[0.006028,-0.284143,0.958763]]
2025-10-27T18:50:41.790Z,1761591041.790 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-27T18:50:41.790Z,1761591041.790 [marl:UpdateRudder:B] Stopped
2025-10-27T18:50:41.791Z,1761591041.791 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-27T18:50:41.794Z,1761591041.794 [marl:UpdateRudder] Stopped
2025-10-27T18:50:41.794Z,1761591041.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-27T18:50:41.832Z,1761591041.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:42.084Z,1761591042.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:42.165Z,1761591042.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853062,0.497220,0.158296],[-0.519747,-0.836598,-0.173110],[0.046356,-0.229948,0.972098]]
2025-10-27T18:50:42.336Z,1761591042.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:42.570Z,1761591042.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841113,0.529910,0.108279],[-0.535567,-0.843960,-0.030011],[0.075480,-0.083234,0.993667]]
2025-10-27T18:50:42.588Z,1761591042.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:42.840Z,1761591042.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:42.974Z,1761591042.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834294,0.551259,0.008223],[-0.547020,-0.829553,0.112297],[0.068726,0.089191,0.993641]]
2025-10-27T18:50:43.092Z,1761591043.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:43.344Z,1761591043.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:43.381Z,1761591043.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837152,0.544794,-0.048739],[-0.543470,-0.818423,0.186613],[0.061777,0.182712,0.981224]]
2025-10-27T18:50:43.599Z,1761591043.599 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:43.782Z,1761591043.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839975,0.542619,-0.002597],[-0.535226,-0.827725,0.168534],[0.089300,0.142954,0.985692]]
2025-10-27T18:50:43.848Z,1761591043.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:44.100Z,1761591044.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:44.190Z,1761591044.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833596,0.545739,0.085359],[-0.542470,-0.837948,0.059746],[0.104132,0.003499,0.994557]]
2025-10-27T18:50:44.352Z,1761591044.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:44.590Z,1761591044.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817355,0.565431,0.110540],[-0.572267,-0.818979,-0.042231],[0.066651,-0.097776,0.992974]]
2025-10-27T18:50:44.604Z,1761591044.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:44.856Z,1761591044.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:44.995Z,1761591044.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819617,0.565033,0.094691],[-0.571050,-0.819031,-0.055580],[0.046150,-0.099628,0.993954]]
2025-10-27T18:50:45.109Z,1761591045.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:45.360Z,1761591045.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:45.398Z,1761591045.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830742,0.547034,0.103061],[-0.550795,-0.834581,-0.009937],[0.080576,-0.065021,0.994625]]
2025-10-27T18:50:45.612Z,1761591045.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:45.802Z,1761591045.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818374,0.561630,0.121804],[-0.563128,-0.825990,0.025048],[0.114676,-0.048093,0.992238]]
2025-10-27T18:50:45.866Z,1761591045.866 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:46.116Z,1761591046.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:46.215Z,1761591046.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811085,0.575734,0.103303],[-0.577613,-0.816195,0.013738],[0.092224,-0.048526,0.994555]]
2025-10-27T18:50:46.368Z,1761591046.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:46.611Z,1761591046.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814393,0.575547,0.074228],[-0.578592,-0.815153,-0.027508],[0.044674,-0.065350,0.996862]]
2025-10-27T18:50:46.620Z,1761591046.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:46.872Z,1761591046.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:47.013Z,1761591047.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816255,0.573294,0.071147],[-0.577479,-0.813085,-0.073551],[0.015682,-0.101123,0.994750]]
2025-10-27T18:50:47.124Z,1761591047.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:47.376Z,1761591047.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:47.418Z,1761591047.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821453,0.562996,0.090838],[-0.570158,-0.814044,-0.110691],[0.011628,-0.142720,0.989695]]
2025-10-27T18:50:47.628Z,1761591047.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:47.822Z,1761591047.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817244,0.554220,0.157962],[-0.574148,-0.806638,-0.140315],[0.049653,-0.205365,0.977425]]
2025-10-27T18:50:47.880Z,1761591047.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:48.132Z,1761591048.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:48.228Z,1761591048.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810754,0.548721,0.203919],[-0.580090,-0.799852,-0.154055],[0.078572,-0.243192,0.966791]]
2025-10-27T18:50:48.384Z,1761591048.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:48.631Z,1761591048.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814327,0.566895,0.124501],[-0.580379,-0.797388,-0.165324],[0.005554,-0.206885,0.978349]]
2025-10-27T18:50:48.636Z,1761591048.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:48.888Z,1761591048.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:49.033Z,1761591049.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812452,0.582335,0.028435],[-0.580279,-0.802927,-0.136325],[-0.056556,-0.127257,0.990256]]
2025-10-27T18:50:49.140Z,1761591049.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:49.392Z,1761591049.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:49.440Z,1761591049.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821207,0.570537,0.010289],[-0.569354,-0.818033,-0.081599],[-0.038139,-0.072868,0.996612]]
2025-10-27T18:50:49.644Z,1761591049.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:49.842Z,1761591049.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843544,0.536962,0.010291],[-0.536462,-0.841545,-0.063328],[-0.025344,-0.058941,0.997940]]
2025-10-27T18:50:49.899Z,1761591049.899 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:50.152Z,1761591050.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:50.248Z,1761591050.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851599,0.524104,0.009720],[-0.524129,-0.851054,-0.031547],[-0.008261,-0.031960,0.999455]]
2025-10-27T18:50:50.404Z,1761591050.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:50.649Z,1761591050.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830998,0.555849,0.021774],[-0.556023,-0.831164,-0.002383],[0.016774,-0.014087,0.999760]]
2025-10-27T18:50:50.656Z,1761591050.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:50.908Z,1761591050.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:51.054Z,1761591051.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814231,0.580473,0.008857],[-0.580432,-0.814279,0.006937],[0.011239,0.000508,0.999937]]
2025-10-27T18:50:51.161Z,1761591051.161 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:51.412Z,1761591051.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:51.464Z,1761591051.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815446,0.578831,-0.001249],[-0.578639,-0.815228,-0.024105],[-0.014971,-0.018934,0.999709]]
2025-10-27T18:50:51.469Z,1761591051.469 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=3087, MT Status=1, MTMSN=35
2025-10-27T18:50:51.527Z,1761591051.527 [NAL9602](INFO): Sent 83 bytes from file Logs/20251027T165046/Courier0030.lzma
2025-10-27T18:50:51.528Z,1761591051.528 [NAL9602](INFO): Packets left to send: 0
2025-10-27T18:50:51.664Z,1761591051.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:51.863Z,1761591051.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822625,0.567941,0.027030],[-0.568076,-0.818950,-0.081308],[-0.024042,-0.082241,0.996322]]
2025-10-27T18:50:51.921Z,1761591051.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:52.147Z,1761591052.147 [NAL9602](INFO): Received command: stop
2025-10-27T18:50:52.173Z,1761591052.173 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:52.202Z,1761591052.202 [CommandExec](IMPORTANT): got command stop
2025-10-27T18:50:52.202Z,1761591052.202 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-27T18:50:52.223Z,1761591052.223 [MissionManager](INFO): MissionManager is completed.
2025-10-27T18:50:52.223Z,1761591052.223 [MissionManager](INFO): Uninitializing Mission marl
2025-10-27T18:50:52.223Z,1761591052.223 [marl] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl](DEBUG): Aggregate::uninitialize marl
2025-10-27T18:50:52.224Z,1761591052.224 [marl:AbortDrift] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift
2025-10-27T18:50:52.224Z,1761591052.224 [marl:AbortDrift:B.AbortDrift] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2025-10-27T18:50:52.224Z,1761591052.224 [marl:B.] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl:B.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-27T18:50:52.224Z,1761591052.224 [marl:NeedComms] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-27T18:50:52.224Z,1761591052.224 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-27T18:50:52.224Z,1761591052.224 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T18:50:52.224Z,1761591052.224 [marl:NeedComms:D] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-27T18:50:52.225Z,1761591052.225 [marl:Science] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science
2025-10-27T18:50:52.225Z,1761591052.225 [marl:Science:B] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:Science:C] Stopped
2025-10-27T18:50:52.225Z,1761591052.225 [marl:Science:E] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:Science:OceanCurrent] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent
2025-10-27T18:50:52.226Z,1761591052.226 [marl:Science:OceanCurrent:A.] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:BackseatDriver] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver
2025-10-27T18:50:52.226Z,1761591052.226 [marl:BackseatDriver:A.BackseatDriver] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:PowerOnly] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly
2025-10-27T18:50:52.226Z,1761591052.226 [marl:PowerOnly:E.Wait] Stopped
2025-10-27T18:50:52.226Z,1761591052.226 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T18:50:52.227Z,1761591052.227 [marl:JoystickControl] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:A.Buoyancy] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:B.Pitch] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:C.Pitch] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:D.SetSpeed] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize.
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:CmdRudder] Stopped
2025-10-27T18:50:52.231Z,1761591052.231 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-27T18:50:52.232Z,1761591052.232 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-27T18:50:52.251Z,1761591052.251 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:50:52.330Z,1761591052.330 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-10-27T18:50:52.330Z,1761591052.330 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-10-27T18:50:52.424Z,1761591052.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:52.677Z,1761591052.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:52.717Z,1761591052.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830415,0.539980,0.137233],[-0.554920,-0.823609,-0.117186],[0.049748,-0.173466,0.983582]]
2025-10-27T18:50:52.814Z,1761591052.814 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-27T18:50:52.821Z,1761591052.821 [DefaultWithUndock] Running Loop=1
2025-10-27T18:50:52.821Z,1761591052.821 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-27T18:50:52.822Z,1761591052.822 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-27T18:50:52.822Z,1761591052.822 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-27T18:50:52.928Z,1761591052.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:53.110Z,1761591053.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837149,0.532776,0.123822],[-0.542698,-0.837296,-0.066449],[0.068273,-0.122826,0.990077]]
2025-10-27T18:50:53.181Z,1761591053.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:53.256Z,1761591053.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:50:53.432Z,1761591053.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:53.514Z,1761591053.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832593,0.541744,0.115336],[-0.547708,-0.836272,-0.025769],[0.082492,-0.084626,0.992992]]
2025-10-27T18:50:53.526Z,1761591053.526 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185049.00,A,3646.63225,N,12151.91658,W,0.039,240.45,271025,,,A*71
2025-10-27T18:50:53.528Z,1761591053.528 [NAL9602](INFO): GPS fix at 20251027T185049: (36.777204, -121.865276)
2025-10-27T18:50:53.684Z,1761591053.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:53.918Z,1761591053.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819705,0.557441,0.131694],[-0.562699,-0.826655,-0.003309],[0.107021,-0.076816,0.991285]]
2025-10-27T18:50:53.936Z,1761591053.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:54.189Z,1761591054.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:54.324Z,1761591054.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798750,0.586944,0.132270],[-0.591001,-0.806604,0.010353],[0.112767,-0.069902,0.991160]]
2025-10-27T18:50:54.440Z,1761591054.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:54.692Z,1761591054.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:54.726Z,1761591054.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798382,0.596652,0.081203],[-0.597627,-0.801645,0.014384],[0.073679,-0.037045,0.996594]]
2025-10-27T18:50:54.944Z,1761591054.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:55.197Z,1761591055.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:55.234Z,1761591055.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804531,0.591353,0.055058],[-0.590915,-0.806325,0.025679],[0.059580,-0.011875,0.998153]]
2025-10-27T18:50:55.448Z,1761591055.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:55.638Z,1761591055.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780757,0.620543,0.073115],[-0.619555,-0.784021,0.038259],[0.081064,-0.015428,0.996589]]
2025-10-27T18:50:55.700Z,1761591055.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:55.952Z,1761591055.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:56.054Z,1761591056.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764335,0.644740,0.010069],[-0.644819,-0.764228,-0.012852],[-0.000591,-0.016316,0.999867]]
2025-10-27T18:50:56.060Z,1761591056.060 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185052.00,A,3646.63208,N,12151.91647,W,0.525,208.32,271025,,,A*7E
2025-10-27T18:50:56.062Z,1761591056.062 [NAL9602](INFO): GPS fix at 20251027T185052: (36.777201, -121.865274)
2025-10-27T18:50:56.204Z,1761591056.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:56.456Z,1761591056.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:56.708Z,1761591056.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:56.857Z,1761591056.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773370,0.629003,0.079083],[-0.633743,-0.770298,-0.070781],[0.016396,-0.104858,0.994352]]
2025-10-27T18:50:56.960Z,1761591056.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:57.212Z,1761591057.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:57.263Z,1761591057.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785177,0.598213,0.160119],[-0.617245,-0.776897,-0.124259],[0.050062,-0.196397,0.979246]]
2025-10-27T18:50:57.464Z,1761591057.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:57.672Z,1761591057.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781300,0.597436,0.180667],[-0.623232,-0.762487,-0.173770],[0.033940,-0.248364,0.968072]]
2025-10-27T18:50:57.732Z,1761591057.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:57.984Z,1761591057.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:58.064Z,1761591058.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780967,0.596263,0.185908],[-0.623859,-0.758941,-0.186572],[0.029847,-0.261687,0.964691]]
2025-10-27T18:50:58.239Z,1761591058.239 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:58.466Z,1761591058.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794947,0.579902,0.178248],[-0.603280,-0.786660,-0.131219],[0.064127,-0.211846,0.975197]]
2025-10-27T18:50:58.492Z,1761591058.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:58.744Z,1761591058.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:58.871Z,1761591058.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788351,0.600199,0.135144],[-0.607446,-0.794194,-0.016323],[0.097534,-0.094961,0.990691]]
2025-10-27T18:50:58.877Z,1761591058.877 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185055.00,A,3646.63201,N,12151.91698,W,0.233,280.06,271025,,,A*75
2025-10-27T18:50:58.879Z,1761591058.879 [NAL9602](INFO): GPS fix at 20251027T185055: (36.777200, -121.865283)
2025-10-27T18:50:58.996Z,1761591058.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:59.251Z,1761591059.251 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:59.274Z,1761591059.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755237,0.653390,0.051951],[-0.649341,-0.756640,0.076503],[0.089294,0.024044,0.995715]]
2025-10-27T18:50:59.500Z,1761591059.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:50:59.688Z,1761591059.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751580,0.659183,-0.024586],[-0.659265,-0.749371,0.061742],[0.022275,0.062613,0.997789]]
2025-10-27T18:50:59.752Z,1761591059.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:00.004Z,1761591060.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:00.082Z,1761591060.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770625,0.636956,-0.020615],[-0.637004,-0.770844,-0.004989],[-0.019069,0.009288,0.999775]]
2025-10-27T18:51:00.256Z,1761591060.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:00.488Z,1761591060.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778103,0.624862,0.064045],[-0.628059,-0.775548,-0.063775],[0.009819,-0.089848,0.995907]]
2025-10-27T18:51:00.508Z,1761591060.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:00.760Z,1761591060.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:00.889Z,1761591060.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775023,0.613928,0.149772],[-0.629084,-0.772026,-0.090713],[0.059936,-0.164523,0.984551]]
2025-10-27T18:51:01.012Z,1761591061.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:01.264Z,1761591061.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:01.294Z,1761591061.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754380,0.637526,0.156431],[-0.652990,-0.753192,-0.079413],[0.067195,-0.162055,0.984491]]
2025-10-27T18:51:01.516Z,1761591061.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:01.700Z,1761591061.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746311,0.661202,0.076367],[-0.665091,-0.745294,-0.046803],[0.025970,-0.085721,0.995981]]
2025-10-27T18:51:01.768Z,1761591061.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:02.020Z,1761591062.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:02.106Z,1761591062.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759472,0.650415,0.012755],[-0.650531,-0.759210,-0.020242],[-0.003482,-0.023671,0.999714]]
2025-10-27T18:51:02.126Z,1761591062.126 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185058.00,A,3646.63187,N,12151.91687,W,0.389,280.06,271025,,,A*7B
2025-10-27T18:51:02.129Z,1761591062.129 [NAL9602](INFO): GPS fix at 20251027T185058: (36.777198, -121.865281)
2025-10-27T18:51:02.272Z,1761591062.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:02.505Z,1761591062.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770379,0.637481,0.011544],[-0.637563,-0.770075,-0.022316],[-0.005337,-0.024552,0.999684]]
2025-10-27T18:51:02.524Z,1761591062.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:02.778Z,1761591062.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:02.909Z,1761591062.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758971,0.648545,0.057891],[-0.650993,-0.757600,-0.047448],[0.013086,-0.073699,0.997195]]
2025-10-27T18:51:03.028Z,1761591063.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:03.280Z,1761591063.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:03.314Z,1761591063.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740699,0.662464,0.111835],[-0.669655,-0.741398,-0.043491],[0.054103,-0.107105,0.992775]]
2025-10-27T18:51:03.533Z,1761591063.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:03.720Z,1761591063.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746596,0.653863,0.122712],[-0.661479,-0.749279,-0.032044],[0.070993,-0.105095,0.991925]]
2025-10-27T18:51:03.784Z,1761591063.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:04.036Z,1761591064.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:04.122Z,1761591064.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751762,0.651016,0.105035],[-0.657209,-0.752735,-0.038292],[0.054135,-0.097816,0.993731]]
2025-10-27T18:51:04.288Z,1761591064.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:04.526Z,1761591064.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760394,0.644138,0.082992],[-0.648905,-0.758807,-0.055990],[0.026909,-0.096428,0.994976]]
2025-10-27T18:51:04.540Z,1761591064.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:04.796Z,1761591064.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:04.950Z,1761591064.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185101.00,A,3646.63184,N,12151.91718,W,0.603,278.69,271025,,,A*7B
2025-10-27T18:51:04.953Z,1761591064.953 [NAL9602](INFO): GPS fix at 20251027T185101: (36.777197, -121.865286)
2025-10-27T18:51:05.044Z,1761591065.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:05.296Z,1761591065.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:05.337Z,1761591065.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739250,0.662321,0.121820],[-0.668845,-0.743178,-0.018233],[0.078458,-0.094957,0.992385]]
2025-10-27T18:51:05.548Z,1761591065.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:05.737Z,1761591065.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733791,0.672529,0.096202],[-0.674080,-0.738380,0.020254],[0.084655,-0.049985,0.995156]]
2025-10-27T18:51:05.800Z,1761591065.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:06.052Z,1761591066.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:06.141Z,1761591066.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723722,0.690054,0.007210],[-0.689642,-0.723588,0.028537],[0.024909,0.015681,0.999567]]
2025-10-27T18:51:06.304Z,1761591066.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:06.546Z,1761591066.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711495,0.702032,-0.030421],[-0.702690,-0.710745,0.032693],[0.001330,0.044638,0.999002]]
2025-10-27T18:51:06.556Z,1761591066.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:06.810Z,1761591066.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:06.951Z,1761591066.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731270,0.681573,0.026503],[-0.681971,-0.731313,-0.009867],[0.012656,-0.025290,0.999600]]
2025-10-27T18:51:07.060Z,1761591067.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:07.312Z,1761591067.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:07.353Z,1761591067.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743256,0.661366,0.100825],[-0.669005,-0.735108,-0.109766],[0.001522,-0.149037,0.988831]]
2025-10-27T18:51:07.564Z,1761591067.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:07.757Z,1761591067.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746576,0.646849,0.155597],[-0.665199,-0.721692,-0.191495],[-0.011575,-0.246469,0.969082]]
2025-10-27T18:51:07.816Z,1761591067.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:08.068Z,1761591068.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:08.171Z,1761591068.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740780,0.648696,0.174468],[-0.671677,-0.711510,-0.206406],[-0.009759,-0.270087,0.962786]]
2025-10-27T18:51:08.177Z,1761591068.177 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185107.00,A,3646.63203,N,12151.91802,W,0.894,291.58,271025,,,A*70
2025-10-27T18:51:08.180Z,1761591068.180 [NAL9602](INFO): GPS fix at 20251027T185107: (36.777200, -121.865300)
2025-10-27T18:51:08.320Z,1761591068.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:08.566Z,1761591068.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729408,0.665904,0.156639],[-0.684079,-0.709819,-0.167909],[-0.000626,-0.229628,0.973278]]
2025-10-27T18:51:08.572Z,1761591068.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:08.826Z,1761591068.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:08.971Z,1761591068.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715620,0.693024,0.087214],[-0.698374,-0.712181,-0.071221],[0.012755,-0.111875,0.993640]]
2025-10-27T18:51:09.076Z,1761591069.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:09.328Z,1761591069.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:09.373Z,1761591069.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708396,0.705634,0.016004],[-0.704951,-0.708468,0.033423],[0.034923,0.012395,0.999313]]
2025-10-27T18:51:09.580Z,1761591069.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:09.778Z,1761591069.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714633,0.698950,-0.027702],[-0.698313,-0.710556,0.086427],[0.040725,0.081108,0.995873]]
2025-10-27T18:51:09.832Z,1761591069.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:10.084Z,1761591070.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:10.183Z,1761591070.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729017,0.684098,-0.023344],[-0.682764,-0.724325,0.095843],[0.048657,0.085810,0.995123]]
2025-10-27T18:51:10.336Z,1761591070.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:10.483Z,1761591070.483 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-10-27T18:51:10.484Z,1761591070.484 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-10-27T18:51:10.484Z,1761591070.484 [LcmPublisher](INFO): Deactivating messaging.
2025-10-27T18:51:10.587Z,1761591070.587 [DAT](INFO): Deactivating messaging.
2025-10-27T18:51:10.588Z,1761591070.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:10.589Z,1761591070.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704432,0.709771,0.000524],[-0.708363,-0.703081,0.062443],[0.044688,0.043616,0.998048]]
2025-10-27T18:51:10.607Z,1761591070.607 [WetLabsBB2FL](INFO): Powering down
2025-10-27T18:51:10.840Z,1761591070.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:10.990Z,1761591070.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679834,0.732355,0.038499],[-0.733180,-0.679906,-0.013191],[0.016515,-0.037195,0.999172]]
2025-10-27T18:51:11.004Z,1761591071.004 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185110.00,A,3646.63182,N,12151.91771,W,0.233,232.29,271025,,,A*7F
2025-10-27T18:51:11.006Z,1761591071.006 [NAL9602](INFO): GPS fix at 20251027T185110: (36.777197, -121.865295)
2025-10-27T18:51:11.092Z,1761591071.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:11.344Z,1761591071.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:11.394Z,1761591071.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702479,0.706271,0.087775],[-0.711702,-0.697456,-0.083875],[0.001981,-0.121390,0.992603]]
2025-10-27T18:51:11.596Z,1761591071.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:11.797Z,1761591071.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719741,0.682390,0.127741],[-0.694022,-0.711869,-0.107591],[0.017516,-0.166093,0.985955]]
2025-10-27T18:51:11.855Z,1761591071.855 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:12.108Z,1761591072.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:12.225Z,1761591072.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700446,0.696479,0.155861],[-0.710984,-0.699986,-0.067242],[0.062268,-0.157914,0.985488]]
2025-10-27T18:51:12.360Z,1761591072.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:12.612Z,1761591072.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:12.623Z,1761591072.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674909,0.717031,0.174253],[-0.730576,-0.682502,-0.021218],[0.103714,-0.141625,0.984472]]
2025-10-27T18:51:12.866Z,1761591072.866 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:13.010Z,1761591073.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675737,0.723124,0.143079],[-0.730134,-0.683285,0.005041],[0.101410,-0.101060,0.989698]]
2025-10-27T18:51:13.116Z,1761591073.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:13.368Z,1761591073.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:13.414Z,1761591073.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684546,0.721308,0.105412],[-0.724395,-0.689275,0.012309],[0.081536,-0.067934,0.994353]]
2025-10-27T18:51:13.620Z,1761591073.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:13.818Z,1761591073.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684206,0.719809,0.117206],[-0.721541,-0.691502,0.034695],[0.106022,-0.060831,0.992501]]
2025-10-27T18:51:13.872Z,1761591073.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:14.124Z,1761591074.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:14.224Z,1761591074.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674095,0.724447,0.144124],[-0.722382,-0.687301,0.076037],[0.154142,-0.052857,0.986634]]
2025-10-27T18:51:14.376Z,1761591074.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:14.625Z,1761591074.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672143,0.727320,0.138671],[-0.721193,-0.685508,0.099797],[0.167644,-0.032931,0.985297]]
2025-10-27T18:51:14.628Z,1761591074.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:14.880Z,1761591074.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:15.030Z,1761591075.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670798,0.735838,0.092589],[-0.733929,-0.676586,0.059830],[0.106669,-0.027820,0.993905]]
2025-10-27T18:51:15.132Z,1761591075.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:15.384Z,1761591075.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:15.636Z,1761591075.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:15.839Z,1761591075.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689305,0.707177,0.157347],[-0.718066,-0.695719,-0.018878],[0.096119,-0.125998,0.987363]]
2025-10-27T18:51:15.888Z,1761591075.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:16.140Z,1761591076.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:16.242Z,1761591076.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676421,0.721705,0.146956],[-0.734032,-0.676954,-0.054123],[0.060422,-0.144481,0.987661]]
2025-10-27T18:51:16.392Z,1761591076.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:16.644Z,1761591076.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:16.896Z,1761591076.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:17.050Z,1761591077.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693891,0.716176,0.074889],[-0.718670,-0.695282,-0.009809],[0.045044,-0.060627,0.997144]]
2025-10-27T18:51:17.148Z,1761591077.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:17.400Z,1761591077.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:17.457Z,1761591077.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680975,0.727916,0.080071],[-0.727236,-0.685050,0.042827],[0.086027,-0.029067,0.995869]]
2025-10-27T18:51:17.652Z,1761591077.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:17.857Z,1761591077.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666087,0.742587,0.069947],[-0.741449,-0.669417,0.046199],[0.081130,-0.021090,0.996480]]
2025-10-27T18:51:17.904Z,1761591077.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:18.156Z,1761591078.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:18.261Z,1761591078.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664096,0.745142,0.061154],[-0.746239,-0.665642,0.006915],[0.045860,-0.041043,0.998104]]
2025-10-27T18:51:18.408Z,1761591078.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:18.660Z,1761591078.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:18.667Z,1761591078.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691551,0.713501,0.112577],[-0.721629,-0.689291,-0.064258],[0.031750,-0.125677,0.991563]]
2025-10-27T18:51:18.912Z,1761591078.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:19.072Z,1761591079.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716707,0.669207,0.196199],[-0.693148,-0.714516,-0.094931],[0.076659,-0.204033,0.975958]]
2025-10-27T18:51:19.164Z,1761591079.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:19.416Z,1761591079.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:19.474Z,1761591079.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712203,0.668097,0.215439],[-0.696604,-0.710534,-0.099415],[0.086658,-0.220879,0.971444]]
2025-10-27T18:51:19.673Z,1761591079.673 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:19.878Z,1761591079.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715464,0.682564,0.149059],[-0.696582,-0.713324,-0.077087],[0.053710,-0.158985,0.985819]]
2025-10-27T18:51:19.920Z,1761591079.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:20.172Z,1761591080.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:20.281Z,1761591080.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712604,0.697870,0.071916],[-0.700223,-0.713833,-0.011390],[0.043387,-0.058474,0.997346]]
2025-10-27T18:51:20.424Z,1761591080.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:20.680Z,1761591080.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:20.692Z,1761591080.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703905,0.709503,0.033508],[-0.707492,-0.704534,0.055555],[0.063024,0.015399,0.997893]]
2025-10-27T18:51:20.932Z,1761591080.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:21.089Z,1761591081.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688194,0.725455,0.010206],[-0.723324,-0.687132,0.068204],[0.056491,0.039555,0.997619]]
2025-10-27T18:51:21.184Z,1761591081.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:21.436Z,1761591081.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:21.493Z,1761591081.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693799,0.720168,0.000680],[-0.719819,-0.693492,0.030492],[0.022431,0.020665,0.999535]]
2025-10-27T18:51:21.688Z,1761591081.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:21.940Z,1761591081.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:22.192Z,1761591082.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:22.303Z,1761591082.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694157,0.712295,0.103831],[-0.719521,-0.690791,-0.071394],[0.020872,-0.124268,0.992029]]
2025-10-27T18:51:22.444Z,1761591082.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:22.704Z,1761591082.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:22.706Z,1761591082.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679891,0.721802,0.129423],[-0.733103,-0.673247,-0.096425],[0.017534,-0.160439,0.986890]]
2025-10-27T18:51:22.956Z,1761591082.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:23.109Z,1761591083.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686203,0.717437,0.120040],[-0.727197,-0.680593,-0.089325],[0.017613,-0.148588,0.988742]]
2025-10-27T18:51:23.155Z,1761591083.155 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:A.Wait] Stopped
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-27T18:51:23.156Z,1761591083.156 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-27T18:51:23.157Z,1761591083.157 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-27T18:51:23.157Z,1761591083.157 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T18:51:23.208Z,1761591083.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:23.399Z,1761591083.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T18:51:23.460Z,1761591083.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:23.513Z,1761591083.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685738,0.719612,0.109188],[-0.726229,-0.686471,-0.036727],[0.048525,-0.104481,0.993342]]
2025-10-27T18:51:23.528Z,1761591083.528 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-27T18:51:23.528Z,1761591083.528 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T18:51:23.529Z,1761591083.529 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.159157 m.
2025-10-27T18:51:23.530Z,1761591083.530 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-27T18:51:23.530Z,1761591083.530 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-27T18:51:23.712Z,1761591083.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:23.918Z,1761591083.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666739,0.742030,0.069644],[-0.743634,-0.668574,0.004195],[0.049675,-0.048993,0.997563]]
2025-10-27T18:51:23.933Z,1761591083.933 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-27T18:51:23.964Z,1761591083.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:24.216Z,1761591084.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:24.323Z,1761591084.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672663,0.737896,0.055089],[-0.739166,-0.673511,-0.004149],[0.034042,-0.043511,0.998473]]
2025-10-27T18:51:24.404Z,1761591084.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:51:24.468Z,1761591084.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:24.724Z,1761591084.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:24.727Z,1761591084.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689642,0.720569,0.071931],[-0.723871,-0.688724,-0.040864],[0.020096,-0.080250,0.996572]]
2025-10-27T18:51:24.976Z,1761591084.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:25.129Z,1761591085.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694883,0.711627,0.103560],[-0.719110,-0.688490,-0.094139],[0.004308,-0.139886,0.990158]]
2025-10-27T18:51:25.228Z,1761591085.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:25.480Z,1761591085.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:25.536Z,1761591085.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704811,0.688082,0.172584],[-0.708860,-0.692564,-0.133685],[0.027539,-0.216561,0.975881]]
2025-10-27T18:51:25.732Z,1761591085.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:25.940Z,1761591085.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714499,0.669365,0.203574],[-0.697735,-0.703166,-0.136837],[0.051553,-0.239811,0.969450]]
2025-10-27T18:51:25.984Z,1761591085.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:26.236Z,1761591086.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:26.342Z,1761591086.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706495,0.688148,0.165280],[-0.706683,-0.698578,-0.112192],[0.038256,-0.196064,0.979845]]
2025-10-27T18:51:26.488Z,1761591086.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:26.740Z,1761591086.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:26.752Z,1761591086.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702655,0.698596,0.135055],[-0.708719,-0.704012,-0.045655],[0.063185,-0.127796,0.989786]]
2025-10-27T18:51:26.992Z,1761591086.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:27.150Z,1761591087.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701532,0.707266,0.087338],[-0.706176,-0.706397,0.048149],[0.095749,-0.027898,0.995014]]
2025-10-27T18:51:27.245Z,1761591087.245 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:27.496Z,1761591087.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:27.748Z,1761591087.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:27.958Z,1761591087.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707629,0.706483,0.011987],[-0.704162,-0.706505,0.070764],[0.058462,0.041634,0.997421]]
2025-10-27T18:51:28.001Z,1761591088.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:28.252Z,1761591088.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:28.362Z,1761591088.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717608,0.691857,0.079828],[-0.693246,-0.720579,0.013260],[0.066696,-0.045824,0.996720]]
2025-10-27T18:51:28.504Z,1761591088.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:28.757Z,1761591088.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:28.793Z,1761591088.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725980,0.676363,0.124439],[-0.684990,-0.727261,-0.043368],[0.061167,-0.116724,0.991279]]
2025-10-27T18:51:29.008Z,1761591089.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:29.170Z,1761591089.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714254,0.685579,0.140793],[-0.697658,-0.713465,-0.065119],[0.055807,-0.144737,0.987895]]
2025-10-27T18:51:29.260Z,1761591089.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:29.512Z,1761591089.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:29.574Z,1761591089.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681421,0.718498,0.139378],[-0.728396,-0.684345,-0.033322],[0.071440,-0.124229,0.989679]]
2025-10-27T18:51:29.764Z,1761591089.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:29.984Z,1761591089.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666711,0.740134,0.087738],[-0.740944,-0.670924,0.029388],[0.080616,-0.045416,0.995710]]
2025-10-27T18:51:30.016Z,1761591090.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:30.268Z,1761591090.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:30.382Z,1761591090.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673269,0.739278,0.013337],[-0.738337,-0.673159,0.041419],[0.039598,0.018039,0.999053]]
2025-10-27T18:51:30.520Z,1761591090.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:30.781Z,1761591090.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:30.830Z,1761591090.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673023,0.738963,-0.031188],[-0.739412,-0.673237,0.004629],[-0.017576,0.026176,0.999503]]
2025-10-27T18:51:31.024Z,1761591091.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:31.190Z,1761591091.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675433,0.737214,0.017513],[-0.737420,-0.675189,-0.018206],[-0.001597,-0.025212,0.999681]]
2025-10-27T18:51:31.276Z,1761591091.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:31.528Z,1761591091.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:31.594Z,1761591091.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687365,0.720392,0.092547],[-0.725219,-0.687726,-0.033038],[0.039847,-0.089826,0.995160]]
2025-10-27T18:51:31.780Z,1761591091.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:31.999Z,1761591091.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699653,0.701069,0.137793],[-0.713745,-0.694573,-0.090209],[0.032464,-0.161464,0.986344]]
2025-10-27T18:51:32.032Z,1761591092.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:32.284Z,1761591092.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:32.404Z,1761591092.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685978,0.713654,0.141890],[-0.727579,-0.670653,-0.144405],[-0.007896,-0.202295,0.979293]]
2025-10-27T18:51:32.536Z,1761591092.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:32.790Z,1761591092.790 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:32.835Z,1761591092.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698895,0.701135,0.141262],[-0.715043,-0.680509,-0.160065],[-0.016097,-0.212877,0.976946]]
2025-10-27T18:51:33.040Z,1761591093.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:33.210Z,1761591093.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735600,0.663908,0.134605],[-0.677279,-0.724784,-0.126416],[0.013631,-0.184157,0.982802]]
2025-10-27T18:51:33.292Z,1761591093.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:33.544Z,1761591093.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:33.614Z,1761591093.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736828,0.665732,0.117836],[-0.673368,-0.738235,-0.039807],[0.060489,-0.108678,0.992235]]
2025-10-27T18:51:33.796Z,1761591093.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:34.019Z,1761591094.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715833,0.691371,0.097929],[-0.686849,-0.722427,0.079612],[0.125788,-0.010273,0.992004]]
2025-10-27T18:51:34.048Z,1761591094.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:34.300Z,1761591094.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:34.422Z,1761591094.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684709,0.727028,0.051036],[-0.718958,-0.685267,0.116226],[0.119473,0.042888,0.991911]]
2025-10-27T18:51:34.553Z,1761591094.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:34.806Z,1761591094.806 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:34.837Z,1761591094.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654074,0.755719,-0.032787],[-0.756412,-0.653144,0.035259],[0.005231,0.047863,0.998840]]
2025-10-27T18:51:35.056Z,1761591095.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:35.230Z,1761591095.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660191,0.749868,-0.042955],[-0.749689,-0.661375,-0.023438],[-0.045985,0.016729,0.998802]]
2025-10-27T18:51:35.308Z,1761591095.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:35.560Z,1761591095.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:35.634Z,1761591095.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678068,0.734296,0.032129],[-0.734829,-0.676325,-0.051089],[-0.015785,-0.058251,0.998177]]
2025-10-27T18:51:35.812Z,1761591095.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:36.038Z,1761591096.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704352,0.702301,0.103257],[-0.709851,-0.696927,-0.102006],[0.000324,-0.145145,0.989410]]
2025-10-27T18:51:36.064Z,1761591096.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:36.316Z,1761591096.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:36.442Z,1761591096.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707009,0.698119,0.112995],[-0.706364,-0.689311,-0.160935],[-0.034463,-0.193598,0.980476]]
2025-10-27T18:51:36.568Z,1761591096.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:36.822Z,1761591096.822 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:36.846Z,1761591096.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686344,0.721490,0.091559],[-0.725433,-0.670200,-0.156778],[-0.051751,-0.174024,0.983381]]
2025-10-27T18:51:37.072Z,1761591097.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:37.251Z,1761591097.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678149,0.734310,0.030040],[-0.732797,-0.672513,-0.103611],[-0.055880,-0.092277,0.994164]]
2025-10-27T18:51:37.324Z,1761591097.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:37.576Z,1761591097.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:37.655Z,1761591097.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678161,0.734460,-0.025805],[-0.734033,-0.678649,-0.025123],[-0.035964,0.001905,0.999351]]
2025-10-27T18:51:37.828Z,1761591097.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:38.058Z,1761591098.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678620,0.733982,-0.027300],[-0.734435,-0.677647,0.037421],[0.008966,0.045445,0.998927]]
2025-10-27T18:51:38.080Z,1761591098.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:38.332Z,1761591098.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:38.462Z,1761591098.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672838,0.739673,0.013172],[-0.739766,-0.672566,-0.020061],[-0.005979,-0.023242,0.999712]]
2025-10-27T18:51:38.584Z,1761591098.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:38.836Z,1761591098.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:38.866Z,1761591098.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690141,0.718637,0.085238],[-0.723068,-0.679939,-0.121885],[-0.029634,-0.145751,0.988877]]
2025-10-27T18:51:39.088Z,1761591099.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:39.272Z,1761591099.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699502,0.696370,0.160515],[-0.714626,-0.680810,-0.160649],[-0.002591,-0.227083,0.973872]]
2025-10-27T18:51:39.340Z,1761591099.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:39.592Z,1761591099.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:39.674Z,1761591099.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686135,0.708834,0.163625],[-0.727022,-0.676067,-0.119887],[0.025641,-0.201217,0.979211]]
2025-10-27T18:51:39.844Z,1761591099.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:40.078Z,1761591100.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677155,0.728645,0.102652],[-0.735409,-0.674917,-0.060509],[0.025193,-0.116465,0.992875]]
2025-10-27T18:51:40.096Z,1761591100.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:40.348Z,1761591100.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:40.482Z,1761591100.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671517,0.740124,0.035813],[-0.740590,-0.671957,0.000353],[0.024326,-0.026286,0.999358]]
2025-10-27T18:51:40.601Z,1761591100.601 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:40.852Z,1761591100.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:40.888Z,1761591100.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662432,0.749117,-0.002748],[-0.748851,-0.662090,0.029301],[0.020131,0.021468,0.999567]]
2025-10-27T18:51:41.104Z,1761591101.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:41.356Z,1761591101.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:41.499Z,1761591101.499 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003025
2025-10-27T18:51:41.608Z,1761591101.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:41.700Z,1761591101.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684824,0.717675,0.126327],[-0.727277,-0.683993,-0.056768],[0.045665,-0.130751,0.990363]]
2025-10-27T18:51:41.860Z,1761591101.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:42.102Z,1761591102.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671626,0.723507,0.159552],[-0.739596,-0.667446,-0.086678],[0.043780,-0.176220,0.983377]]
2025-10-27T18:51:42.112Z,1761591102.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:42.364Z,1761591102.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:42.499Z,1761591102.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:51:42.510Z,1761591102.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639608,0.758349,0.125733],[-0.768430,-0.635120,-0.078346],[0.020442,-0.146728,0.988966]]
2025-10-27T18:51:42.616Z,1761591102.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:42.868Z,1761591102.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:42.916Z,1761591102.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642572,0.766106,0.013483],[-0.765173,-0.640670,-0.063659],[-0.040131,-0.051222,0.997881]]
2025-10-27T18:51:43.120Z,1761591103.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:43.312Z,1761591103.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669366,0.741764,-0.041658],[-0.740850,-0.670635,-0.037286],[-0.055595,0.005905,0.998436]]
2025-10-27T18:51:43.315Z,1761591103.315 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T18:51:43.372Z,1761591103.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:43.624Z,1761591103.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:43.714Z,1761591103.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687305,0.725237,0.040544],[-0.725506,-0.688138,0.010345],[0.035403,-0.022304,0.999124]]
2025-10-27T18:51:43.876Z,1761591103.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:44.120Z,1761591104.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684195,0.717546,0.130405],[-0.721613,-0.691966,0.021423],[0.105608,-0.079444,0.991229]]
2025-10-27T18:51:44.128Z,1761591104.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:44.137Z,1761591104.137 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 239.00 m. Transitioning docking module to standby.
2025-10-27T18:51:44.380Z,1761591104.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:44.547Z,1761591104.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675057,0.720110,0.160439],[-0.732965,-0.679381,-0.034681],[0.084025,-0.141008,0.986436]]
2025-10-27T18:51:44.574Z,1761591104.574 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-27T18:51:44.632Z,1761591104.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:44.884Z,1761591104.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:44.926Z,1761591104.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665750,0.724370,0.179066],[-0.741787,-0.668482,-0.053704],[0.080800,-0.168583,0.982370]]
2025-10-27T18:51:45.014Z,1761591105.014 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-27T18:51:45.014Z,1761591105.014 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-27T18:51:45.014Z,1761591105.014 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-27T18:51:45.014Z,1761591105.014 [DefaultWithUndock:LeaveDock] Stopped
2025-10-27T18:51:45.015Z,1761591105.015 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-27T18:51:45.019Z,1761591105.019 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-27T18:51:45.019Z,1761591105.019 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-27T18:51:45.019Z,1761591105.019 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-27T18:51:45.019Z,1761591105.019 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:51:45.019Z,1761591105.019 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-27T18:51:45.020Z,1761591105.020 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-27T18:51:45.020Z,1761591105.020 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-27T18:51:45.020Z,1761591105.020 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-27T18:51:45.021Z,1761591105.021 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:51:45.021Z,1761591105.021 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:51:45.136Z,1761591105.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:45.330Z,1761591105.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645848,0.747455,0.155536],[-0.754400,-0.656097,0.020413],[0.117304,-0.104153,0.987619]]
2025-10-27T18:51:45.381Z,1761591105.381 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-27T18:51:45.381Z,1761591105.381 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T18:51:45.381Z,1761591105.381 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-27T18:51:45.388Z,1761591105.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:45.640Z,1761591105.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:45.735Z,1761591105.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622911,0.781114,0.042932],[-0.778501,-0.624354,0.064172],[0.076930,0.006551,0.997015]]
2025-10-27T18:51:45.892Z,1761591105.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:46.138Z,1761591106.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633530,0.771842,-0.053839],[-0.773709,-0.631648,0.048941],[0.003768,0.072662,0.997350]]
2025-10-27T18:51:46.144Z,1761591106.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:46.396Z,1761591106.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:46.542Z,1761591106.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645267,0.763671,-0.020887],[-0.763943,-0.645180,0.011588],[-0.004626,0.023433,0.999715]]
2025-10-27T18:51:46.648Z,1761591106.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:46.902Z,1761591106.902 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:46.946Z,1761591106.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638601,0.767168,0.060340],[-0.769389,-0.634972,-0.069650],[-0.015119,-0.090904,0.995745]]
2025-10-27T18:51:47.152Z,1761591107.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:47.351Z,1761591107.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644986,0.756569,0.107687],[-0.761737,-0.625206,-0.169923],[-0.061232,-0.191627,0.979556]]
2025-10-27T18:51:47.358Z,1761591107.358 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185146.00,A,3646.63268,N,12151.92216,W,2.235,288.68,271025,,,A*7C
2025-10-27T18:51:47.361Z,1761591107.361 [NAL9602](INFO): GPS fix at 20251027T185146: (36.777211, -121.865369)
2025-10-27T18:51:47.388Z,1761591107.388 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-27T18:51:47.388Z,1761591107.388 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-27T18:51:47.404Z,1761591107.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:47.656Z,1761591107.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:47.754Z,1761591107.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658668,0.744967,0.105739],[-0.746843,-0.630186,-0.212346],[-0.091556,-0.218836,0.971457]]
2025-10-27T18:51:47.908Z,1761591107.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:48.160Z,1761591108.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:48.306Z,1761591108.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690888,0.716386,0.097284],[-0.720453,-0.671029,-0.175119],[-0.060173,-0.191077,0.979729]]
2025-10-27T18:51:48.412Z,1761591108.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:48.664Z,1761591108.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:48.698Z,1761591108.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700957,0.708771,0.079391],[-0.713088,-0.694483,-0.095909],[-0.012841,-0.123841,0.992219]]
2025-10-27T18:51:48.916Z,1761591108.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:49.102Z,1761591109.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674160,0.737991,0.029626],[-0.738459,-0.672760,-0.045528],[-0.013668,-0.052571,0.998524]]
2025-10-27T18:51:49.168Z,1761591109.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:49.401Z,1761591109.401 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251027T165046/Courier0033.lzma
2025-10-27T18:51:49.420Z,1761591109.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:49.506Z,1761591109.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668580,0.743488,-0.015072],[-0.743595,-0.668625,0.002536],[-0.008192,0.012903,0.999883]]
2025-10-27T18:51:49.672Z,1761591109.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:49.911Z,1761591109.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689210,0.723928,-0.030289],[-0.724546,-0.688317,0.035395],[0.004775,0.046341,0.998914]]
2025-10-27T18:51:49.924Z,1761591109.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:50.061Z,1761591110.061 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Courier0033.lzma.bak
2025-10-27T18:51:50.061Z,1761591110.061 [DataOverHttps](INFO): SBD MOMSN=26249973
2025-10-27T18:51:50.176Z,1761591110.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:50.313Z,1761591110.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680256,0.732936,-0.007477],[-0.732858,-0.679932,0.024733],[0.013043,0.022304,0.999666]]
2025-10-27T18:51:50.428Z,1761591110.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:50.680Z,1761591110.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:50.718Z,1761591110.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644539,0.762621,0.054587],[-0.763508,-0.645765,0.006656],[0.040326,-0.037388,0.998487]]
2025-10-27T18:51:50.932Z,1761591110.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:51.122Z,1761591111.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626719,0.771563,0.109146],[-0.776901,-0.629531,-0.010774],[0.060398,-0.091548,0.993967]]
2025-10-27T18:51:51.184Z,1761591111.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:51.436Z,1761591111.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:51.527Z,1761591111.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620313,0.777091,0.106496],[-0.783492,-0.620257,-0.037701],[0.036758,-0.106825,0.993598]]
2025-10-27T18:51:51.688Z,1761591111.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:51.929Z,1761591111.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624463,0.777657,0.072773],[-0.780970,-0.623047,-0.043564],[0.011463,-0.084037,0.996397]]
2025-10-27T18:51:51.940Z,1761591111.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:52.192Z,1761591112.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:52.333Z,1761591112.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635365,0.769547,0.064109],[-0.771448,-0.636236,-0.008384],[0.034336,-0.054784,0.997908]]
2025-10-27T18:51:52.444Z,1761591112.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:52.696Z,1761591112.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:52.738Z,1761591112.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621768,0.779959,0.071196],[-0.780425,-0.624646,0.027459],[0.065889,-0.038489,0.997084]]
2025-10-27T18:51:52.948Z,1761591112.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:53.144Z,1761591113.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593901,0.802947,0.050569],[-0.803128,-0.595408,0.021802],[0.047615,-0.027665,0.998483]]
2025-10-27T18:51:53.200Z,1761591113.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:53.453Z,1761591113.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:53.707Z,1761591113.707 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:53.956Z,1761591113.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:54.208Z,1761591114.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:54.354Z,1761591114.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630899,0.758999,0.160892],[-0.772925,-0.596812,-0.215410],[-0.067473,-0.260260,0.963178]]
2025-10-27T18:51:54.460Z,1761591114.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:54.712Z,1761591114.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:54.782Z,1761591114.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645567,0.735472,0.205730],[-0.763196,-0.611464,-0.208909],[-0.027850,-0.291877,0.956050]]
2025-10-27T18:51:54.964Z,1761591114.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:55.162Z,1761591115.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670107,0.706213,0.228516],[-0.739028,-0.663500,-0.116644],[0.069245,-0.247044,0.966527]]
2025-10-27T18:51:55.216Z,1761591115.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:55.468Z,1761591115.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:55.566Z,1761591115.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671702,0.718379,0.180964],[-0.727988,-0.685341,0.018478],[0.137296,-0.119328,0.983316]]
2025-10-27T18:51:55.727Z,1761591115.727 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:55.972Z,1761591115.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644989,0.760810,0.071810],[-0.752098,-0.648624,0.116768],[0.135416,0.021306,0.990560]]
2025-10-27T18:51:55.980Z,1761591115.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:56.232Z,1761591116.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:56.374Z,1761591116.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603614,0.797165,0.013378],[-0.784420,-0.596798,0.168871],[0.142602,0.091439,0.985547]]
2025-10-27T18:51:56.484Z,1761591116.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:56.736Z,1761591116.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:56.832Z,1761591116.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565402,0.823892,0.039003],[-0.801912,-0.560154,0.207760],[0.193020,0.086192,0.977402]]
2025-10-27T18:51:56.988Z,1761591116.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:57.182Z,1761591117.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533389,0.843304,0.065836],[-0.821541,-0.535009,0.197067],[0.201411,0.051026,0.978177]]
2025-10-27T18:51:57.240Z,1761591117.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:57.492Z,1761591117.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:57.588Z,1761591117.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494426,0.866952,0.062740],[-0.858886,-0.498371,0.118074],[0.133632,0.004492,0.991021]]
2025-10-27T18:51:57.744Z,1761591117.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:57.989Z,1761591117.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475112,0.877650,0.063241],[-0.879315,-0.476231,0.003030],[0.032776,-0.054169,0.997994]]
2025-10-27T18:51:58.008Z,1761591118.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:58.248Z,1761591118.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:58.394Z,1761591118.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487106,0.868019,0.096291],[-0.873268,-0.485539,-0.040673],[0.011448,-0.103900,0.994522]]
2025-10-27T18:51:58.500Z,1761591118.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:58.752Z,1761591118.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:58.831Z,1761591118.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488633,0.861884,0.135627],[-0.872219,-0.486417,-0.051314],[0.021744,-0.143370,0.989430]]
2025-10-27T18:51:58.836Z,1761591118.836 [NAL9602](INFO): SBD MO Status=0, MOMSN=3088, MT Status=0, MTMSN=0
2025-10-27T18:51:58.836Z,1761591118.836 [NAL9602](INFO): No messages in MT queue
2025-10-27T18:51:59.004Z,1761591119.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:59.256Z,1761591119.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:59.508Z,1761591119.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:51:59.606Z,1761591119.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487030,0.864602,0.123554],[-0.873307,-0.480195,-0.082142],[-0.011690,-0.147906,0.988932]]
2025-10-27T18:51:59.760Z,1761591119.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:00.009Z,1761591120.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485513,0.871542,0.068503],[-0.871994,-0.477182,-0.109198],[-0.062482,-0.112751,0.991657]]
2025-10-27T18:52:00.012Z,1761591120.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:00.264Z,1761591120.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:00.413Z,1761591120.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493579,0.869685,0.005162],[-0.862164,-0.488514,-0.134265],[-0.114246,-0.070721,0.990932]]
2025-10-27T18:52:00.517Z,1761591120.517 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:00.770Z,1761591120.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:00.838Z,1761591120.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503816,0.863268,0.030608],[-0.861390,-0.499438,-0.092571],[-0.064627,-0.073004,0.995236]]
2025-10-27T18:52:01.020Z,1761591121.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:01.221Z,1761591121.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508319,0.852042,0.125047],[-0.860515,-0.508209,-0.035195],[0.033563,-0.125495,0.991526]]
2025-10-27T18:52:01.272Z,1761591121.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:01.524Z,1761591121.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:01.625Z,1761591121.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504846,0.847743,0.162674],[-0.862917,-0.500533,-0.069571],[0.022445,-0.175497,0.984224]]
2025-10-27T18:52:01.776Z,1761591121.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:02.028Z,1761591122.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:02.031Z,1761591122.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509205,0.850711,0.130390],[-0.860027,-0.497226,-0.114543],[-0.032610,-0.170464,0.984824]]
2025-10-27T18:52:02.280Z,1761591122.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:02.436Z,1761591122.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498807,0.861456,0.095313],[-0.866692,-0.495014,-0.061685],[-0.005958,-0.113376,0.993534]]
2025-10-27T18:52:02.532Z,1761591122.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:02.786Z,1761591122.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:02.848Z,1761591122.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469955,0.881499,0.045838],[-0.882098,-0.470908,0.012185],[0.032326,-0.034707,0.998875]]
2025-10-27T18:52:03.044Z,1761591123.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:03.260Z,1761591123.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457917,0.888956,-0.008332],[-0.888481,-0.457313,0.038289],[0.030227,0.024936,0.999232]]
2025-10-27T18:52:03.296Z,1761591123.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:03.548Z,1761591123.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:03.657Z,1761591123.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447298,0.894272,-0.014227],[-0.893615,-0.446196,0.048593],[0.037107,0.034449,0.998717]]
2025-10-27T18:52:03.802Z,1761591123.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:04.052Z,1761591124.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:04.078Z,1761591124.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422924,0.905698,0.029102],[-0.904862,-0.423819,0.040016],[0.048577,-0.009409,0.998775]]
2025-10-27T18:52:04.304Z,1761591124.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:04.474Z,1761591124.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388903,0.918335,0.073591],[-0.920932,-0.389707,-0.003690],[0.025290,-0.069207,0.997282]]
2025-10-27T18:52:04.560Z,1761591124.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:04.826Z,1761591124.826 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:04.892Z,1761591124.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394351,0.912135,0.111794],[-0.918960,-0.391500,-0.047336],[0.000590,-0.121401,0.992603]]
2025-10-27T18:52:05.085Z,1761591125.085 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:05.286Z,1761591125.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416038,0.899247,0.135157],[-0.909146,-0.408198,-0.082633],[-0.019136,-0.157256,0.987373]]
2025-10-27T18:52:05.336Z,1761591125.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:05.588Z,1761591125.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:05.690Z,1761591125.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432931,0.890948,0.137047],[-0.901320,-0.425503,-0.081057],[-0.013904,-0.158615,0.987243]]
2025-10-27T18:52:05.840Z,1761591125.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:06.092Z,1761591126.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:06.097Z,1761591126.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425659,0.896748,0.121069],[-0.904826,-0.423315,-0.045765],[0.010211,-0.129027,0.991588]]
2025-10-27T18:52:06.345Z,1761591126.345 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:06.596Z,1761591126.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:06.848Z,1761591126.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:06.902Z,1761591126.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360749,0.932615,0.009455],[-0.932557,-0.360842,0.011400],[0.014043,-0.004705,0.999890]]
2025-10-27T18:52:07.100Z,1761591127.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:07.307Z,1761591127.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359595,0.932374,-0.036999],[-0.932592,-0.357794,0.047502],[0.031052,0.051587,0.998186]]
2025-10-27T18:52:07.352Z,1761591127.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:07.604Z,1761591127.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:07.711Z,1761591127.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383948,0.923317,0.008379],[-0.922161,-0.383897,0.047347],[0.046933,0.010452,0.998843]]
2025-10-27T18:52:07.856Z,1761591127.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:08.108Z,1761591128.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:08.118Z,1761591128.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391689,0.913091,0.113337],[-0.916726,-0.397817,0.036803],[0.078692,-0.089483,0.992875]]
2025-10-27T18:52:08.360Z,1761591128.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:08.518Z,1761591128.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353180,0.914055,0.199419],[-0.929314,-0.367341,0.037882],[0.107881,-0.171943,0.979182]]
2025-10-27T18:52:08.613Z,1761591128.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:08.864Z,1761591128.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:08.928Z,1761591128.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306444,0.944408,0.119106],[-0.949723,-0.311780,0.028634],[0.064177,-0.104343,0.992469]]
2025-10-27T18:52:09.116Z,1761591129.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:09.368Z,1761591129.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:09.620Z,1761591129.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:09.736Z,1761591129.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330453,0.943277,0.032069],[-0.941257,-0.331868,0.062445],[0.069546,-0.009550,0.997533]]
2025-10-27T18:52:09.872Z,1761591129.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:09.877Z,1761591129.877 [DataOverHttps](INFO): Sending 688 bytes from file Logs/20251027T165046/Express0031.lzma
2025-10-27T18:52:10.126Z,1761591130.126 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:10.140Z,1761591130.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324753,0.944551,0.048564],[-0.945210,-0.325935,0.018568],[0.033367,-0.039873,0.998647]]
2025-10-27T18:52:10.376Z,1761591130.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:10.541Z,1761591130.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328973,0.940710,0.082710],[-0.944298,-0.326876,-0.038112],[-0.008816,-0.090640,0.995845]]
2025-10-27T18:52:10.628Z,1761591130.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:10.877Z,1761591130.877 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0031.lzma.bak
2025-10-27T18:52:10.877Z,1761591130.877 [DataOverHttps](INFO): SBD MOMSN=26249986
2025-10-27T18:52:10.882Z,1761591130.882 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:10.954Z,1761591130.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335815,0.931964,0.136647],[-0.941104,-0.338038,-0.007298],[0.039390,-0.131050,0.990593]]
2025-10-27T18:52:11.136Z,1761591131.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:11.388Z,1761591131.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:11.640Z,1761591131.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:11.749Z,1761591131.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295541,0.941212,0.163633],[-0.952208,-0.304059,0.029133],[0.077175,-0.147203,0.986091]]
2025-10-27T18:52:11.892Z,1761591131.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:12.144Z,1761591132.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:12.155Z,1761591132.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287529,0.951190,0.112093],[-0.956346,-0.291512,0.020571],[0.052243,-0.101285,0.993485]]
2025-10-27T18:52:12.396Z,1761591132.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:12.558Z,1761591132.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286220,0.955934,0.065329],[-0.956792,-0.288793,0.033887],[0.051261,-0.052807,0.997288]]
2025-10-27T18:52:12.648Z,1761591132.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:12.900Z,1761591132.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:13.155Z,1761591133.155 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:13.365Z,1761591133.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266077,0.963787,0.017833],[-0.963576,-0.266444,0.022984],[0.026903,-0.011068,0.999577]]
2025-10-27T18:52:13.404Z,1761591133.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:13.656Z,1761591133.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:13.770Z,1761591133.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230172,0.972200,0.042985],[-0.973071,-0.230490,0.002533],[0.012371,-0.041244,0.999072]]
2025-10-27T18:52:13.908Z,1761591133.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:14.160Z,1761591134.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:14.178Z,1761591134.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192201,0.978109,0.079766],[-0.980976,-0.193751,0.012095],[0.027285,-0.075924,0.996740]]
2025-10-27T18:52:14.412Z,1761591134.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:14.577Z,1761591134.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200481,0.973698,0.108258],[-0.979506,-0.197032,-0.041780],[-0.019351,-0.114415,0.993245]]
2025-10-27T18:52:14.664Z,1761591134.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:14.916Z,1761591134.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:14.982Z,1761591134.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228501,0.967571,0.107673],[-0.972024,-0.220566,-0.080753],[-0.054385,-0.123113,0.990901]]
2025-10-27T18:52:15.168Z,1761591135.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:15.386Z,1761591135.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221851,0.968749,0.110936],[-0.972990,-0.212493,-0.090203],[-0.063811,-0.127951,0.989726]]
2025-10-27T18:52:15.420Z,1761591135.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:15.672Z,1761591135.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:15.790Z,1761591135.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234325,0.965730,0.111617],[-0.971171,-0.227365,-0.071643],[-0.043810,-0.125187,0.991165]]
2025-10-27T18:52:15.924Z,1761591135.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:16.176Z,1761591136.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:16.194Z,1761591136.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231584,0.969508,0.080140],[-0.972733,-0.231846,-0.006140],[0.012627,-0.079377,0.996765]]
2025-10-27T18:52:16.428Z,1761591136.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:16.598Z,1761591136.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208322,0.977873,0.019121],[-0.977131,-0.208937,0.039510],[0.042631,-0.010453,0.999036]]
2025-10-27T18:52:16.680Z,1761591136.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:16.934Z,1761591136.934 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:17.002Z,1761591137.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214745,0.976670,-0.001085],[-0.976332,-0.214641,0.026538],[0.025686,0.006758,0.999647]]
2025-10-27T18:52:17.189Z,1761591137.189 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:17.408Z,1761591137.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235488,0.971130,0.038111],[-0.971588,-0.236194,0.015146],[0.023711,-0.033462,0.999159]]
2025-10-27T18:52:17.440Z,1761591137.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:17.692Z,1761591137.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:17.810Z,1761591137.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213177,0.970657,0.111269],[-0.974836,-0.218918,0.042072],[0.065196,-0.099500,0.992899]]
2025-10-27T18:52:17.944Z,1761591137.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:18.196Z,1761591138.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:18.214Z,1761591138.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179575,0.975097,0.130149],[-0.980141,-0.188657,0.061088],[0.084120,-0.116594,0.989611]]
2025-10-27T18:52:18.448Z,1761591138.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:18.618Z,1761591138.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180928,0.978837,0.095622],[-0.981573,-0.185796,0.044665],[0.061486,-0.085779,0.994415]]
2025-10-27T18:52:18.700Z,1761591138.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:18.952Z,1761591138.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:19.024Z,1761591139.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166194,0.983426,0.072473],[-0.984275,-0.169900,0.048332],[0.059844,-0.063301,0.996199]]
2025-10-27T18:52:19.204Z,1761591139.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:19.426Z,1761591139.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138096,0.988664,0.058937],[-0.989104,-0.140734,0.043212],[0.051017,-0.052327,0.997326]]
2025-10-27T18:52:19.456Z,1761591139.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:19.708Z,1761591139.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:19.829Z,1761591139.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129198,0.989533,0.064276],[-0.991563,-0.129605,0.002192],[0.010499,-0.063451,0.997930]]
2025-10-27T18:52:19.960Z,1761591139.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:20.212Z,1761591140.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:20.234Z,1761591140.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167496,0.980276,0.104901],[-0.985850,-0.167265,-0.011060],[0.006704,-0.105269,0.994421]]
2025-10-27T18:52:20.464Z,1761591140.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:20.637Z,1761591140.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186542,0.973531,0.132058],[-0.982257,-0.187457,-0.005586],[0.019317,-0.130757,0.991226]]
2025-10-27T18:52:20.716Z,1761591140.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:20.968Z,1761591140.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:21.041Z,1761591141.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172993,0.974145,0.145307],[-0.984819,-0.168933,-0.039925],[-0.014346,-0.150007,0.988581]]
2025-10-27T18:52:21.220Z,1761591141.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:21.446Z,1761591141.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133283,0.984292,0.115780],[-0.990059,-0.126939,-0.060572],[-0.044924,-0.122702,0.991426]]
2025-10-27T18:52:21.488Z,1761591141.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:21.740Z,1761591141.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:21.852Z,1761591141.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100753,0.994035,0.041753],[-0.993945,-0.098718,-0.048245],[-0.043836,-0.046361,0.997962]]
2025-10-27T18:52:21.992Z,1761591141.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:22.244Z,1761591142.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:22.286Z,1761591142.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113703,0.993490,-0.007004],[-0.993448,-0.113774,-0.010812],[-0.011538,0.005729,0.999917]]
2025-10-27T18:52:22.496Z,1761591142.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:22.658Z,1761591142.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155720,0.987699,0.014224],[-0.987235,-0.156102,0.031605],[0.033436,-0.009121,0.999399]]
2025-10-27T18:52:22.749Z,1761591142.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:22.000Z,1761591143.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:23.062Z,1761591143.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156654,0.984021,0.084632],[-0.986134,-0.160589,0.041849],[0.054771,-0.076903,0.995533]]
2025-10-27T18:52:23.252Z,1761591143.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:23.466Z,1761591143.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122083,0.981198,0.149487],[-0.991583,-0.127121,0.024583],[0.043124,-0.145228,0.988458]]
2025-10-27T18:52:23.504Z,1761591143.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:23.756Z,1761591143.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:23.872Z,1761591143.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102770,0.980568,0.167108],[-0.994510,-0.097960,-0.036799],[-0.019714,-0.169972,0.985252]]
2025-10-27T18:52:24.008Z,1761591144.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:24.260Z,1761591144.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:24.276Z,1761591144.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122744,0.981800,0.144921],[-0.990053,-0.111018,-0.086428],[-0.068766,-0.154088,0.985661]]
2025-10-27T18:52:24.512Z,1761591144.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:24.678Z,1761591144.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133045,0.987639,0.082871],[-0.988902,-0.126706,-0.077574],[-0.066115,-0.092272,0.993536]]
2025-10-27T18:52:24.766Z,1761591144.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:25.016Z,1761591145.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:25.084Z,1761591145.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135811,0.989309,0.053132],[-0.990608,-0.134742,-0.023233],[-0.015825,-0.055788,0.998317]]
2025-10-27T18:52:25.268Z,1761591145.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:25.486Z,1761591145.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134333,0.990031,0.042345],[-0.989334,-0.136422,0.051056],[0.056324,-0.035035,0.997798]]
2025-10-27T18:52:25.520Z,1761591145.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:25.772Z,1761591145.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:25.890Z,1761591145.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108106,0.994003,0.016488],[-0.991456,-0.109017,0.071620],[0.072988,-0.008604,0.997296]]
2025-10-27T18:52:26.024Z,1761591146.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:26.276Z,1761591146.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:26.295Z,1761591146.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104613,0.994512,-0.001355],[-0.994196,-0.104545,0.025387],[0.025106,0.004003,0.999677]]
2025-10-27T18:52:26.528Z,1761591146.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:26.697Z,1761591146.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125013,0.991632,0.032201],[-0.992085,-0.125324,0.007792],[0.011762,-0.030972,0.999451]]
2025-10-27T18:52:26.783Z,1761591146.783 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:27.032Z,1761591147.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:27.284Z,1761591147.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:27.505Z,1761591147.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076879,0.989781,0.120098],[-0.988903,-0.091054,0.117387],[0.127123,-0.109740,0.985798]]
2025-10-27T18:52:27.536Z,1761591147.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:27.566Z,1761591147.566 [DataOverHttps](INFO): Sending 407 bytes from file Logs/20251027T165046/Express0034.lzma
2025-10-27T18:52:27.788Z,1761591147.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:27.910Z,1761591147.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041762,0.991762,0.121095],[-0.988636,-0.058537,0.138465],[0.144413,-0.113936,0.982936]]
2025-10-27T18:52:28.040Z,1761591148.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:28.292Z,1761591148.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:28.318Z,1761591148.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067863,0.993380,0.092691],[-0.989640,-0.078805,0.120008],[0.126518,-0.083587,0.988436]]
2025-10-27T18:52:28.546Z,1761591148.546 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:28.565Z,1761591148.565 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0034.lzma.bak
2025-10-27T18:52:28.565Z,1761591148.565 [DataOverHttps](INFO): SBD MOMSN=26250015
2025-10-27T18:52:28.718Z,1761591148.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111578,0.990968,0.074384],[-0.987441,-0.118982,0.103935],[0.111847,-0.061853,0.991799]]
2025-10-27T18:52:28.798Z,1761591148.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:29.048Z,1761591149.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:29.121Z,1761591149.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126865,0.985977,0.108415],[-0.984526,-0.138486,0.107384],[0.120892,-0.093115,0.988289]]
2025-10-27T18:52:29.300Z,1761591149.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:29.526Z,1761591149.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105278,0.986518,0.125296],[-0.988431,-0.117640,0.095730],[0.109180,-0.113769,0.987490]]
2025-10-27T18:52:29.529Z,1761591149.529 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T18:52:29.553Z,1761591149.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:29.804Z,1761591149.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:29.931Z,1761591149.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106979,0.988000,0.111412],[-0.991610,-0.114200,0.060569],[0.072565,-0.103997,0.991927]]
2025-10-27T18:52:30.056Z,1761591150.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:30.308Z,1761591150.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:30.334Z,1761591150.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138422,0.983321,0.117982],[-0.988119,-0.145157,0.050502],[0.066786,-0.109590,0.991731]]
2025-10-27T18:52:30.360Z,1761591150.360 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-27T18:52:30.361Z,1761591150.361 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-27T18:52:30.361Z,1761591150.361 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-27T18:52:30.560Z,1761591150.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:30.738Z,1761591150.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136777,0.982142,0.129188],[-0.987406,-0.145639,0.061799],[0.079510,-0.119109,0.989693]]
2025-10-27T18:52:30.814Z,1761591150.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:31.064Z,1761591151.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:31.143Z,1761591151.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113753,0.986658,0.116474],[-0.988200,-0.124469,0.089270],[0.102576,-0.104945,0.989174]]
2025-10-27T18:52:31.316Z,1761591151.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:31.546Z,1761591151.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110800,0.991500,0.068196],[-0.989844,-0.116243,0.081827],[0.089059,-0.058437,0.994311]]
2025-10-27T18:52:31.568Z,1761591151.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:31.820Z,1761591151.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:31.950Z,1761591151.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120001,0.990496,0.067217],[-0.991624,-0.122845,0.039899],[0.047777,-0.061866,0.996940]]
2025-10-27T18:52:32.072Z,1761591152.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:32.324Z,1761591152.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:32.354Z,1761591152.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127630,0.987789,0.089347],[-0.990927,-0.130823,0.030813],[0.042126,-0.084604,0.995524]]
2025-10-27T18:52:32.576Z,1761591152.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:32.828Z,1761591152.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:33.080Z,1761591153.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:33.162Z,1761591153.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099458,0.991662,0.081946],[-0.989527,-0.107229,0.096638],[0.104619,-0.071476,0.991941]]
2025-10-27T18:52:33.332Z,1761591153.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:33.566Z,1761591153.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082133,0.995169,0.053785],[-0.993378,-0.086097,0.076077],[0.080340,-0.047180,0.995650]]
2025-10-27T18:52:33.584Z,1761591153.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:33.836Z,1761591153.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:33.970Z,1761591153.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057860,0.998071,0.022507],[-0.997351,-0.058784,0.042831],[0.044072,-0.019969,0.998829]]
2025-10-27T18:52:34.088Z,1761591154.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:34.340Z,1761591154.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:34.376Z,1761591154.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040401,0.998600,0.034133],[-0.998743,-0.041374,0.028303],[0.029675,-0.032946,0.999016]]
2025-10-27T18:52:34.592Z,1761591154.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:34.834Z,1761591154.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058357,0.994223,0.090089],[-0.998266,-0.057414,-0.013023],[-0.007775,-0.090693,0.995849]]
2025-10-27T18:52:34.844Z,1761591154.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:35.096Z,1761591155.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:35.182Z,1761591155.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072378,0.987533,0.139782],[-0.995694,-0.063405,-0.067621],[-0.057915,-0.144075,0.987871]]
2025-10-27T18:52:35.350Z,1761591155.350 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:35.586Z,1761591155.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079411,0.983728,0.161160],[-0.996263,-0.072810,-0.046468],[-0.033978,-0.164248,0.985834]]
2025-10-27T18:52:35.600Z,1761591155.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:35.852Z,1761591155.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:35.990Z,1761591155.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086516,0.981660,0.169880],[-0.995830,-0.090168,0.013888],[0.028951,-0.167970,0.985367]]
2025-10-27T18:52:36.104Z,1761591156.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:36.356Z,1761591156.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:36.396Z,1761591156.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074589,0.984054,0.161477],[-0.997161,-0.075277,-0.001862],[0.010323,-0.161158,0.986875]]
2025-10-27T18:52:36.608Z,1761591156.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:36.830Z,1761591156.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064907,0.992881,0.099874],[-0.995715,-0.057833,-0.072163],[-0.065873,-0.104130,0.992380]]
2025-10-27T18:52:36.872Z,1761591156.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:37.124Z,1761591157.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:37.202Z,1761591157.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088406,0.994290,0.059763],[-0.994927,-0.085252,-0.053417],[-0.048017,-0.064182,0.996782]]
2025-10-27T18:52:37.376Z,1761591157.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:37.606Z,1761591157.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098150,0.990761,0.093597],[-0.993792,-0.102530,0.043192],[0.052389,-0.088776,0.994673]]
2025-10-27T18:52:37.630Z,1761591157.630 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:37.880Z,1761591157.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:38.011Z,1761591158.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073424,0.990244,0.118428],[-0.994662,-0.081344,0.063485],[0.072499,-0.113135,0.990931]]
2025-10-27T18:52:38.132Z,1761591158.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:38.384Z,1761591158.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:38.414Z,1761591158.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068730,0.988815,0.132368],[-0.996930,-0.073062,0.028149],[0.037505,-0.130026,0.990801]]
2025-10-27T18:52:38.636Z,1761591158.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:38.834Z,1761591158.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070831,0.988859,0.130924],[-0.997097,-0.073865,0.018465],[0.027930,-0.129236,0.991220]]
2025-10-27T18:52:38.905Z,1761591158.905 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:39.156Z,1761591159.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:39.222Z,1761591159.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062151,0.994239,0.087331],[-0.997507,-0.064807,0.027914],[0.033413,-0.085378,0.995788]]
2025-10-27T18:52:39.408Z,1761591159.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:39.563Z,1761591159.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:52:39.627Z,1761591159.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036173,0.998466,0.041911],[-0.998283,-0.038036,0.044537],[0.046063,-0.040228,0.998128]]
2025-10-27T18:52:39.660Z,1761591159.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:39.912Z,1761591159.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:40.029Z,1761591160.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008924,0.999692,0.023149],[-0.998636,-0.010101,0.051236],[0.051454,-0.022660,0.998418]]
2025-10-27T18:52:40.164Z,1761591160.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:40.416Z,1761591160.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:40.433Z,1761591160.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001549,0.999788,0.020535],[-0.998750,0.000521,0.049973],[0.049952,-0.020586,0.998539]]
2025-10-27T18:52:40.668Z,1761591160.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:40.840Z,1761591160.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010465,0.998865,0.046460],[-0.999612,0.009251,0.026269],[0.025809,-0.046717,0.998575]]
2025-10-27T18:52:40.920Z,1761591160.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:41.172Z,1761591161.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:41.242Z,1761591161.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004455,0.993824,0.110876],[-0.999936,-0.003270,-0.010870],[-0.010440,-0.110918,0.993775]]
2025-10-27T18:52:41.424Z,1761591161.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:41.647Z,1761591161.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032384,0.989017,0.144213],[-0.999424,-0.030579,-0.014717],[-0.010145,-0.144606,0.989437]]
2025-10-27T18:52:41.676Z,1761591161.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:41.928Z,1761591161.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:42.180Z,1761591162.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:42.432Z,1761591162.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:42.454Z,1761591162.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011890,0.995402,0.095049],[-0.995094,-0.021115,0.096652],[0.098214,-0.093433,0.990769]]
2025-10-27T18:52:42.684Z,1761591162.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:42.860Z,1761591162.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006076,0.999196,0.039638],[-0.992971,0.001344,0.118347],[0.118198,-0.040078,0.992181]]
2025-10-27T18:52:42.937Z,1761591162.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:43.188Z,1761591163.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:43.262Z,1761591163.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037418,0.999297,-0.002429],[-0.993611,0.037464,0.106460],[0.106476,-0.001570,0.994314]]
2025-10-27T18:52:43.440Z,1761591163.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:43.665Z,1761591163.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044197,0.998990,0.008089],[-0.995478,0.043357,0.084524],[0.084088,-0.011788,0.996389]]
2025-10-27T18:52:43.692Z,1761591163.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:43.944Z,1761591163.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:44.070Z,1761591164.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036450,0.996977,0.068613],[-0.998326,0.033242,0.047332],[0.044908,-0.070224,0.996520]]
2025-10-27T18:52:44.196Z,1761591164.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:44.448Z,1761591164.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:44.476Z,1761591164.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037017,0.991800,0.122321],[-0.999287,0.035835,0.011856],[0.007375,-0.122673,0.992420]]
2025-10-27T18:52:44.700Z,1761591164.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:44.879Z,1761591164.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036183,0.986736,0.158248],[-0.999021,0.039748,-0.019421],[-0.025454,-0.157390,0.987208]]
2025-10-27T18:52:44.952Z,1761591164.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:45.204Z,1761591165.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:45.282Z,1761591165.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021900,0.986619,0.161563],[-0.999497,0.025316,-0.019114],[-0.022948,-0.161063,0.986677]]
2025-10-27T18:52:45.456Z,1761591165.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:45.708Z,1761591165.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:45.960Z,1761591165.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:46.089Z,1761591166.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007574,0.993771,0.111183],[-0.999946,-0.006733,-0.007934],[-0.007135,-0.111237,0.993768]]
2025-10-27T18:52:46.212Z,1761591166.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:46.464Z,1761591166.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:46.500Z,1761591166.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014929,0.998030,0.060942],[-0.998861,0.017648,-0.044339],[-0.045327,-0.060210,0.997156]]
2025-10-27T18:52:46.716Z,1761591166.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:46.897Z,1761591166.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059090,0.998188,-0.011346],[-0.995237,0.058025,-0.078339],[-0.077538,0.015921,0.996862]]
2025-10-27T18:52:46.968Z,1761591166.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:47.220Z,1761591167.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:47.302Z,1761591167.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058246,0.996935,-0.052235],[-0.998105,0.057116,-0.022890],[-0.019836,0.053469,0.998372]]
2025-10-27T18:52:47.472Z,1761591167.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:47.705Z,1761591167.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001848,0.999971,0.007387],[-0.994500,0.001065,0.104734],[0.104723,-0.007540,0.994473]]
2025-10-27T18:52:47.724Z,1761591167.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:47.976Z,1761591167.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:48.109Z,1761591168.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012506,0.990113,0.139712],[-0.985327,-0.011582,0.170285],[0.170219,-0.139792,0.975440]]
2025-10-27T18:52:48.228Z,1761591168.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:48.480Z,1761591168.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:48.503Z,1761591168.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:52:48.515Z,1761591168.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082947,0.972077,0.219515],[-0.985567,0.047400,0.162513],[0.147570,-0.229826,0.961979]]
2025-10-27T18:52:48.732Z,1761591168.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:48.918Z,1761591168.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079385,0.979995,0.182505],[-0.991293,0.058314,0.118057],[0.105053,-0.190287,0.976092]]
2025-10-27T18:52:48.984Z,1761591168.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:49.236Z,1761591169.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:49.321Z,1761591169.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074369,0.992733,0.094607],[-0.995020,0.067556,0.073283],[0.066359,-0.099586,0.992814]]
2025-10-27T18:52:49.488Z,1761591169.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:49.725Z,1761591169.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097201,0.993996,0.050244],[-0.995223,0.096613,0.014023],[0.009085,-0.051367,0.998639]]
2025-10-27T18:52:49.740Z,1761591169.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:49.992Z,1761591169.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:50.130Z,1761591170.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095211,0.993424,0.063595],[-0.995317,0.093929,0.022847],[0.016723,-0.065473,0.997714]]
2025-10-27T18:52:50.244Z,1761591170.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:50.496Z,1761591170.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:50.554Z,1761591170.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089370,0.990776,0.101858],[-0.995397,0.085293,0.043709],[0.034618,-0.105296,0.993838]]
2025-10-27T18:52:50.749Z,1761591170.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:50.938Z,1761591170.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104453,0.987081,0.121492],[-0.993512,0.109089,-0.032142],[-0.044980,-0.117346,0.992072]]
2025-10-27T18:52:50.000Z,1761591171.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:51.252Z,1761591171.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:51.342Z,1761591171.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094274,0.990118,0.103821],[-0.983492,0.108804,-0.144584],[-0.154452,-0.088476,0.984031]]
2025-10-27T18:52:51.504Z,1761591171.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:51.746Z,1761591171.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069236,0.995844,0.059178],[-0.983641,0.078036,-0.162363],[-0.166306,-0.046969,0.984955]]
2025-10-27T18:52:51.756Z,1761591171.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:52.008Z,1761591172.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:52.260Z,1761591172.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:52.512Z,1761591172.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:52.554Z,1761591172.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137441,0.987703,0.074516],[-0.988935,0.132592,0.066540],[0.055841,-0.082837,0.994997]]
2025-10-27T18:52:52.767Z,1761591172.767 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:52.958Z,1761591172.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163705,0.983112,0.081800],[-0.982684,0.155213,0.101202],[0.086797,-0.096951,0.991497]]
2025-10-27T18:52:53.016Z,1761591173.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:53.268Z,1761591173.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:53.362Z,1761591173.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179931,0.980863,0.074381],[-0.981446,0.173917,0.080720],[0.066239,-0.087525,0.993958]]
2025-10-27T18:52:53.520Z,1761591173.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:53.770Z,1761591173.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198525,0.978641,0.053376],[-0.978532,0.194839,0.067177],[0.055343,-0.065566,0.996312]]
2025-10-27T18:52:53.773Z,1761591173.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:54.024Z,1761591174.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:54.176Z,1761591174.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198108,0.977948,0.066118],[-0.978593,0.193500,0.070089],[0.055750,-0.078588,0.995347]]
2025-10-27T18:52:54.276Z,1761591174.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:54.528Z,1761591174.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:54.578Z,1761591174.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191582,0.974878,0.113617],[-0.977977,0.179848,0.105905],[0.082810,-0.131404,0.987864]]
2025-10-27T18:52:54.782Z,1761591174.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:54.982Z,1761591174.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226001,0.964233,0.138487],[-0.972428,0.214922,0.090513],[0.057511,-0.155125,0.986219]]
2025-10-27T18:52:55.032Z,1761591175.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:55.284Z,1761591175.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:55.388Z,1761591175.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266807,0.957004,0.113831],[-0.963354,0.261443,0.059981],[0.027641,-0.125663,0.991688]]
2025-10-27T18:52:55.536Z,1761591175.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:55.788Z,1761591175.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:55.790Z,1761591175.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275402,0.959740,0.055247],[-0.958823,0.270083,0.087833],[0.069376,-0.077162,0.994602]]
2025-10-27T18:52:56.040Z,1761591176.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:56.190Z,1761591176.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257562,0.966184,0.012267],[-0.955982,0.252954,0.148703],[0.140571,-0.050028,0.988806]]
2025-10-27T18:52:56.292Z,1761591176.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:56.544Z,1761591176.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:56.594Z,1761591176.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258230,0.966082,0.001919],[-0.951032,0.253857,0.176339],[0.169871,-0.047361,0.984328]]
2025-10-27T18:52:56.798Z,1761591176.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:56.999Z,1761591176.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285676,0.957824,0.031026],[-0.948401,0.277922,0.152628],[0.137568,-0.073028,0.987797]]
2025-10-27T18:52:57.065Z,1761591177.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:57.316Z,1761591177.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:57.402Z,1761591177.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270847,0.956477,0.108597],[-0.960252,0.260543,0.100169],[0.067516,-0.131411,0.989026]]
2025-10-27T18:52:57.423Z,1761591177.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:52:57.568Z,1761591177.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:57.805Z,1761591177.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262681,0.950387,0.166622],[-0.964875,0.258040,0.049311],[0.003869,-0.173723,0.984787]]
2025-10-27T18:52:57.820Z,1761591177.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:58.072Z,1761591178.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:58.210Z,1761591178.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271945,0.948977,0.159650],[-0.962131,0.271350,0.025947],[-0.018698,-0.160660,0.986833]]
2025-10-27T18:52:58.324Z,1761591178.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:58.578Z,1761591178.578 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:58.617Z,1761591178.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274329,0.952571,0.131730],[-0.961559,0.273459,0.025005],[-0.012204,-0.133526,0.990970]]
2025-10-27T18:52:58.828Z,1761591178.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:59.018Z,1761591179.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303371,0.949597,0.078946],[-0.952662,0.304002,0.004189],[-0.020022,-0.076480,0.996870]]
2025-10-27T18:52:59.080Z,1761591179.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:59.332Z,1761591179.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:59.422Z,1761591179.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337134,0.941391,0.011075],[-0.940747,0.337314,-0.034856],[-0.036549,0.001333,0.999331]]
2025-10-27T18:52:59.584Z,1761591179.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:52:59.829Z,1761591179.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358633,0.933343,-0.015920],[-0.932413,0.357356,-0.053882],[-0.044601,0.034168,0.998420]]
2025-10-27T18:52:59.836Z,1761591179.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:00.088Z,1761591180.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:00.230Z,1761591180.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341666,0.939748,0.011712],[-0.939819,0.341667,0.001993],[-0.002128,-0.011688,0.999929]]
2025-10-27T18:53:00.340Z,1761591180.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:00.592Z,1761591180.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:00.634Z,1761591180.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319039,0.943216,0.092502],[-0.947303,0.314401,0.061391],[0.028822,-0.107214,0.993818]]
2025-10-27T18:53:00.844Z,1761591180.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:01.038Z,1761591181.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301894,0.930826,0.205966],[-0.952602,0.303041,0.026737],[-0.037528,-0.204275,0.978194]]
2025-10-27T18:53:01.096Z,1761591181.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:01.348Z,1761591181.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:01.442Z,1761591181.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295359,0.916123,0.271076],[-0.949618,0.312642,-0.021914],[-0.104825,-0.250946,0.962309]]
2025-10-27T18:53:01.600Z,1761591181.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:01.847Z,1761591181.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313877,0.927780,0.201755],[-0.943845,0.327977,-0.039848],[-0.103141,-0.177918,0.978625]]
2025-10-27T18:53:01.852Z,1761591181.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:02.104Z,1761591182.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:02.357Z,1761591182.357 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:02.608Z,1761591182.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:02.656Z,1761591182.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327677,0.941767,-0.075523],[-0.944789,0.326723,-0.025008],[0.001123,0.079548,0.996830]]
2025-10-27T18:53:02.860Z,1761591182.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:03.059Z,1761591183.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328126,0.940273,-0.090669],[-0.943309,0.331234,0.021243],[0.050007,0.078559,0.995655]]
2025-10-27T18:53:03.112Z,1761591183.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:03.364Z,1761591183.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:03.462Z,1761591183.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337380,0.941351,-0.005669],[-0.938962,0.336942,0.069423],[0.067262,-0.018099,0.997571]]
2025-10-27T18:53:03.616Z,1761591183.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:03.866Z,1761591183.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338506,0.936483,0.091725],[-0.937658,0.327546,0.116242],[0.078814,-0.125355,0.988976]]
2025-10-27T18:53:03.868Z,1761591183.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:04.120Z,1761591184.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:04.372Z,1761591184.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:04.624Z,1761591184.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:04.677Z,1761591184.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348319,0.932591,0.094600],[-0.925586,0.326225,0.192013],[0.148208,-0.154442,0.976822]]
2025-10-27T18:53:04.876Z,1761591184.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:05.078Z,1761591185.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318362,0.946516,0.052469],[-0.930506,0.301443,0.208066],[0.181121,-0.115063,0.976707]]
2025-10-27T18:53:05.128Z,1761591185.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:05.383Z,1761591185.383 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:05.482Z,1761591185.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326872,0.943479,0.054785],[-0.928159,0.309567,0.206615],[0.177978,-0.118386,0.976887]]
2025-10-27T18:53:05.632Z,1761591185.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:05.884Z,1761591185.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:05.887Z,1761591185.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361187,0.928640,0.084685],[-0.929822,0.351795,0.108034],[0.070534,-0.117762,0.990534]]
2025-10-27T18:53:06.136Z,1761591186.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:06.291Z,1761591186.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355449,0.929008,0.102956],[-0.934005,0.357259,0.000916],[-0.035931,-0.096487,0.994686]]
2025-10-27T18:53:06.392Z,1761591186.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:06.423Z,1761591186.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:06.644Z,1761591186.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:06.694Z,1761591186.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345900,0.933408,0.095405],[-0.937460,0.348038,-0.006224],[-0.039014,-0.087285,0.995419]]
2025-10-27T18:53:06.896Z,1761591186.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:07.098Z,1761591187.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359412,0.931350,0.058400],[-0.932359,0.355771,0.064290],[0.039099,-0.077557,0.996221]]
2025-10-27T18:53:07.151Z,1761591187.151 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:07.400Z,1761591187.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:07.502Z,1761591187.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384154,0.923017,0.021577],[-0.920819,0.381328,0.081736],[0.067216,-0.051268,0.996420]]
2025-10-27T18:53:07.652Z,1761591187.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:07.904Z,1761591187.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:07.908Z,1761591187.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391438,0.920068,0.015873],[-0.919904,0.390810,0.032323],[0.023536,-0.027254,0.999351]]
2025-10-27T18:53:08.156Z,1761591188.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:08.408Z,1761591188.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:08.660Z,1761591188.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:08.714Z,1761591188.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355014,0.931551,0.078600],[-0.934569,0.351545,0.054743],[0.023364,-0.092892,0.995402]]
2025-10-27T18:53:08.912Z,1761591188.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:09.118Z,1761591189.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367913,0.924934,0.095585],[-0.921702,0.349166,0.168963],[0.122905,-0.150264,0.980977]]
2025-10-27T18:53:09.164Z,1761591189.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:09.416Z,1761591189.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:09.524Z,1761591189.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402828,0.912369,0.072890],[-0.896594,0.377345,0.231798],[0.183981,-0.158727,0.970029]]
2025-10-27T18:53:09.668Z,1761591189.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:09.920Z,1761591189.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:09.927Z,1761591189.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416006,0.909353,0.003983],[-0.887419,0.405007,0.220128],[0.198561,-0.095109,0.975463]]
2025-10-27T18:53:10.172Z,1761591190.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:10.330Z,1761591190.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414847,0.907184,-0.070137],[-0.888733,0.420521,0.182527],[0.195079,-0.013388,0.980696]]
2025-10-27T18:53:10.424Z,1761591190.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:10.676Z,1761591190.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:10.734Z,1761591190.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417673,0.905346,-0.076797],[-0.889753,0.424672,0.167311],[0.184088,-0.001551,0.982908]]
2025-10-27T18:53:10.931Z,1761591190.931 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:11.139Z,1761591191.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419840,0.907186,-0.027335],[-0.890355,0.417520,0.181506],[0.176073,-0.051866,0.983010]]
2025-10-27T18:53:11.184Z,1761591191.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:11.436Z,1761591191.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:11.688Z,1761591191.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:11.940Z,1761591191.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:11.948Z,1761591191.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435484,0.898512,0.055035],[-0.877906,0.410386,0.246709],[0.199085,-0.155754,0.967526]]
2025-10-27T18:53:12.193Z,1761591192.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:12.350Z,1761591192.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448027,0.892581,0.050702],[-0.885088,0.434841,0.165929],[0.126058,-0.119217,0.984833]]
2025-10-27T18:53:12.444Z,1761591192.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:12.696Z,1761591192.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:12.757Z,1761591192.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446879,0.893869,0.036022],[-0.892687,0.442937,0.083163],[0.058381,-0.069320,0.995885]]
2025-10-27T18:53:12.948Z,1761591192.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:13.158Z,1761591193.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455935,0.889869,-0.016029],[-0.885480,0.455355,0.092617],[0.089716,-0.028034,0.995573]]
2025-10-27T18:53:13.200Z,1761591193.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:13.452Z,1761591193.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:13.564Z,1761591193.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464013,0.882700,-0.074389],[-0.867678,0.469812,0.162515],[0.178401,-0.010863,0.983898]]
2025-10-27T18:53:13.704Z,1761591193.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:13.957Z,1761591193.957 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:13.968Z,1761591193.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464396,0.881599,-0.084383],[-0.852754,0.470842,0.226093],[0.239054,-0.033038,0.970444]]
2025-10-27T18:53:14.208Z,1761591194.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:14.370Z,1761591194.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489039,0.870172,-0.060339],[-0.842988,0.489266,0.223585],[0.224079,-0.058477,0.972815]]
2025-10-27T18:53:14.460Z,1761591194.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:14.712Z,1761591194.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:14.817Z,1761591194.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512496,0.858688,0.001406],[-0.846555,0.504979,0.168350],[0.143850,-0.087469,0.985726]]
2025-10-27T18:53:14.964Z,1761591194.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:15.180Z,1761591195.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497281,0.866781,0.037457],[-0.859930,0.486707,0.153744],[0.115032,-0.108664,0.987400]]
2025-10-27T18:53:15.216Z,1761591195.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:15.263Z,1761591195.263 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:15.468Z,1761591195.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:15.582Z,1761591195.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492349,0.869453,0.040548],[-0.860573,0.479283,0.172343],[0.130410,-0.119747,0.984202]]
2025-10-27T18:53:15.720Z,1761591195.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:15.977Z,1761591195.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:15.987Z,1761591195.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502180,0.861840,0.071042],[-0.857691,0.485905,0.168118],[0.110371,-0.145358,0.983204]]
2025-10-27T18:53:16.224Z,1761591196.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:16.390Z,1761591196.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501315,0.858392,0.108840],[-0.863297,0.487723,0.129788],[0.058325,-0.159026,0.985550]]
2025-10-27T18:53:16.476Z,1761591196.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:16.728Z,1761591196.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:16.829Z,1761591196.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498465,0.857427,0.127878],[-0.866765,0.490227,0.091631],[0.015877,-0.156515,0.987548]]
2025-10-27T18:53:16.980Z,1761591196.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:17.198Z,1761591197.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497788,0.859659,0.114861],[-0.867171,0.495608,0.048870],[-0.014915,-0.123931,0.992179]]
2025-10-27T18:53:17.232Z,1761591197.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:17.484Z,1761591197.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:17.602Z,1761591197.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507170,0.858336,0.077707],[-0.861110,0.508398,0.004536],[-0.035613,-0.069214,0.996966]]
2025-10-27T18:53:17.736Z,1761591197.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:17.988Z,1761591197.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:18.009Z,1761591198.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523168,0.852149,0.011711],[-0.852201,0.522990,0.015307],[0.006919,-0.017989,0.999814]]
2025-10-27T18:53:18.240Z,1761591198.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:18.492Z,1761591198.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:18.746Z,1761591198.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:18.841Z,1761591198.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507464,0.860981,-0.034521],[-0.854983,0.508102,0.104096],[0.107165,-0.023310,0.993968]]
2025-10-27T18:53:18.000Z,1761591199.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:19.220Z,1761591199.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530183,0.847823,-0.010128],[-0.842900,0.528322,0.101961],[0.091795,-0.045521,0.994737]]
2025-10-27T18:53:19.248Z,1761591199.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:19.500Z,1761591199.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:19.622Z,1761591199.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535568,0.842725,0.054604],[-0.843157,0.529968,0.090664],[0.047466,-0.094596,0.994384]]
2025-10-27T18:53:19.752Z,1761591199.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:20.004Z,1761591200.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:20.256Z,1761591200.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:20.430Z,1761591200.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522779,0.850166,0.062616],[-0.848587,0.511991,0.133288],[0.081258,-0.122815,0.989097]]
2025-10-27T18:53:20.508Z,1761591200.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:20.762Z,1761591200.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:20.840Z,1761591200.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523218,0.851724,0.028441],[-0.845027,0.514205,0.146706],[0.110328,-0.100793,0.988771]]
2025-10-27T18:53:21.012Z,1761591201.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:21.238Z,1761591201.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514609,0.857424,0.001125],[-0.849376,0.509598,0.137371],[0.117212,-0.071648,0.990519]]
2025-10-27T18:53:21.264Z,1761591201.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:21.516Z,1761591201.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:21.641Z,1761591201.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515844,0.855911,-0.036358],[-0.847245,0.515984,0.126243],[0.126813,-0.034318,0.991333]]
2025-10-27T18:53:21.768Z,1761591201.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:22.020Z,1761591202.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:22.046Z,1761591202.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519316,0.849684,-0.091362],[-0.838977,0.527249,0.134633],[0.162566,0.006733,0.986675]]
2025-10-27T18:53:22.272Z,1761591202.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:22.451Z,1761591202.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525582,0.844730,-0.100965],[-0.829193,0.535191,0.161273],[0.190268,-0.001043,0.981732]]
2025-10-27T18:53:22.524Z,1761591202.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:22.779Z,1761591202.779 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:22.853Z,1761591202.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542334,0.836955,-0.073351],[-0.815309,0.545359,0.194562],[0.202842,-0.045714,0.978144]]
2025-10-27T18:53:23.028Z,1761591203.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:23.258Z,1761591203.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534716,0.844384,-0.033078],[-0.822616,0.529089,0.208249],[0.193343,-0.084143,0.977516]]
2025-10-27T18:53:23.280Z,1761591203.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:23.532Z,1761591203.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:23.661Z,1761591203.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527539,0.849515,-0.005305],[-0.832746,0.518341,0.194566],[0.168037,-0.098223,0.980875]]
2025-10-27T18:53:23.784Z,1761591203.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:24.036Z,1761591204.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:24.069Z,1761591204.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536415,0.843473,0.028499],[-0.828977,0.520262,0.205245],[0.158292,-0.133721,0.978296]]
2025-10-27T18:53:24.124Z,1761591204.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:24.288Z,1761591204.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:24.471Z,1761591204.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546618,0.837187,0.018074],[-0.812720,0.525196,0.252299],[0.201729,-0.152600,0.967481]]
2025-10-27T18:53:24.540Z,1761591204.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:24.794Z,1761591204.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:24.873Z,1761591204.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549544,0.835141,-0.023258],[-0.802540,0.535421,0.263163],[0.232231,-0.125954,0.964471]]
2025-10-27T18:53:25.044Z,1761591205.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:25.278Z,1761591205.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550849,0.833417,-0.044512],[-0.810022,0.546713,0.212060],[0.201069,-0.080757,0.976242]]
2025-10-27T18:53:25.296Z,1761591205.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:25.548Z,1761591205.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:25.682Z,1761591205.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552717,0.831911,-0.049278],[-0.816681,0.552476,0.166741],[0.165938,-0.051916,0.984769]]
2025-10-27T18:53:25.800Z,1761591205.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:26.052Z,1761591206.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:26.086Z,1761591206.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570100,0.819259,-0.061648],[-0.805512,0.572143,0.154281],[0.161667,-0.038297,0.986102]]
2025-10-27T18:53:26.304Z,1761591206.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:26.490Z,1761591206.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587390,0.807271,-0.057334],[-0.793167,0.588308,0.157420],[0.160811,-0.046991,0.985866]]
2025-10-27T18:53:26.556Z,1761591206.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:26.810Z,1761591206.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:26.894Z,1761591206.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589955,0.805614,-0.054221],[-0.790009,0.589795,0.167410],[0.166847,-0.055930,0.984395]]
2025-10-27T18:53:27.060Z,1761591207.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:27.298Z,1761591207.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588234,0.807244,-0.048349],[-0.791968,0.587135,0.167510],[0.163609,-0.060244,0.984684]]
2025-10-27T18:53:27.312Z,1761591207.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:27.564Z,1761591207.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:27.816Z,1761591207.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:28.068Z,1761591208.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:28.106Z,1761591208.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578885,0.815320,0.012061],[-0.804408,0.568590,0.172140],[0.133491,-0.109351,0.984999]]
2025-10-27T18:53:28.320Z,1761591208.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:28.512Z,1761591208.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585547,0.810282,0.024030],[-0.798160,0.571100,0.191795],[0.141685,-0.131485,0.981141]]
2025-10-27T18:53:28.572Z,1761591208.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:28.827Z,1761591208.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:28.914Z,1761591208.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595524,0.803141,0.017766],[-0.791753,0.583051,0.182150],[0.135934,-0.122540,0.983110]]
2025-10-27T18:53:29.076Z,1761591209.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:29.318Z,1761591209.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602366,0.798167,0.009231],[-0.791285,0.595571,0.138434],[0.104995,-0.090692,0.990329]]
2025-10-27T18:53:29.328Z,1761591209.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:29.580Z,1761591209.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:29.722Z,1761591209.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602855,0.797777,-0.010869],[-0.794102,0.601286,0.088642],[0.077252,-0.044807,0.996004]]
2025-10-27T18:53:29.832Z,1761591209.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:30.084Z,1761591210.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:30.129Z,1761591210.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602561,0.797057,-0.040261],[-0.795077,0.603902,0.056168],[0.069083,-0.001834,0.997609]]
2025-10-27T18:53:30.336Z,1761591210.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:30.530Z,1761591210.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605560,0.794192,-0.050559],[-0.790978,0.607658,0.071451],[0.087469,-0.003277,0.996162]]
2025-10-27T18:53:30.589Z,1761591210.589 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:30.840Z,1761591210.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:30.933Z,1761591210.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598050,0.801436,-0.006120],[-0.796114,0.594925,0.110753],[0.092403,-0.061364,0.993829]]
2025-10-27T18:53:31.092Z,1761591211.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:31.338Z,1761591211.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582652,0.809262,0.074910],[-0.808354,0.567510,0.156512],[0.084147,-0.151746,0.984831]]
2025-10-27T18:53:31.344Z,1761591211.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:31.596Z,1761591211.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:31.743Z,1761591211.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591215,0.798073,0.116381],[-0.804389,0.573019,0.156867],[0.058503,-0.186358,0.980739]]
2025-10-27T18:53:31.848Z,1761591211.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:32.100Z,1761591212.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:32.146Z,1761591212.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601525,0.789467,0.122105],[-0.798827,0.595702,0.083754],[-0.006617,-0.147921,0.988977]]
2025-10-27T18:53:32.352Z,1761591212.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:32.550Z,1761591212.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600216,0.795519,0.083007],[-0.796928,0.603647,-0.022699],[-0.068164,-0.052526,0.996290]]
2025-10-27T18:53:32.604Z,1761591212.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:32.856Z,1761591212.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:32.954Z,1761591212.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615879,0.787678,0.016042],[-0.786092,0.615740,-0.054074],[-0.052470,0.020693,0.998408]]
2025-10-27T18:53:33.040Z,1761591213.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:33.108Z,1761591213.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:33.360Z,1761591213.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:33.360Z,1761591213.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638433,0.769238,-0.026001],[-0.769535,0.637299,-0.040830],[-0.014838,0.046076,0.998828]]
2025-10-27T18:53:33.612Z,1761591213.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:33.864Z,1761591213.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:34.116Z,1761591214.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:34.167Z,1761591214.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616147,0.787533,0.012459],[-0.784359,0.612069,0.100760],[0.071726,-0.071855,0.994833]]
2025-10-27T18:53:34.368Z,1761591214.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:34.569Z,1761591214.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603836,0.795738,0.046712],[-0.789228,0.588619,0.175064],[0.111809,-0.142576,0.983448]]
2025-10-27T18:53:34.620Z,1761591214.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:34.872Z,1761591214.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:34.976Z,1761591214.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603047,0.792928,0.087172],[-0.794146,0.586450,0.159398],[0.075269,-0.165351,0.983358]]
2025-10-27T18:53:35.124Z,1761591215.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:35.376Z,1761591215.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:35.379Z,1761591215.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607274,0.787976,0.101550],[-0.794433,0.600683,0.089761],[0.009730,-0.135185,0.990773]]
2025-10-27T18:53:35.628Z,1761591215.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:35.782Z,1761591215.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610382,0.788941,0.070743],[-0.791920,0.609742,0.032844],[-0.017223,-0.076070,0.996954]]
2025-10-27T18:53:35.880Z,1761591215.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:36.132Z,1761591216.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:36.186Z,1761591216.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602204,0.798273,0.010556],[-0.798341,0.602124,0.009914],[0.001558,-0.014397,0.999895]]
2025-10-27T18:53:36.384Z,1761591216.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:36.591Z,1761591216.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596955,0.801984,-0.021589],[-0.802122,0.597150,0.003452],[0.015660,0.015257,0.999761]]
2025-10-27T18:53:36.648Z,1761591216.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:36.900Z,1761591216.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:36.994Z,1761591216.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609578,0.792335,-0.024909],[-0.792458,0.609888,0.006829],[0.020603,0.015576,0.999666]]
2025-10-27T18:53:37.152Z,1761591217.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:37.404Z,1761591217.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:37.656Z,1761591217.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:37.802Z,1761591217.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623060,0.776566,-0.093492],[-0.755666,0.628483,0.184331],[0.201904,-0.044201,0.978408]]
2025-10-27T18:53:37.908Z,1761591217.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:38.160Z,1761591218.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:38.209Z,1761591218.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613971,0.789286,0.008184],[-0.770601,0.597127,0.222742],[0.170920,-0.143064,0.974843]]
2025-10-27T18:53:38.412Z,1761591218.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:38.610Z,1761591218.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593010,0.798978,0.099866],[-0.796505,0.563908,0.218148],[0.117980,-0.208907,0.970793]]
2025-10-27T18:53:38.676Z,1761591218.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:38.928Z,1761591218.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:39.014Z,1761591219.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592508,0.803154,0.062265],[-0.790833,0.565219,0.234756],[0.153352,-0.188336,0.970058]]
2025-10-27T18:53:39.180Z,1761591219.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:39.425Z,1761591219.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613945,0.784481,-0.087527],[-0.766418,0.618967,0.171707],[0.188877,-0.038336,0.981252]]
2025-10-27T18:53:39.432Z,1761591219.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:39.684Z,1761591219.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:39.828Z,1761591219.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610004,0.789374,-0.069166],[-0.781640,0.613760,0.111078],[0.130133,-0.013696,0.991402]]
2025-10-27T18:53:39.936Z,1761591219.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:40.188Z,1761591220.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:40.233Z,1761591220.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593634,0.804449,-0.021436],[-0.798661,0.592211,0.106899],[0.098689,-0.046339,0.994039]]
2025-10-27T18:53:40.440Z,1761591220.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:40.634Z,1761591220.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581369,0.812899,0.034700],[-0.809088,0.573086,0.130191],[0.085946,-0.103765,0.990882]]
2025-10-27T18:53:40.705Z,1761591220.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:40.956Z,1761591220.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:41.037Z,1761591221.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604062,0.795461,0.048487],[-0.792192,0.592722,0.145300],[0.086841,-0.126181,0.988199]]
2025-10-27T18:53:41.208Z,1761591221.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:41.439Z,1761591221.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604295,0.796715,0.008522],[-0.788332,0.596316,0.151458],[0.115587,-0.098244,0.988427]]
2025-10-27T18:53:41.460Z,1761591221.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:41.712Z,1761591221.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:41.839Z,1761591221.839 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:41.845Z,1761591221.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592941,0.802231,-0.069621],[-0.789790,0.596240,0.143977],[0.157014,-0.030384,0.987129]]
2025-10-27T18:53:41.968Z,1761591221.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:42.223Z,1761591222.223 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:42.246Z,1761591222.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589183,0.802817,-0.091372],[-0.790001,0.596099,0.143405],[0.169595,-0.012308,0.985437]]
2025-10-27T18:53:42.472Z,1761591222.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:42.651Z,1761591222.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585593,0.809965,-0.032214],[-0.799831,0.583812,0.139405],[0.131720,-0.055868,0.989711]]
2025-10-27T18:53:42.724Z,1761591222.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:42.976Z,1761591222.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:43.053Z,1761591223.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573863,0.817069,0.055498],[-0.813479,0.560896,0.153779],[0.094519,-0.133395,0.986545]]
2025-10-27T18:53:43.228Z,1761591223.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:43.459Z,1761591223.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574857,0.812010,0.100888],[-0.814844,0.556849,0.161085],[0.074623,-0.174809,0.981770]]
2025-10-27T18:53:43.480Z,1761591223.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:43.732Z,1761591223.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:43.895Z,1761591223.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577822,0.811783,0.084433],[-0.814275,0.566362,0.127242],[0.055473,-0.142274,0.988272]]
2025-10-27T18:53:43.984Z,1761591223.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:44.236Z,1761591224.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:44.291Z,1761591224.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559810,0.827655,0.040004],[-0.826401,0.554129,0.100012],[0.060608,-0.089047,0.994182]]
2025-10-27T18:53:44.488Z,1761591224.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:44.694Z,1761591224.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553716,0.832144,-0.030581],[-0.829164,0.554372,0.071820],[0.076718,-0.014412,0.996949]]
2025-10-27T18:53:44.740Z,1761591224.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:44.992Z,1761591224.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:45.098Z,1761591225.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573943,0.815590,-0.073507],[-0.817870,0.575401,-0.001616],[0.040978,0.061047,0.997293]]
2025-10-27T18:53:45.244Z,1761591225.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:45.496Z,1761591225.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:45.508Z,1761591225.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592216,0.804119,-0.051698],[-0.805671,0.591969,-0.021621],[0.013218,0.054456,0.998429]]
2025-10-27T18:53:45.748Z,1761591225.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:45.906Z,1761591225.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581802,0.812814,-0.028975],[-0.811210,0.582488,0.051441],[0.058690,-0.006423,0.998256]]
2025-10-27T18:53:45.000Z,1761591226.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:46.252Z,1761591226.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:46.310Z,1761591226.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574224,0.818678,0.005756],[-0.812985,0.569373,0.121943],[0.096555,-0.074702,0.992520]]
2025-10-27T18:53:46.504Z,1761591226.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:46.714Z,1761591226.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576368,0.813147,0.081184],[-0.813780,0.562057,0.147835],[0.074581,-0.151273,0.985674]]
2025-10-27T18:53:46.756Z,1761591226.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:47.008Z,1761591227.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:47.119Z,1761591227.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562607,0.814918,0.139219],[-0.825860,0.546292,0.139718],[0.037804,-0.193582,0.980355]]
2025-10-27T18:53:47.260Z,1761591227.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:47.512Z,1761591227.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:47.523Z,1761591227.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561703,0.812418,0.156417],[-0.827317,0.550177,0.113367],[0.006044,-0.193085,0.981164]]
2025-10-27T18:53:47.764Z,1761591227.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:47.925Z,1761591227.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587666,0.800352,0.118682],[-0.809093,0.582053,0.081132],[-0.004145,-0.143703,0.989612]]
2025-10-27T18:53:48.016Z,1761591228.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:48.268Z,1761591228.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:48.330Z,1761591228.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586590,0.807577,0.061081],[-0.809846,0.585626,0.034522],[-0.007891,-0.069716,0.997536]]
2025-10-27T18:53:48.520Z,1761591228.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:48.735Z,1761591228.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577517,0.816289,-0.012122],[-0.816367,0.577526,-0.003100],[0.004470,0.011686,0.999922]]
2025-10-27T18:53:48.774Z,1761591228.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:49.024Z,1761591229.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:49.137Z,1761591229.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582105,0.812915,-0.017981],[-0.812285,0.582367,0.032280],[0.036713,-0.004185,0.999317]]
2025-10-27T18:53:49.276Z,1761591229.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:49.533Z,1761591229.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:49.543Z,1761591229.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574395,0.817955,0.031922],[-0.817176,0.570694,0.080813],[0.047884,-0.072505,0.996218]]
2025-10-27T18:53:49.780Z,1761591229.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:49.947Z,1761591229.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555917,0.826316,0.090317],[-0.830542,0.547719,0.101020],[0.034006,-0.131171,0.990776]]
2025-10-27T18:53:50.035Z,1761591230.035 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:50.288Z,1761591230.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:50.351Z,1761591230.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552867,0.824137,0.123028],[-0.833153,0.544260,0.098172],[0.013948,-0.156778,0.987535]]
2025-10-27T18:53:50.540Z,1761591230.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:50.758Z,1761591230.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552076,0.826948,0.106625],[-0.833672,0.545278,0.087536],[0.014247,-0.137217,0.990438]]
2025-10-27T18:53:50.794Z,1761591230.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:50.827Z,1761591230.827 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:51.044Z,1761591231.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:51.158Z,1761591231.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551320,0.833159,0.043497],[-0.833443,0.547654,0.073813],[0.037676,-0.076947,0.996323]]
2025-10-27T18:53:51.296Z,1761591231.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:51.556Z,1761591231.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:51.563Z,1761591231.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553712,0.832453,-0.020615],[-0.829905,0.553709,0.068297],[0.068269,-0.020708,0.997452]]
2025-10-27T18:53:51.800Z,1761591231.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:51.967Z,1761591231.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551695,0.833529,-0.029356],[-0.830455,0.552242,0.073308],[0.077316,-0.016065,0.996877]]
2025-10-27T18:53:52.052Z,1761591232.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:52.304Z,1761591232.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:52.370Z,1761591232.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524982,0.851071,-0.008490],[-0.846555,0.523176,0.098144],[0.087970,-0.044337,0.995136]]
2025-10-27T18:53:52.556Z,1761591232.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:52.810Z,1761591232.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:52.818Z,1761591232.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523151,0.852104,-0.015236],[-0.843713,0.520357,0.131822],[0.120254,-0.056108,0.991156]]
2025-10-27T18:53:53.060Z,1761591233.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:53.178Z,1761591233.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549876,0.834333,-0.039055],[-0.823763,0.549450,0.139711],[0.138024,-0.044652,0.989422]]
2025-10-27T18:53:53.315Z,1761591233.315 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:53.568Z,1761591233.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:53.586Z,1761591233.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563417,0.825142,-0.041253],[-0.815287,0.563379,0.133830],[0.133670,-0.041769,0.990145]]
2025-10-27T18:53:53.820Z,1761591233.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:53.986Z,1761591233.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549174,0.834892,-0.036927],[-0.822974,0.547961,0.149839],[0.145334,-0.051897,0.988021]]
2025-10-27T18:53:54.072Z,1761591234.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:54.324Z,1761591234.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:54.390Z,1761591234.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538729,0.841202,-0.046373],[-0.822717,0.537147,0.186037],[0.181404,-0.062072,0.981448]]
2025-10-27T18:53:54.576Z,1761591234.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:54.828Z,1761591234.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:54.836Z,1761591234.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542330,0.837549,-0.066257],[-0.817123,0.544155,0.190277],[0.195420,-0.049053,0.979492]]
2025-10-27T18:53:55.080Z,1761591235.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:55.199Z,1761591235.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539528,0.840232,-0.054040],[-0.818662,0.538508,0.199503],[0.196730,-0.063397,0.978406]]
2025-10-27T18:53:55.332Z,1761591235.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:55.584Z,1761591235.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:55.602Z,1761591235.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530299,0.847351,-0.027913],[-0.822802,0.522315,0.224017],[0.204400,-0.095829,0.974185]]
2025-10-27T18:53:55.839Z,1761591235.839 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:56.006Z,1761591236.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526387,0.850099,-0.015789],[-0.824384,0.514833,0.235242],[0.208107,-0.110812,0.971809]]
2025-10-27T18:53:56.088Z,1761591236.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:56.340Z,1761591236.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:56.410Z,1761591236.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541515,0.840288,-0.026056],[-0.819169,0.534366,0.208363],[0.189008,-0.091488,0.977704]]
2025-10-27T18:53:56.592Z,1761591236.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:56.834Z,1761591236.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552959,0.831383,-0.055118],[-0.813004,0.552849,0.182710],[0.182374,-0.056220,0.981621]]
2025-10-27T18:53:56.844Z,1761591236.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:57.096Z,1761591237.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:57.348Z,1761591237.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:57.600Z,1761591237.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:57.852Z,1761591237.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:58.025Z,1761591238.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526533,0.849878,0.021706],[-0.846263,0.521512,0.108922],[0.081250,-0.075720,0.993813]]
2025-10-27T18:53:58.104Z,1761591238.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:58.356Z,1761591238.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:58.431Z,1761591238.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517738,0.854952,0.031685],[-0.852034,0.511914,0.109462],[0.077365,-0.083669,0.993486]]
2025-10-27T18:53:58.608Z,1761591238.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:58.838Z,1761591238.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557501,0.830123,0.009427],[-0.824830,0.552588,0.119593],[0.094067,-0.074448,0.992778]]
2025-10-27T18:53:58.860Z,1761591238.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:59.112Z,1761591239.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:59.367Z,1761591239.367 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:59.620Z,1761591239.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:53:59.697Z,1761591239.697 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:53:59.872Z,1761591239.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:00.049Z,1761591240.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531179,0.846565,-0.034303],[-0.827268,0.526963,0.194776],[0.182967,-0.075084,0.980248]]
2025-10-27T18:54:00.124Z,1761591240.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:00.376Z,1761591240.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:00.450Z,1761591240.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546019,0.836874,-0.038790],[-0.816546,0.541971,0.198796],[0.187390,-0.076872,0.979273]]
2025-10-27T18:54:00.628Z,1761591240.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:00.854Z,1761591240.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553716,0.831913,-0.036313],[-0.818181,0.551650,0.162057],[0.154849,-0.060023,0.986113]]
2025-10-27T18:54:00.880Z,1761591240.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:01.132Z,1761591241.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:01.257Z,1761591241.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548279,0.834575,-0.053617],[-0.824031,0.550067,0.135646],[0.142700,-0.030189,0.989305]]
2025-10-27T18:54:01.384Z,1761591241.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:01.636Z,1761591241.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:01.665Z,1761591241.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554605,0.828726,-0.075011],[-0.813741,0.558990,0.159236],[0.173893,-0.027274,0.984387]]
2025-10-27T18:54:01.888Z,1761591241.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:02.076Z,1761591242.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570925,0.818801,-0.060084],[-0.795353,0.569755,0.206863],[0.203612,-0.070315,0.976523]]
2025-10-27T18:54:02.140Z,1761591242.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:02.392Z,1761591242.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:02.479Z,1761591242.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553757,0.832355,-0.023203],[-0.807083,0.543383,0.230980],[0.204865,-0.109180,0.972682]]
2025-10-27T18:54:02.646Z,1761591242.646 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:02.873Z,1761591242.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532428,0.845401,0.042621],[-0.829771,0.511306,0.223712],[0.167334,-0.154476,0.973723]]
2025-10-27T18:54:02.896Z,1761591242.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:03.148Z,1761591243.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:03.283Z,1761591243.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532525,0.840838,0.097000],[-0.840804,0.512336,0.174817],[0.097296,-0.174652,0.979811]]
2025-10-27T18:54:03.400Z,1761591243.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:03.652Z,1761591243.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:03.689Z,1761591243.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540318,0.837457,0.081984],[-0.839256,0.529290,0.124509],[0.060877,-0.136080,0.988826]]
2025-10-27T18:54:03.904Z,1761591243.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:04.108Z,1761591244.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544881,0.838328,0.017604],[-0.836452,0.541951,0.081469],[0.058757,-0.059116,0.996520]]
2025-10-27T18:54:04.156Z,1761591244.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:04.408Z,1761591244.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:04.503Z,1761591244.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552946,0.832960,-0.020701],[-0.831982,0.553308,0.040707],[0.045362,-0.005286,0.998957]]
2025-10-27T18:54:04.660Z,1761591244.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:04.912Z,1761591244.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:05.164Z,1761591245.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:05.416Z,1761591245.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:05.668Z,1761591245.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:05.920Z,1761591245.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:06.121Z,1761591246.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543450,0.827422,0.141544],[-0.838812,0.541794,0.053409],[-0.032496,-0.147754,0.988490]]
2025-10-27T18:54:06.172Z,1761591246.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:06.424Z,1761591246.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:06.522Z,1761591246.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543820,0.833034,0.101558],[-0.839133,0.541328,0.053097],[-0.010745,-0.114096,0.993412]]
2025-10-27T18:54:06.676Z,1761591246.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:06.926Z,1761591246.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532259,0.845561,0.041554],[-0.846522,0.530997,0.037983],[0.010052,-0.055393,0.998414]]
2025-10-27T18:54:06.928Z,1761591246.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:07.180Z,1761591247.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:07.331Z,1761591247.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515792,0.856376,0.024058],[-0.856532,0.514901,0.035072],[0.017647,-0.038696,0.999095]]
2025-10-27T18:54:07.432Z,1761591247.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:07.685Z,1761591247.685 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:07.936Z,1761591247.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:08.138Z,1761591248.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504331,0.861147,0.063849],[-0.856170,0.489054,0.166734],[0.112356,-0.138755,0.983933]]
2025-10-27T18:54:08.188Z,1761591248.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:08.440Z,1761591248.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:08.542Z,1761591248.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512808,0.856472,0.059022],[-0.851525,0.498687,0.161916],[0.109243,-0.133290,0.985038]]
2025-10-27T18:54:08.692Z,1761591248.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:08.944Z,1761591248.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:08.948Z,1761591248.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544411,0.837966,0.037808],[-0.836667,0.539235,0.095988],[0.060047,-0.083890,0.994664]]
2025-10-27T18:54:09.196Z,1761591249.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:09.352Z,1761591249.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553564,0.832783,0.006206],[-0.832244,0.552901,0.040864],[0.030600,-0.027786,0.999145]]
2025-10-27T18:54:09.449Z,1761591249.449 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:09.700Z,1761591249.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:09.754Z,1761591249.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530886,0.845885,-0.051357],[-0.840352,0.533300,0.096953],[0.109400,-0.008313,0.993963]]
2025-10-27T18:54:09.952Z,1761591249.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:10.158Z,1761591250.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545367,0.837444,-0.035535],[-0.822419,0.542806,0.170262],[0.161874,-0.063630,0.984758]]
2025-10-27T18:54:10.204Z,1761591250.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:10.456Z,1761591250.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:10.563Z,1761591250.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555665,0.830842,0.030632],[-0.822607,0.544065,0.165262],[0.120641,-0.117028,0.985774]]
2025-10-27T18:54:10.708Z,1761591250.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:10.821Z,1761591250.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:10.960Z,1761591250.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:10.967Z,1761591250.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541648,0.838532,0.059007],[-0.834567,0.528030,0.157107],[0.100582,-0.134342,0.985817]]
2025-10-27T18:54:11.212Z,1761591251.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:11.369Z,1761591251.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544592,0.838037,0.033363],[-0.829027,0.531860,0.172741],[0.127019,-0.121732,0.984402]]
2025-10-27T18:54:11.464Z,1761591251.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:11.715Z,1761591251.715 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:11.774Z,1761591251.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548343,0.836176,-0.011414],[-0.819858,0.540232,0.189690],[0.164780,-0.094657,0.981778]]
2025-10-27T18:54:11.968Z,1761591251.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:12.179Z,1761591252.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571248,0.818876,-0.055846],[-0.802534,0.571522,0.171178],[0.172091,-0.052967,0.983656]]
2025-10-27T18:54:12.220Z,1761591252.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:12.472Z,1761591252.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:12.724Z,1761591252.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:12.976Z,1761591252.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:12.987Z,1761591252.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572417,0.819402,-0.030310],[-0.810198,0.570902,0.132858],[0.126168,-0.051493,0.990672]]
2025-10-27T18:54:13.228Z,1761591253.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:13.390Z,1761591253.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571342,0.820674,-0.007863],[-0.807763,0.563996,0.171543],[0.145216,-0.091659,0.985145]]
2025-10-27T18:54:13.480Z,1761591253.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:13.732Z,1761591253.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:13.796Z,1761591253.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586573,0.809834,0.010039],[-0.794836,0.573242,0.199071],[0.155460,-0.124749,0.979934]]
2025-10-27T18:54:13.984Z,1761591253.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:14.198Z,1761591254.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590398,0.806958,0.015767],[-0.788924,0.572860,0.222329],[0.170378,-0.143702,0.974844]]
2025-10-27T18:54:14.239Z,1761591254.239 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:14.488Z,1761591254.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:14.602Z,1761591254.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578586,0.815618,-0.002298],[-0.790171,0.561228,0.246279],[0.202159,-0.140678,0.969196]]
2025-10-27T18:54:14.740Z,1761591254.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:14.992Z,1761591254.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:15.007Z,1761591255.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578660,0.815215,-0.024016],[-0.787964,0.566428,0.241394],[0.210391,-0.120762,0.970130]]
2025-10-27T18:54:15.244Z,1761591255.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:15.411Z,1761591255.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585942,0.810023,-0.023129],[-0.790861,0.577838,0.201599],[0.176665,-0.099833,0.979195]]
2025-10-27T18:54:15.496Z,1761591255.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:15.748Z,1761591255.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:15.814Z,1761591255.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592256,0.805488,-0.020526],[-0.793949,0.587738,0.155592],[0.137391,-0.075853,0.987608]]
2025-10-27T18:54:15.000Z,1761591256.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:16.218Z,1761591256.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594429,0.803930,-0.018716],[-0.796640,0.591893,0.122587],[0.109630,-0.057959,0.992281]]
2025-10-27T18:54:16.252Z,1761591256.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:16.504Z,1761591256.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:16.756Z,1761591256.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:17.008Z,1761591257.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:17.029Z,1761591257.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600637,0.799512,-0.003912],[-0.793281,0.596552,0.121780],[0.099698,-0.070043,0.992549]]
2025-10-27T18:54:17.260Z,1761591257.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:17.512Z,1761591257.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:17.764Z,1761591257.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:17.834Z,1761591257.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617812,0.786219,-0.012958],[-0.785947,0.617942,0.020869],[0.024415,-0.002709,0.999698]]
2025-10-27T18:54:18.016Z,1761591258.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:18.239Z,1761591258.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622130,0.782357,-0.029520],[-0.782719,0.622375,-0.001144],[0.017478,0.023817,0.999564]]
2025-10-27T18:54:18.269Z,1761591258.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:18.520Z,1761591258.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:18.642Z,1761591258.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634169,0.773181,0.004489],[-0.773032,0.633906,0.024165],[0.015838,-0.018794,0.999698]]
2025-10-27T18:54:18.774Z,1761591258.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:19.024Z,1761591259.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:19.046Z,1761591259.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612898,0.786207,0.078953],[-0.789581,0.605554,0.099325],[0.030280,-0.123216,0.991918]]
2025-10-27T18:54:19.276Z,1761591259.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:19.449Z,1761591259.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600813,0.788001,0.134454],[-0.798301,0.582671,0.152349],[0.041709,-0.198867,0.979138]]
2025-10-27T18:54:19.541Z,1761591259.541 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:19.567Z,1761591259.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:19.792Z,1761591259.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:19.856Z,1761591259.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608882,0.777712,0.156292],[-0.792276,0.586393,0.168646],[0.039510,-0.226512,0.973207]]
2025-10-27T18:54:20.044Z,1761591260.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:20.266Z,1761591260.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622192,0.771402,0.133477],[-0.780480,0.597919,0.182603],[0.061051,-0.217790,0.974084]]
2025-10-27T18:54:20.296Z,1761591260.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:20.548Z,1761591260.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:20.667Z,1761591260.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646350,0.757391,0.092681],[-0.761850,0.633781,0.133812],[0.042609,-0.157099,0.986663]]
2025-10-27T18:54:20.802Z,1761591260.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:21.060Z,1761591261.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:21.073Z,1761591261.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606327,0.794725,0.027912],[-0.795028,0.605048,0.042981],[0.017269,-0.048251,0.998686]]
2025-10-27T18:54:21.304Z,1761591261.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:21.474Z,1761591261.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597643,0.801742,0.005679],[-0.801368,0.597112,0.035583],[0.025137,-0.025817,0.999351]]
2025-10-27T18:54:21.557Z,1761591261.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:21.808Z,1761591261.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:21.880Z,1761591261.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624110,0.780935,0.025021],[-0.781335,0.623736,0.021644],[0.001296,-0.033058,0.999453]]
2025-10-27T18:54:22.060Z,1761591262.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:22.281Z,1761591262.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632157,0.774673,0.016092],[-0.774528,0.631177,0.041497],[0.021990,-0.038697,0.999009]]
2025-10-27T18:54:22.312Z,1761591262.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:22.564Z,1761591262.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:22.682Z,1761591262.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630135,0.773839,-0.064061],[-0.769566,0.633380,0.081231],[0.103435,-0.001887,0.994634]]
2025-10-27T18:54:22.824Z,1761591262.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:23.072Z,1761591263.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:23.324Z,1761591263.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:23.490Z,1761591263.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604311,0.793308,-0.073960],[-0.783018,0.608491,0.128920],[0.147277,-0.019996,0.988893]]
2025-10-27T18:54:23.576Z,1761591263.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:23.828Z,1761591263.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:23.894Z,1761591263.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601737,0.798077,0.031394],[-0.787802,0.586603,0.187789],[0.131454,-0.137732,0.981708]]
2025-10-27T18:54:24.080Z,1761591264.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:24.298Z,1761591264.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589462,0.794120,0.148015],[-0.803333,0.557044,0.210615],[0.084803,-0.243054,0.966299]]
2025-10-27T18:54:24.332Z,1761591264.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:24.584Z,1761591264.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:24.703Z,1761591264.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579394,0.790138,0.199962],[-0.814549,0.552760,0.175973],[0.028512,-0.264837,0.963872]]
2025-10-27T18:54:24.836Z,1761591264.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:25.088Z,1761591265.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:25.106Z,1761591265.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576686,0.802359,0.153796],[-0.816901,0.568714,0.096112],[-0.010349,-0.181062,0.983417]]
2025-10-27T18:54:25.340Z,1761591265.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:25.509Z,1761591265.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571159,0.818799,0.057839],[-0.820626,0.571198,0.017486],[-0.018720,-0.057452,0.998173]]
2025-10-27T18:54:25.593Z,1761591265.593 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:25.844Z,1761591265.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:25.916Z,1761591265.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586960,0.808235,-0.047277],[-0.809610,0.586187,-0.030275],[0.003244,0.056046,0.998423]]
2025-10-27T18:54:26.051Z,1761591266.051 [DockingStepper](ERROR): getADC uart error serial timeout
2025-10-27T18:54:26.051Z,1761591266.051 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-10-27T18:54:26.051Z,1761591266.051 [DockingStepper] Communications Fault, FailCount= 1
2025-10-27T18:54:26.052Z,1761591266.052 [DockingStepper](ERROR): Communications Fault
2025-10-27T18:54:26.056Z,1761591266.056 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-27T18:54:26.096Z,1761591266.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:26.317Z,1761591266.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604232,0.794316,-0.062976],[-0.796770,0.601539,-0.057519],[-0.007806,0.084933,0.996356]]
2025-10-27T18:54:26.348Z,1761591266.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:26.350Z,1761591266.350 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-27T18:54:26.350Z,1761591266.350 [DockingStepper](INFO): Powering down
2025-10-27T18:54:26.600Z,1761591266.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:26.721Z,1761591266.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603126,0.797531,-0.013565],[-0.797626,0.602905,-0.017265],[-0.005590,0.021233,0.999759]]
2025-10-27T18:54:26.852Z,1761591266.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:27.104Z,1761591267.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:27.126Z,1761591267.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600225,0.799551,0.021153],[-0.797705,0.596492,0.088680],[0.058286,-0.070101,0.995836]]
2025-10-27T18:54:27.356Z,1761591267.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:27.532Z,1761591267.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609795,0.790806,0.052693],[-0.786460,0.595531,0.163778],[0.098136,-0.141312,0.985089]]
2025-10-27T18:54:27.608Z,1761591267.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:27.860Z,1761591267.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:27.934Z,1761591267.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600368,0.795898,0.078130],[-0.795202,0.583743,0.164006],[0.084925,-0.160593,0.983360]]
2025-10-27T18:54:28.112Z,1761591268.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:28.338Z,1761591268.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589994,0.804713,0.065913],[-0.802841,0.576029,0.153742],[0.085751,-0.143624,0.985910]]
2025-10-27T18:54:28.364Z,1761591268.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:28.431Z,1761591268.431 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:28.616Z,1761591268.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:28.742Z,1761591268.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602538,0.797501,0.030675],[-0.793593,0.594625,0.128964],[0.084609,-0.102049,0.991175]]
2025-10-27T18:54:28.868Z,1761591268.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:29.120Z,1761591269.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:29.149Z,1761591269.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635744,0.771786,-0.013270],[-0.768850,0.634665,0.077910],[0.068552,-0.039328,0.996872]]
2025-10-27T18:54:29.372Z,1761591269.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:29.550Z,1761591269.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639061,0.767635,-0.048343],[-0.763155,0.640657,0.084573],[0.095892,-0.017154,0.995244]]
2025-10-27T18:54:29.624Z,1761591269.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:29.876Z,1761591269.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:29.954Z,1761591269.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622873,0.780110,-0.058800],[-0.774334,0.625482,0.095801],[0.111514,-0.014141,0.993662]]
2025-10-27T18:54:30.128Z,1761591270.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:30.358Z,1761591270.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619255,0.784743,-0.026491],[-0.782081,0.619451,0.068044],[0.069807,-0.021419,0.997330]]
2025-10-27T18:54:30.380Z,1761591270.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:30.632Z,1761591270.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:30.800Z,1761591270.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639042,0.768310,0.036400],[-0.768614,0.636061,0.068251],[0.029285,-0.071593,0.997004]]
2025-10-27T18:54:30.884Z,1761591270.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:31.136Z,1761591271.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:31.166Z,1761591271.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659351,0.748065,0.075200],[-0.750896,0.650228,0.115583],[0.037567,-0.132677,0.990447]]
2025-10-27T18:54:31.388Z,1761591271.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:31.570Z,1761591271.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654769,0.752115,0.074834],[-0.750919,0.636053,0.177641],[0.086008,-0.172508,0.981246]]
2025-10-27T18:54:31.640Z,1761591271.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:31.892Z,1761591271.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:31.974Z,1761591271.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646854,0.756976,0.092561],[-0.756470,0.621524,0.203621],[0.096607,-0.201732,0.974665]]
2025-10-27T18:54:32.144Z,1761591272.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:32.379Z,1761591272.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635557,0.765019,0.103985],[-0.769383,0.616394,0.167656],[0.064164,-0.186559,0.980346]]
2025-10-27T18:54:32.396Z,1761591272.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:32.648Z,1761591272.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:32.832Z,1761591272.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622120,0.781258,0.051008],[-0.781130,0.614973,0.107904],[0.052932,-0.106973,0.992852]]
2025-10-27T18:54:32.900Z,1761591272.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:33.152Z,1761591273.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:33.186Z,1761591273.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648172,0.761371,0.013691],[-0.761310,0.647514,0.033667],[0.016768,-0.032245,0.999339]]
2025-10-27T18:54:33.404Z,1761591273.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:33.656Z,1761591273.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:33.908Z,1761591273.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:33.994Z,1761591273.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630318,0.776337,-0.000647],[-0.775575,0.629736,0.043775],[0.034391,-0.027090,0.999041]]
2025-10-27T18:54:34.160Z,1761591274.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:34.398Z,1761591274.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646319,0.760757,0.059331],[-0.762926,0.642748,0.069414],[0.014672,-0.090129,0.995822]]
2025-10-27T18:54:34.412Z,1761591274.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:34.664Z,1761591274.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:34.829Z,1761591274.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657557,0.742781,0.126077],[-0.752667,0.655053,0.066318],[-0.033328,-0.138502,0.989801]]
2025-10-27T18:54:34.916Z,1761591274.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:35.168Z,1761591275.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:35.206Z,1761591275.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634377,0.759507,0.143927],[-0.772950,0.625802,0.104501],[-0.010701,-0.177542,0.984055]]
2025-10-27T18:54:35.420Z,1761591275.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:35.609Z,1761591275.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640288,0.758375,0.122064],[-0.768135,0.632061,0.102313],[0.000440,-0.159271,0.987235]]
2025-10-27T18:54:35.672Z,1761591275.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:35.924Z,1761591275.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:36.014Z,1761591276.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659892,0.749658,0.050549],[-0.751345,0.658813,0.038038],[-0.004787,-0.063080,0.997997]]
2025-10-27T18:54:36.176Z,1761591276.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:36.420Z,1761591276.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649150,0.759251,-0.046283],[-0.759825,0.650086,0.007318],[0.035644,0.030417,0.998902]]
2025-10-27T18:54:36.428Z,1761591276.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:36.683Z,1761591276.683 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:36.835Z,1761591276.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631521,0.771941,-0.072724],[-0.773411,0.633802,0.011438],[0.054922,0.049022,0.997287]]
2025-10-27T18:54:36.932Z,1761591276.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:37.159Z,1761591277.159 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:37.184Z,1761591277.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:37.226Z,1761591277.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631660,0.774999,-0.019549],[-0.774155,0.631908,0.037104],[0.041109,-0.008303,0.999120]]
2025-10-27T18:54:37.436Z,1761591277.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:37.629Z,1761591277.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632140,0.773727,0.041783],[-0.773719,0.627378,0.088066],[0.041926,-0.087998,0.995238]]
2025-10-27T18:54:37.688Z,1761591277.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:37.940Z,1761591277.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:38.035Z,1761591278.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632114,0.771886,0.067997],[-0.773234,0.622634,0.120154],[0.050408,-0.128528,0.990424]]
2025-10-27T18:54:38.192Z,1761591278.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:38.437Z,1761591278.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643663,0.760817,0.082798],[-0.763803,0.631843,0.131828],[0.047981,-0.148094,0.987809]]
2025-10-27T18:54:38.450Z,1761591278.450 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:38.700Z,1761591278.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:38.842Z,1761591278.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641116,0.764825,0.063353],[-0.766015,0.632702,0.113623],[0.046818,-0.121375,0.991502]]
2025-10-27T18:54:38.952Z,1761591278.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:39.204Z,1761591279.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:39.456Z,1761591279.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:39.650Z,1761591279.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626147,0.778885,0.035752],[-0.779566,0.624509,0.047604],[0.014751,-0.057678,0.998226]]
2025-10-27T18:54:39.708Z,1761591279.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:39.960Z,1761591279.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:40.054Z,1761591280.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618131,0.782868,0.070937],[-0.785985,0.616906,0.040675],[-0.011919,-0.080898,0.996651]]
2025-10-27T18:54:40.212Z,1761591280.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:40.458Z,1761591280.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620908,0.778444,0.092180],[-0.783740,0.614241,0.091976],[0.014978,-0.129354,0.991485]]
2025-10-27T18:54:40.464Z,1761591280.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:40.716Z,1761591280.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:40.862Z,1761591280.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626035,0.771880,0.110821],[-0.779766,0.618444,0.097426],[0.006665,-0.147407,0.989053]]
2025-10-27T18:54:40.968Z,1761591280.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:41.220Z,1761591281.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:41.268Z,1761591281.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613268,0.780906,0.118695],[-0.789460,0.610857,0.060056],[-0.025607,-0.130535,0.991113]]
2025-10-27T18:54:41.472Z,1761591281.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:41.670Z,1761591281.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595550,0.799571,0.077494],[-0.803065,0.595005,0.032476],[-0.020142,-0.081573,0.996464]]
2025-10-27T18:54:41.724Z,1761591281.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:41.976Z,1761591281.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:42.228Z,1761591282.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:42.479Z,1761591282.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592855,0.803891,-0.047765],[-0.802997,0.594604,0.040528],[0.060981,0.014327,0.998036]]
2025-10-27T18:54:42.480Z,1761591282.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:42.732Z,1761591282.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:42.883Z,1761591282.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596473,0.801071,-0.050057],[-0.797146,0.598522,0.079560],[0.093693,-0.007552,0.995572]]
2025-10-27T18:54:42.984Z,1761591282.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:43.236Z,1761591283.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:43.286Z,1761591283.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590280,0.807162,-0.007699],[-0.801010,0.586907,0.117997],[0.099762,-0.063484,0.992984]]
2025-10-27T18:54:43.490Z,1761591283.490 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:43.689Z,1761591283.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573825,0.814996,0.080664],[-0.817005,0.562827,0.125416],[0.056814,-0.137870,0.988820]]
2025-10-27T18:54:43.740Z,1761591283.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:43.992Z,1761591283.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:44.094Z,1761591284.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576470,0.807417,0.125538],[-0.816906,0.565976,0.111069],[0.018628,-0.166581,0.985852]]
2025-10-27T18:54:44.244Z,1761591284.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:44.498Z,1761591284.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:44.501Z,1761591284.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601812,0.793359,0.091674],[-0.798635,0.598166,0.066185],[-0.002328,-0.113045,0.993587]]
2025-10-27T18:54:44.748Z,1761591284.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:44.901Z,1761591284.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617817,0.786260,0.009887],[-0.786216,0.617891,-0.008668],[-0.012925,-0.002418,0.999914]]
2025-10-27T18:54:44.000Z,1761591285.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:45.252Z,1761591285.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:45.306Z,1761591285.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599420,0.795437,-0.089303],[-0.799592,0.600170,-0.021204],[0.036730,0.084116,0.995779]]
2025-10-27T18:54:45.504Z,1761591285.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:45.709Z,1761591285.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555668,0.822812,-0.119222],[-0.823540,0.564400,0.056870],[0.114082,0.066583,0.991238]]
2025-10-27T18:54:45.756Z,1761591285.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:45.867Z,1761591285.867 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:46.008Z,1761591286.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:46.115Z,1761591286.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537385,0.843176,-0.016471],[-0.835082,0.534750,0.129153],[0.117707,-0.055651,0.991488]]
2025-10-27T18:54:46.260Z,1761591286.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:46.516Z,1761591286.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:46.519Z,1761591286.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542221,0.832478,0.113916],[-0.838115,0.526232,0.143676],[0.059661,-0.173379,0.983046]]
2025-10-27T18:54:46.771Z,1761591286.771 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:46.921Z,1761591286.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538119,0.824447,0.175257],[-0.842281,0.518223,0.148349],[0.031484,-0.227445,0.973282]]
2025-10-27T18:54:46.989Z,1761591286.989 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-27T18:54:46.989Z,1761591286.989 [DockingStepper] No Fault, FailCount= 1
2025-10-27T18:54:47.020Z,1761591287.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:47.272Z,1761591287.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:47.326Z,1761591287.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549347,0.823596,0.141092],[-0.833771,0.529130,0.157629],[0.055166,-0.204232,0.977367]]
2025-10-27T18:54:47.352Z,1761591287.352 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T18:54:47.352Z,1761591287.352 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T18:54:47.524Z,1761591287.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:47.732Z,1761591287.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569162,0.819857,0.062358],[-0.820613,0.561664,0.105484],[0.051457,-0.111210,0.992464]]
2025-10-27T18:54:47.799Z,1761591287.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:48.052Z,1761591288.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:48.134Z,1761591288.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559897,0.828473,-0.012177],[-0.828539,0.559931,-0.000698],[0.006240,0.010480,0.999926]]
2025-10-27T18:54:48.304Z,1761591288.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:48.538Z,1761591288.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533628,0.844697,-0.041578],[-0.844770,0.530055,-0.073517],[-0.040061,0.074355,0.996427]]
2025-10-27T18:54:48.556Z,1761591288.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:48.810Z,1761591288.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:48.945Z,1761591288.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506990,0.861494,-0.028115],[-0.861920,0.506421,-0.025133],[-0.007414,0.036975,0.999289]]
2025-10-27T18:54:49.060Z,1761591289.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:49.312Z,1761591289.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:49.346Z,1761591289.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509921,0.860087,0.015229],[-0.859183,0.508356,0.058128],[0.042253,-0.042725,0.998193]]
2025-10-27T18:54:49.564Z,1761591289.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:49.750Z,1761591289.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530108,0.839623,0.118399],[-0.847766,0.522069,0.093469],[0.016666,-0.149924,0.988557]]
2025-10-27T18:54:49.827Z,1761591289.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:50.080Z,1761591290.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:50.332Z,1761591290.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:50.584Z,1761591290.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:50.836Z,1761591290.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:50.962Z,1761591290.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518507,0.852361,0.068058],[-0.854348,0.513145,0.082298],[0.035224,-0.100817,0.994281]]
2025-10-27T18:54:51.051Z,1761591291.051 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T18:54:51.088Z,1761591291.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:51.340Z,1761591291.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:51.366Z,1761591291.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533972,0.845502,0.000924],[-0.844442,0.533248,0.050637],[0.042321,-0.027819,0.998717]]
2025-10-27T18:54:51.592Z,1761591291.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:51.769Z,1761591291.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541597,0.840490,-0.015784],[-0.840230,0.541823,0.021000],[0.026202,0.001889,0.999655]]
2025-10-27T18:54:51.845Z,1761591291.845 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:52.096Z,1761591292.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:52.175Z,1761591292.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531702,0.846861,0.010964],[-0.846259,0.530719,0.046718],[0.033745,-0.034118,0.998848]]
2025-10-27T18:54:52.348Z,1761591292.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:52.578Z,1761591292.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528157,0.845616,0.077357],[-0.849105,0.525033,0.057978],[0.008412,-0.096306,0.995316]]
2025-10-27T18:54:52.600Z,1761591292.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:52.852Z,1761591292.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:52.982Z,1761591292.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530073,0.835833,0.142853],[-0.847323,0.528599,0.051259],[-0.032668,-0.148214,0.988416]]
2025-10-27T18:54:53.107Z,1761591293.107 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:53.360Z,1761591293.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:53.386Z,1761591293.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539770,0.831312,0.132550],[-0.841523,0.536984,0.059055],[-0.022084,-0.143420,0.989415]]
2025-10-27T18:54:53.612Z,1761591293.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:53.792Z,1761591293.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566574,0.821820,0.060046],[-0.824007,0.564838,0.044389],[0.002564,-0.074629,0.997208]]
2025-10-27T18:54:53.865Z,1761591293.865 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:54.116Z,1761591294.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:54.193Z,1761591294.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564971,0.825108,0.001939],[-0.825093,0.564943,0.007835],[0.005369,-0.006026,0.999967]]
2025-10-27T18:54:54.368Z,1761591294.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:54.598Z,1761591294.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539025,0.841981,-0.022829],[-0.840807,0.539485,0.044706],[0.049957,-0.004903,0.998739]]
2025-10-27T18:54:54.623Z,1761591294.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:54:54.637Z,1761591294.637 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:54.888Z,1761591294.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:55.002Z,1761591295.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524431,0.851438,-0.005097],[-0.843811,0.520515,0.130566],[0.113822,-0.064172,0.991427]]
2025-10-27T18:54:55.143Z,1761591295.143 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:55.397Z,1761591295.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:55.410Z,1761591295.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517581,0.853613,0.058775],[-0.849056,0.503888,0.158746],[0.105892,-0.132068,0.985568]]
2025-10-27T18:54:55.648Z,1761591295.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:55.810Z,1761591295.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523400,0.847023,0.092761],[-0.849734,0.510770,0.130636],[0.063272,-0.147197,0.987081]]
2025-10-27T18:54:55.903Z,1761591295.903 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:56.152Z,1761591296.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:56.214Z,1761591296.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528898,0.845005,0.078947],[-0.847370,0.520613,0.104527],[0.047225,-0.122181,0.991384]]
2025-10-27T18:54:56.404Z,1761591296.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:56.618Z,1761591296.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522161,0.851100,0.054558],[-0.851618,0.516908,0.086914],[0.045771,-0.091846,0.994721]]
2025-10-27T18:54:56.656Z,1761591296.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:56.909Z,1761591296.909 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:57.024Z,1761591297.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520252,0.853655,0.024703],[-0.853630,0.518936,0.044954],[0.025555,-0.044475,0.998684]]
2025-10-27T18:54:57.160Z,1761591297.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:57.412Z,1761591297.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:57.433Z,1761591297.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518401,0.854903,-0.020007],[-0.854808,0.518709,0.015609],[0.023722,0.009011,0.999678]]
2025-10-27T18:54:57.664Z,1761591297.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:57.830Z,1761591297.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518010,0.854325,-0.042363],[-0.854419,0.519137,0.021587],[0.040435,0.025013,0.998869]]
2025-10-27T18:54:57.916Z,1761591297.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:58.168Z,1761591298.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:58.234Z,1761591298.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520389,0.853929,0.000317],[-0.852619,0.519570,0.055574],[0.047291,-0.029190,0.998455]]
2025-10-27T18:54:58.420Z,1761591298.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:58.639Z,1761591298.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506933,0.860925,0.042737],[-0.858870,0.500269,0.109881],[0.073220,-0.092408,0.993026]]
2025-10-27T18:54:58.672Z,1761591298.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:58.924Z,1761591298.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:59.042Z,1761591299.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488931,0.869122,0.074658],[-0.864596,0.471457,0.173785],[0.115842,-0.149518,0.981950]]
2025-10-27T18:54:59.176Z,1761591299.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:59.428Z,1761591299.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:59.446Z,1761591299.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503753,0.857285,0.106277],[-0.858062,0.482363,0.176226],[0.099812,-0.179966,0.978596]]
2025-10-27T18:54:59.683Z,1761591299.683 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:54:59.850Z,1761591299.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515867,0.849485,0.110704],[-0.855465,0.503975,0.119119],[0.045398,-0.156153,0.986689]]
2025-10-27T18:54:59.937Z,1761591299.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:00.188Z,1761591300.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:00.256Z,1761591300.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512952,0.855329,0.072751],[-0.858258,0.509377,0.062672],[0.016548,-0.094587,0.995379]]
2025-10-27T18:55:00.440Z,1761591300.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:00.657Z,1761591300.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504881,0.863111,0.011591],[-0.862946,0.504375,0.030500],[0.020479,-0.025401,0.999468]]
2025-10-27T18:55:00.692Z,1761591300.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:00.944Z,1761591300.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:01.063Z,1761591301.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476508,0.878848,-0.023813],[-0.876251,0.476956,0.068531],[0.071586,-0.011789,0.997365]]
2025-10-27T18:55:01.196Z,1761591301.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:01.448Z,1761591301.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:01.466Z,1761591301.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490726,0.871090,0.019733],[-0.868739,0.487411,0.087885],[0.066937,-0.060270,0.995935]]
2025-10-27T18:55:01.700Z,1761591301.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:01.871Z,1761591301.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513649,0.851434,0.105945],[-0.857985,0.508970,0.069368],[0.005139,-0.126530,0.991949]]
2025-10-27T18:55:01.952Z,1761591301.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:02.204Z,1761591302.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:02.273Z,1761591302.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499448,0.855337,0.137660],[-0.866194,0.495967,0.061022],[-0.016080,-0.149718,0.988598]]
2025-10-27T18:55:02.456Z,1761591302.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:02.678Z,1761591302.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486854,0.867683,0.100492],[-0.873483,0.483482,0.057215],[0.001059,-0.115633,0.993291]]
2025-10-27T18:55:02.710Z,1761591302.710 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:02.960Z,1761591302.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:03.084Z,1761591303.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501900,0.863228,0.054172],[-0.864884,0.500278,0.041197],[0.008461,-0.067529,0.997681]]
2025-10-27T18:55:03.212Z,1761591303.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:03.464Z,1761591303.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:03.486Z,1761591303.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518302,0.855059,0.015386],[-0.855030,0.517761,0.029114],[0.016928,-0.028245,0.999458]]
2025-10-27T18:55:03.619Z,1761591303.619 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:03.716Z,1761591303.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:03.890Z,1761591303.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510078,0.860058,-0.011031],[-0.858231,0.509762,0.059846],[0.057094,-0.021059,0.998147]]
2025-10-27T18:55:03.969Z,1761591303.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:04.221Z,1761591304.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:04.294Z,1761591304.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500066,0.865971,-0.005303],[-0.861558,0.498117,0.097969],[0.087479,-0.044422,0.995175]]
2025-10-27T18:55:04.472Z,1761591304.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:04.701Z,1761591304.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514074,0.857325,0.026870],[-0.854437,0.509091,0.103745],[0.075264,-0.076291,0.994241]]
2025-10-27T18:55:04.724Z,1761591304.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:04.976Z,1761591304.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:05.102Z,1761591305.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523998,0.849940,0.055035],[-0.849683,0.517186,0.102748],[0.058866,-0.100601,0.993184]]
2025-10-27T18:55:05.228Z,1761591305.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:05.480Z,1761591305.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:05.505Z,1761591305.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513965,0.853812,0.082740],[-0.855635,0.503404,0.120305],[0.061066,-0.132628,0.989283]]
2025-10-27T18:55:05.732Z,1761591305.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:05.917Z,1761591305.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491376,0.864245,0.107842],[-0.865742,0.471165,0.168802],[0.095075,-0.176308,0.979733]]
2025-10-27T18:55:05.984Z,1761591305.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:06.236Z,1761591306.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:06.318Z,1761591306.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504246,0.857644,0.100908],[-0.862890,0.495801,0.097991],[0.034011,-0.136484,0.990058]]
2025-10-27T18:55:06.488Z,1761591306.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:06.722Z,1761591306.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510149,0.859713,0.025331],[-0.859615,0.508672,0.048118],[0.028483,-0.046322,0.998520]]
2025-10-27T18:55:06.746Z,1761591306.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:06.996Z,1761591306.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:07.127Z,1761591307.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510614,0.856464,-0.075781],[-0.856872,0.514169,0.037422],[0.071014,0.045827,0.996422]]
2025-10-27T18:55:07.248Z,1761591307.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:07.500Z,1761591307.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:07.532Z,1761591307.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516844,0.849503,-0.105907],[-0.851296,0.523068,0.041165],[0.090367,0.068883,0.993524]]
2025-10-27T18:55:07.752Z,1761591307.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:07.930Z,1761591307.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511137,0.857080,-0.064441],[-0.854083,0.514890,0.073693],[0.096340,0.017370,0.995197]]
2025-10-27T18:55:08.004Z,1761591308.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:08.256Z,1761591308.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:08.334Z,1761591308.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504926,0.862983,0.017579],[-0.855763,0.497833,0.140824],[0.112778,-0.086149,0.989879]]
2025-10-27T18:55:08.508Z,1761591308.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:08.738Z,1761591308.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505746,0.857180,0.097276],[-0.856876,0.486078,0.171732],[0.099922,-0.170206,0.980329]]
2025-10-27T18:55:08.763Z,1761591308.763 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:09.012Z,1761591309.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:09.142Z,1761591309.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503667,0.847171,0.169175],[-0.862880,0.483832,0.146096],[0.041916,-0.219562,0.974698]]
2025-10-27T18:55:09.264Z,1761591309.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:09.518Z,1761591309.518 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:09.546Z,1761591309.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498560,0.851407,0.162923],[-0.866853,0.489308,0.095618],[0.001691,-0.188902,0.981995]]
2025-10-27T18:55:09.768Z,1761591309.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:09.950Z,1761591309.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508430,0.853791,0.111983],[-0.860999,0.506079,0.050648],[-0.013429,-0.122168,0.992419]]
2025-10-27T18:55:10.020Z,1761591310.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:10.272Z,1761591310.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:10.355Z,1761591310.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499232,0.865534,0.040222],[-0.866363,0.499358,0.007580],[-0.013525,-0.038631,0.999162]]
2025-10-27T18:55:10.524Z,1761591310.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:10.778Z,1761591310.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:10.779Z,1761591310.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479347,0.876590,-0.042616],[-0.877407,0.479746,-0.000993],[0.019575,0.037868,0.999091]]
2025-10-27T18:55:11.028Z,1761591311.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:11.162Z,1761591311.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496787,0.866886,-0.041374],[-0.867796,0.496812,-0.010392],[0.011546,0.041067,0.999090]]
2025-10-27T18:55:11.283Z,1761591311.283 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:11.536Z,1761591311.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:11.566Z,1761591311.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506092,0.861260,0.045844],[-0.862351,0.506219,0.009657],[-0.014890,-0.044421,0.998902]]
2025-10-27T18:55:11.788Z,1761591311.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:11.971Z,1761591311.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493350,0.863978,0.100736],[-0.869296,0.485669,0.091918],[0.030491,-0.132917,0.990658]]
2025-10-27T18:55:12.040Z,1761591312.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:12.292Z,1761591312.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:12.375Z,1761591312.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505116,0.855182,0.116277],[-0.857392,0.481825,0.180898],[0.098675,-0.191070,0.976604]]
2025-10-27T18:55:12.544Z,1761591312.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:12.798Z,1761591312.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:12.822Z,1761591312.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505614,0.853517,0.125951],[-0.858683,0.483658,0.169524],[0.083775,-0.193866,0.977445]]
2025-10-27T18:55:13.048Z,1761591313.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:13.182Z,1761591313.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480077,0.872052,0.095133],[-0.875166,0.468698,0.120028],[0.060082,-0.140880,0.988202]]
2025-10-27T18:55:13.300Z,1761591313.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:13.552Z,1761591313.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:13.590Z,1761591313.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470195,0.880189,0.064688],[-0.881527,0.464831,0.082718],[0.042739,-0.095918,0.994471]]
2025-10-27T18:55:13.655Z,1761591313.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:13.804Z,1761591313.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:13.991Z,1761591313.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467230,0.882718,0.050054],[-0.883976,0.467473,0.007466],[-0.016809,-0.047735,0.998719]]
2025-10-27T18:55:14.056Z,1761591314.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:14.308Z,1761591314.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:14.394Z,1761591314.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487069,0.872608,0.036309],[-0.871062,0.488382,-0.052282],[-0.063355,-0.006163,0.997972]]
2025-10-27T18:55:14.560Z,1761591314.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:14.816Z,1761591314.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:14.832Z,1761591314.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492869,0.869649,0.028136],[-0.869503,0.493472,-0.021198],[-0.032319,-0.014017,0.999379]]
2025-10-27T18:55:15.064Z,1761591315.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:15.201Z,1761591315.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470528,0.882276,0.013861],[-0.881959,0.469755,0.038462],[0.027423,-0.030323,0.999164]]
2025-10-27T18:55:15.316Z,1761591315.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:15.568Z,1761591315.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:15.609Z,1761591315.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461564,0.887106,-0.001307],[-0.883999,0.460070,0.082956],[0.074192,-0.037134,0.996552]]
2025-10-27T18:55:15.820Z,1761591315.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:16.010Z,1761591316.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489582,0.871957,0.001045],[-0.868429,0.487492,0.090458],[0.078366,-0.045194,0.995900]]
2025-10-27T18:55:16.072Z,1761591316.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:16.325Z,1761591316.325 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:16.414Z,1761591316.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498787,0.866697,0.006887],[-0.864809,0.497141,0.070405],[0.057596,-0.041073,0.997495]]
2025-10-27T18:55:16.576Z,1761591316.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:16.828Z,1761591316.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:16.834Z,1761591316.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474075,0.879956,0.030488],[-0.879040,0.471031,0.073604],[0.050408,-0.061694,0.996821]]
2025-10-27T18:55:17.080Z,1761591317.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:17.223Z,1761591317.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482733,0.874058,0.054698],[-0.874381,0.477514,0.086245],[0.049265,-0.089460,0.994771]]
2025-10-27T18:55:17.332Z,1761591317.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:17.584Z,1761591317.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:17.626Z,1761591317.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503893,0.862936,0.037849],[-0.857657,0.494646,0.140532],[0.102548,-0.103275,0.989352]]
2025-10-27T18:55:17.836Z,1761591317.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:18.029Z,1761591318.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501489,0.865160,-0.002465],[-0.844447,0.490099,0.216131],[0.188196,-0.106305,0.976361]]
2025-10-27T18:55:18.088Z,1761591318.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:18.340Z,1761591318.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:18.434Z,1761591318.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479475,0.877555,-0.000764],[-0.849798,0.464527,0.249113],[0.218966,-0.118794,0.968474]]
2025-10-27T18:55:18.592Z,1761591318.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:18.840Z,1761591318.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469690,0.882663,0.017242],[-0.856685,0.450974,0.250425],[0.213265,-0.132393,0.967982]]
2025-10-27T18:55:18.844Z,1761591318.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:19.096Z,1761591319.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:19.348Z,1761591319.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:19.600Z,1761591319.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:19.646Z,1761591319.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453268,0.891366,-0.004001],[-0.881521,0.448918,0.146265],[0.132171,-0.062770,0.989237]]
2025-10-27T18:55:19.852Z,1761591319.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:20.049Z,1761591320.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459426,0.887854,-0.025357],[-0.877849,0.458227,0.139319],[0.135314,-0.041748,0.989923]]
2025-10-27T18:55:20.104Z,1761591320.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:20.356Z,1761591320.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:20.455Z,1761591320.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504250,0.861166,-0.064229],[-0.849068,0.507984,0.145037],[0.157528,-0.018601,0.987339]]
2025-10-27T18:55:20.608Z,1761591320.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:20.860Z,1761591320.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:20.861Z,1761591320.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513389,0.854783,-0.076007],[-0.841890,0.518842,0.148403],[0.166288,-0.012199,0.986002]]
2025-10-27T18:55:21.112Z,1761591321.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:21.262Z,1761591321.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478497,0.877388,-0.035082],[-0.862125,0.477006,0.170896],[0.166676,-0.051528,0.984664]]
2025-10-27T18:55:21.364Z,1761591321.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:21.616Z,1761591321.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:21.868Z,1761591321.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:22.069Z,1761591322.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456357,0.884611,0.095929],[-0.880861,0.433900,0.189248],[0.125787,-0.170864,0.977232]]
2025-10-27T18:55:22.120Z,1761591322.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:22.372Z,1761591322.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:22.476Z,1761591322.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464806,0.881195,0.086317],[-0.880728,0.450130,0.147310],[0.090955,-0.144493,0.985317]]
2025-10-27T18:55:22.572Z,1761591322.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:22.624Z,1761591322.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:22.876Z,1761591322.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:22.879Z,1761591322.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449524,0.892352,0.040453],[-0.889361,0.442869,0.113594],[0.083451,-0.087041,0.992703]]
2025-10-27T18:55:23.132Z,1761591323.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:23.283Z,1761591323.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430728,0.902392,-0.012749],[-0.898529,0.430119,0.087421],[0.084371,-0.026199,0.996090]]
2025-10-27T18:55:23.380Z,1761591323.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:23.632Z,1761591323.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:23.686Z,1761591323.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421530,0.906205,-0.033229],[-0.903554,0.422837,0.069270],[0.076823,0.000825,0.997044]]
2025-10-27T18:55:23.884Z,1761591323.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:24.092Z,1761591324.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427227,0.904052,-0.012968],[-0.901211,0.426951,0.074375],[0.072775,-0.020089,0.997146]]
2025-10-27T18:55:24.136Z,1761591324.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:24.388Z,1761591324.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:24.494Z,1761591324.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435585,0.899838,0.023610],[-0.898943,0.433496,0.063108],[0.046553,-0.048713,0.997727]]
2025-10-27T18:55:24.640Z,1761591324.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:24.892Z,1761591324.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:24.899Z,1761591324.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406717,0.910181,0.078432],[-0.912989,0.401944,0.069948],[0.032140,-0.100056,0.994463]]
2025-10-27T18:55:25.144Z,1761591325.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:25.302Z,1761591325.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393449,0.912951,0.108253],[-0.915410,0.378154,0.137925],[0.084983,-0.153362,0.984509]]
2025-10-27T18:55:25.397Z,1761591325.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:25.648Z,1761591325.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:25.708Z,1761591325.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402382,0.911494,0.085247],[-0.908379,0.385961,0.160878],[0.113737,-0.142171,0.983286]]
2025-10-27T18:55:25.900Z,1761591325.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:26.111Z,1761591326.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404721,0.913465,0.042221],[-0.905659,0.394023,0.156613],[0.126425,-0.101622,0.986757]]
2025-10-27T18:55:26.152Z,1761591326.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:26.404Z,1761591326.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:26.514Z,1761591326.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405928,0.913868,0.008210],[-0.902952,0.399660,0.157951],[0.141065,-0.071530,0.987413]]
2025-10-27T18:55:26.656Z,1761591326.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:26.908Z,1761591326.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:26.920Z,1761591326.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397978,0.917093,0.023556],[-0.911932,0.392679,0.119094],[0.099970,-0.068878,0.992604]]
2025-10-27T18:55:27.160Z,1761591327.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:27.322Z,1761591327.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371303,0.926075,0.067223],[-0.928397,0.369143,0.042576],[0.014614,-0.078219,0.996829]]
2025-10-27T18:55:27.412Z,1761591327.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:27.664Z,1761591327.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:27.726Z,1761591327.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373559,0.925154,0.067415],[-0.926667,0.375464,-0.017756],[-0.041739,-0.055838,0.997567]]
2025-10-27T18:55:27.916Z,1761591327.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:28.130Z,1761591328.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369254,0.928350,0.042626],[-0.929296,0.369236,0.008591],[-0.007763,-0.042784,0.999054]]
2025-10-27T18:55:28.168Z,1761591328.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:28.420Z,1761591328.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:28.534Z,1761591328.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346470,0.937575,0.030183],[-0.936122,0.343508,0.075352],[0.060281,-0.054362,0.996700]]
2025-10-27T18:55:28.672Z,1761591328.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:28.929Z,1761591328.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:28.943Z,1761591328.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345832,0.936153,0.063393],[-0.937677,0.342360,0.059585],[0.034077,-0.080049,0.996208]]
2025-10-27T18:55:29.176Z,1761591329.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:29.342Z,1761591329.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339013,0.933400,0.117622],[-0.940782,0.336417,0.041876],[-0.000483,-0.124853,0.992175]]
2025-10-27T18:55:29.428Z,1761591329.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:29.680Z,1761591329.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:29.745Z,1761591329.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338921,0.934304,0.110495],[-0.939513,0.329934,0.091969],[0.049471,-0.134982,0.989612]]
2025-10-27T18:55:29.932Z,1761591329.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:30.150Z,1761591330.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344864,0.937848,0.038850],[-0.930202,0.335925,0.147915],[0.125671,-0.087149,0.988237]]
2025-10-27T18:55:30.184Z,1761591330.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:30.436Z,1761591330.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:30.555Z,1761591330.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328013,0.943877,-0.038764],[-0.931944,0.330034,0.150194],[0.154558,-0.013140,0.987896]]
2025-10-27T18:55:30.688Z,1761591330.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:30.940Z,1761591330.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:30.958Z,1761591330.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305986,0.950985,-0.044723],[-0.943801,0.309169,0.116852],[0.124951,0.006455,0.992142]]
2025-10-27T18:55:31.192Z,1761591331.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:31.361Z,1761591331.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316780,0.948081,0.028173],[-0.946429,0.313987,0.075395],[0.062635,-0.050547,0.996756]]
2025-10-27T18:55:31.445Z,1761591331.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:31.595Z,1761591331.595 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:31.696Z,1761591331.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:31.766Z,1761591331.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320850,0.944044,0.076399],[-0.946586,0.316886,0.059656],[0.032108,-0.091459,0.995291]]
2025-10-27T18:55:31.948Z,1761591331.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:32.171Z,1761591332.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326671,0.943006,0.063455],[-0.943054,0.320759,0.088107],[0.062732,-0.088623,0.994088]]
2025-10-27T18:55:32.200Z,1761591332.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:32.452Z,1761591332.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:32.574Z,1761591332.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363215,0.930159,0.053664],[-0.930697,0.359540,0.067341],[0.043344,-0.074404,0.996286]]
2025-10-27T18:55:32.704Z,1761591332.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:32.956Z,1761591332.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:32.978Z,1761591332.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349999,0.932762,0.086350],[-0.935990,0.351938,-0.007867],[-0.037728,-0.078069,0.996234]]
2025-10-27T18:55:33.208Z,1761591333.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:33.382Z,1761591333.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319519,0.941476,0.107384],[-0.946361,0.322799,-0.014222],[-0.048053,-0.097079,0.994116]]
2025-10-27T18:55:33.462Z,1761591333.462 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:33.712Z,1761591333.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:33.787Z,1761591333.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314854,0.945237,0.085992],[-0.949139,0.313680,0.027198],[-0.001266,-0.090182,0.995925]]
2025-10-27T18:55:33.964Z,1761591333.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:34.190Z,1761591334.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329085,0.941945,0.066655],[-0.944299,0.328396,0.021360],[-0.001769,-0.069972,0.997547]]
2025-10-27T18:55:34.216Z,1761591334.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:34.468Z,1761591334.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:34.594Z,1761591334.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325807,0.940873,0.092778],[-0.945258,0.326078,0.012647],[-0.018353,-0.091820,0.995606]]
2025-10-27T18:55:34.723Z,1761591334.723 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:34.976Z,1761591334.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:34.998Z,1761591334.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331087,0.940725,0.073603],[-0.942780,0.326540,0.067367],[0.039339,-0.091696,0.995010]]
2025-10-27T18:55:35.228Z,1761591335.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:35.404Z,1761591335.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350173,0.935860,0.039292],[-0.932544,0.344379,0.108465],[0.087977,-0.074623,0.993324]]
2025-10-27T18:55:35.480Z,1761591335.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:35.732Z,1761591335.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:35.806Z,1761591335.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317818,0.946544,0.055190],[-0.945814,0.312412,0.088513],[0.066540,-0.080330,0.994545]]
2025-10-27T18:55:35.984Z,1761591335.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:36.209Z,1761591336.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281727,0.955483,0.087652],[-0.956596,0.272606,0.103004],[0.074524,-0.112867,0.990811]]
2025-10-27T18:55:36.236Z,1761591336.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:36.488Z,1761591336.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:36.614Z,1761591336.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277247,0.957335,0.081509],[-0.954422,0.264656,0.137972],[0.110513,-0.116046,0.987077]]
2025-10-27T18:55:36.740Z,1761591336.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:36.992Z,1761591336.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:37.021Z,1761591337.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293604,0.953068,0.073873],[-0.954481,0.288034,0.077471],[0.052557,-0.093256,0.994254]]
2025-10-27T18:55:37.244Z,1761591337.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:37.422Z,1761591337.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290798,0.953797,0.075556],[-0.956290,0.292279,-0.009106],[-0.030769,-0.069605,0.997100]]
2025-10-27T18:55:37.496Z,1761591337.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:37.748Z,1761591337.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:37.825Z,1761591337.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290032,0.956028,0.043491],[-0.956596,0.290953,-0.016456],[-0.028387,-0.036830,0.998918]]
2025-10-27T18:55:37.000Z,1761591338.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:38.230Z,1761591338.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288815,0.957040,0.025700],[-0.957376,0.288588,0.012218],[0.004277,-0.028134,0.999595]]
2025-10-27T18:55:38.255Z,1761591338.255 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:38.504Z,1761591338.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:38.635Z,1761591338.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281109,0.958957,0.037138],[-0.959040,0.279303,0.047255],[0.034943,-0.048901,0.998192]]
2025-10-27T18:55:38.756Z,1761591338.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:39.008Z,1761591339.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:39.038Z,1761591339.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283591,0.956787,0.064296],[-0.958015,0.279726,0.062932],[0.042228,-0.079443,0.995945]]
2025-10-27T18:55:39.260Z,1761591339.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:39.442Z,1761591339.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271244,0.957709,0.096026],[-0.962174,0.267158,0.053369],[0.025458,-0.106869,0.993947]]
2025-10-27T18:55:39.512Z,1761591339.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:39.764Z,1761591339.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:39.846Z,1761591339.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246697,0.961477,0.121255],[-0.968157,0.239025,0.074425],[0.042575,-0.135754,0.989827]]
2025-10-27T18:55:40.016Z,1761591340.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:40.252Z,1761591340.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243778,0.964110,0.105187],[-0.966379,0.232333,0.110154],[0.081762,-0.128503,0.988333]]
2025-10-27T18:55:40.268Z,1761591340.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:40.520Z,1761591340.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:40.611Z,1761591340.611 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:40.654Z,1761591340.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251083,0.964822,0.077944],[-0.963768,0.241692,0.112853],[0.090045,-0.103456,0.990550]]
2025-10-27T18:55:40.774Z,1761591340.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:41.025Z,1761591341.025 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:41.057Z,1761591341.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264106,0.962431,0.063044],[-0.962577,0.258898,0.080105],[0.060773,-0.081841,0.994791]]
2025-10-27T18:55:41.276Z,1761591341.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:41.462Z,1761591341.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265442,0.961576,0.070088],[-0.963828,0.262848,0.044121],[0.024003,-0.079264,0.996565]]
2025-10-27T18:55:41.528Z,1761591341.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:41.780Z,1761591341.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:41.867Z,1761591341.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255357,0.964457,0.067943],[-0.966756,0.253737,0.031639],[0.013275,-0.073763,0.997187]]
2025-10-27T18:55:42.032Z,1761591342.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:42.269Z,1761591342.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256709,0.965022,0.053232],[-0.966488,0.256381,0.013017],[-0.001086,-0.054790,0.998497]]
2025-10-27T18:55:42.288Z,1761591342.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:42.540Z,1761591342.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:42.795Z,1761591342.795 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:43.044Z,1761591343.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:43.080Z,1761591343.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210627,0.971927,0.104857],[-0.977092,0.212653,-0.008398],[-0.030460,-0.100686,0.994452]]
2025-10-27T18:55:43.296Z,1761591343.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:43.551Z,1761591343.551 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:43.800Z,1761591343.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:43.886Z,1761591343.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199290,0.971548,0.127976],[-0.979889,0.198913,0.015854],[-0.010053,-0.128562,0.991651]]
2025-10-27T18:55:44.052Z,1761591344.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:44.290Z,1761591344.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202637,0.973792,0.103279],[-0.978372,0.196849,0.063555],[0.041559,-0.113923,0.992620]]
2025-10-27T18:55:44.304Z,1761591344.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:44.556Z,1761591344.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:44.695Z,1761591344.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208574,0.976597,0.052499],[-0.969472,0.199380,0.142728],[0.128921,-0.080665,0.988369]]
2025-10-27T18:55:44.809Z,1761591344.809 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:45.060Z,1761591345.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:45.098Z,1761591345.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208792,0.977959,-0.001580],[-0.964759,0.206237,0.163419],[0.160143,-0.032597,0.986555]]
2025-10-27T18:55:45.312Z,1761591345.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:45.502Z,1761591345.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207975,0.976208,-0.061350],[-0.967858,0.214453,0.131378],[0.141409,0.032055,0.989432]]
2025-10-27T18:55:45.564Z,1761591345.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:45.816Z,1761591345.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:45.906Z,1761591345.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220251,0.973949,-0.053969],[-0.970040,0.224511,0.092825],[0.102523,0.031908,0.994219]]
2025-10-27T18:55:46.068Z,1761591346.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:46.310Z,1761591346.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220086,0.975350,0.015929],[-0.974138,0.218897,0.056026],[0.051158,-0.027847,0.998302]]
2025-10-27T18:55:46.320Z,1761591346.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:46.572Z,1761591346.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:46.713Z,1761591346.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208513,0.972230,0.106260],[-0.977717,0.204513,0.047365],[0.024318,-0.113769,0.993210]]
2025-10-27T18:55:46.825Z,1761591346.825 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:47.076Z,1761591347.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:47.118Z,1761591347.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223407,0.960596,0.165365],[-0.974712,0.219284,0.043022],[0.005065,-0.170795,0.985294]]
2025-10-27T18:55:47.328Z,1761591347.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:47.525Z,1761591347.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225777,0.962407,0.150991],[-0.973117,0.230042,-0.011165],[-0.045479,-0.144411,0.988472]]
2025-10-27T18:55:47.580Z,1761591347.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:47.832Z,1761591347.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:47.927Z,1761591347.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182877,0.977563,0.104534],[-0.981756,0.187216,-0.033246],[-0.052070,-0.096547,0.993966]]
2025-10-27T18:55:48.084Z,1761591348.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:48.330Z,1761591348.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166246,0.984400,0.057609],[-0.985476,0.167912,-0.025362],[-0.034640,-0.052555,0.998017]]
2025-10-27T18:55:48.336Z,1761591348.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:48.588Z,1761591348.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:48.733Z,1761591348.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176443,0.984017,0.024044],[-0.983383,0.177284,-0.039081],[-0.042719,-0.016749,0.998947]]
2025-10-27T18:55:48.841Z,1761591348.841 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:49.092Z,1761591349.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:49.140Z,1761591349.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165296,0.985544,0.037164],[-0.983484,0.167533,-0.068503],[-0.073739,-0.025227,0.996958]]
2025-10-27T18:55:49.344Z,1761591349.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:49.523Z,1761591349.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:49.541Z,1761591349.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146479,0.986664,0.070978],[-0.985401,0.151831,-0.077014],[-0.086764,-0.058661,0.994500]]
2025-10-27T18:55:49.612Z,1761591349.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:49.864Z,1761591349.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:49.946Z,1761591349.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134446,0.984774,0.110202],[-0.989984,0.138320,-0.028263],[-0.043076,-0.105299,0.993507]]
2025-10-27T18:55:50.116Z,1761591350.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:50.350Z,1761591350.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119853,0.983185,0.137774],[-0.992525,0.115442,0.039600],[0.023029,-0.141490,0.989672]]
2025-10-27T18:55:50.368Z,1761591350.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:50.620Z,1761591350.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:50.777Z,1761591350.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172379,0.980842,0.090745],[-0.978174,0.159601,0.133051],[0.116019,-0.111700,0.986946]]
2025-10-27T18:55:50.872Z,1761591350.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:51.124Z,1761591351.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:51.376Z,1761591351.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:51.582Z,1761591351.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161350,0.986607,0.023919],[-0.983593,0.158781,0.085636],[0.080691,-0.037344,0.996039]]
2025-10-27T18:55:51.628Z,1761591351.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:51.880Z,1761591351.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:51.971Z,1761591351.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142813,0.988984,0.038936],[-0.989099,0.141182,0.041849],[0.035891,-0.044488,0.998365]]
2025-10-27T18:55:52.132Z,1761591352.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:52.374Z,1761591352.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159838,0.985245,0.061182],[-0.985405,0.155573,0.069101],[0.058563,-0.071334,0.995732]]
2025-10-27T18:55:52.384Z,1761591352.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:52.636Z,1761591352.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:52.831Z,1761591352.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176891,0.982027,0.065829],[-0.980441,0.169952,0.099258],[0.086286,-0.082099,0.992882]]
2025-10-27T18:55:52.888Z,1761591352.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:53.140Z,1761591353.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:53.179Z,1761591353.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195197,0.980265,0.031269],[-0.972221,0.189199,0.137802],[0.129166,-0.057299,0.989966]]
2025-10-27T18:55:53.392Z,1761591353.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:53.582Z,1761591353.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204767,0.978801,-0.004466],[-0.963475,0.202361,0.175403],[0.172588,-0.031614,0.984487]]
2025-10-27T18:55:53.644Z,1761591353.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:53.896Z,1761591353.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:53.986Z,1761591353.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196254,0.980540,0.005079],[-0.966087,0.192469,0.172136],[0.167809,-0.038689,0.985060]]
2025-10-27T18:55:54.148Z,1761591354.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:54.391Z,1761591354.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183625,0.981051,0.061818],[-0.976395,0.174755,0.126941],[0.113733,-0.083668,0.989982]]
2025-10-27T18:55:54.400Z,1761591354.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:54.652Z,1761591354.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:54.835Z,1761591354.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174873,0.978100,0.112872],[-0.979247,0.160850,0.123296],[0.102441,-0.132091,0.985930]]
2025-10-27T18:55:54.904Z,1761591354.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:55.156Z,1761591355.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:55.198Z,1761591355.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172774,0.975011,0.139653],[-0.981263,0.158111,0.110106],[0.085274,-0.156059,0.984060]]
2025-10-27T18:55:55.408Z,1761591355.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:55.602Z,1761591355.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191649,0.974574,0.116089],[-0.979012,0.181473,0.092754],[0.069328,-0.131429,0.988898]]
2025-10-27T18:55:55.660Z,1761591355.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:55.912Z,1761591355.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:56.007Z,1761591356.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203052,0.978718,0.029676],[-0.978675,0.201894,0.037867],[0.031069,-0.036732,0.998842]]
2025-10-27T18:55:56.164Z,1761591356.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:56.410Z,1761591356.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177636,0.983875,-0.020849],[-0.983539,0.178208,0.029868],[0.033102,0.015201,0.999336]]
2025-10-27T18:55:56.416Z,1761591356.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:56.668Z,1761591356.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:56.833Z,1761591356.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173332,0.984606,0.022520],[-0.981111,0.170633,0.091136],[0.085890,-0.037891,0.995584]]
2025-10-27T18:55:56.920Z,1761591356.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:57.172Z,1761591357.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:57.218Z,1761591357.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169385,0.980031,0.104156],[-0.980623,0.157040,0.117119],[0.098423,-0.121976,0.987641]]
2025-10-27T18:55:57.424Z,1761591357.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:57.622Z,1761591357.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157342,0.974293,0.161237],[-0.982429,0.137829,0.125846],[0.100387,-0.178205,0.978859]]
2025-10-27T18:55:57.676Z,1761591357.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:57.928Z,1761591357.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:58.025Z,1761591358.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145820,0.977598,0.151788],[-0.982035,0.124460,0.141836],[0.119767,-0.169744,0.978184]]
2025-10-27T18:55:58.180Z,1761591358.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:58.430Z,1761591358.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152121,0.984174,0.090891],[-0.982689,0.140768,0.120441],[0.105740,-0.107639,0.988551]]
2025-10-27T18:55:58.432Z,1761591358.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:58.499Z,1761591358.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:55:58.684Z,1761591358.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:58.838Z,1761591358.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157576,0.987479,0.007462],[-0.983931,0.156359,0.086206],[0.083959,-0.020926,0.996249]]
2025-10-27T18:55:58.936Z,1761591358.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:59.188Z,1761591359.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:59.242Z,1761591359.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169508,0.984259,-0.050011],[-0.977629,0.174345,0.117663],[0.124530,0.028947,0.991794]]
2025-10-27T18:55:59.441Z,1761591359.441 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:59.642Z,1761591359.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186638,0.981343,-0.046175],[-0.963790,0.192006,0.185047],[0.190460,0.009966,0.981644]]
2025-10-27T18:55:59.692Z,1761591359.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:55:59.944Z,1761591359.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:00.046Z,1761591360.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205625,0.978624,0.003584],[-0.956763,0.200259,0.210952],[0.205725,-0.046806,0.977490]]
2025-10-27T18:56:00.196Z,1761591360.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:00.448Z,1761591360.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:00.700Z,1761591360.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:00.855Z,1761591360.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180984,0.977440,0.108889],[-0.981673,0.172819,0.080325],[0.059694,-0.121431,0.990803]]
2025-10-27T18:56:00.952Z,1761591360.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:01.204Z,1761591361.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:01.258Z,1761591361.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193478,0.970584,0.143295],[-0.981069,0.190158,0.036648],[0.008321,-0.147673,0.989001]]
2025-10-27T18:56:01.456Z,1761591361.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:01.661Z,1761591361.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179360,0.966855,0.181719],[-0.983470,0.171552,0.057942],[0.024848,-0.189108,0.981642]]
2025-10-27T18:56:01.708Z,1761591361.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:01.960Z,1761591361.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:02.066Z,1761591362.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149603,0.974398,0.167834],[-0.986195,0.134865,0.096078],[0.070983,-0.179891,0.981122]]
2025-10-27T18:56:02.212Z,1761591362.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:02.464Z,1761591362.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:02.548Z,1761591362.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158301,0.980927,0.112796],[-0.984686,0.148385,0.091513],[0.073030,-0.125555,0.989395]]
2025-10-27T18:56:02.716Z,1761591362.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:02.875Z,1761591362.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163244,0.982511,0.089571],[-0.986394,0.160747,0.034473],[0.019472,-0.093980,0.995384]]
2025-10-27T18:56:02.968Z,1761591362.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:03.220Z,1761591363.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:03.281Z,1761591363.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139761,0.986630,0.083829],[-0.989812,0.141530,-0.015510],[-0.027166,-0.080807,0.996359]]
2025-10-27T18:56:03.472Z,1761591363.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:03.699Z,1761591363.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131055,0.990922,0.029963],[-0.991375,0.130998,0.003884],[-0.000077,-0.030214,0.999543]]
2025-10-27T18:56:03.724Z,1761591363.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:03.977Z,1761591363.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:04.098Z,1761591364.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157414,0.987511,-0.006469],[-0.983753,0.157381,0.086377],[0.086316,-0.007233,0.996242]]
2025-10-27T18:56:04.228Z,1761591364.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:04.480Z,1761591364.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:04.501Z,1761591364.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159875,0.987137,-0.000960],[-0.982866,0.159274,0.092769],[0.091728,-0.013888,0.995687]]
2025-10-27T18:56:04.732Z,1761591364.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:04.906Z,1761591364.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126585,0.988838,0.078590],[-0.991887,0.127110,-0.001691],[-0.011662,-0.077738,0.996906]]
2025-10-27T18:56:04.984Z,1761591364.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:05.236Z,1761591365.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:05.310Z,1761591365.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091178,0.979949,0.177162],[-0.992185,0.104611,-0.068007],[-0.085176,-0.169576,0.981829]]
2025-10-27T18:56:05.488Z,1761591365.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:05.716Z,1761591365.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094781,0.973696,0.207202],[-0.991914,0.110017,-0.063264],[-0.084395,-0.199530,0.976250]]
2025-10-27T18:56:05.740Z,1761591365.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:05.992Z,1761591365.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:06.118Z,1761591366.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117774,0.982087,0.147088],[-0.990363,0.127030,-0.055178],[-0.072875,-0.139172,0.987583]]
2025-10-27T18:56:06.244Z,1761591366.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:06.497Z,1761591366.497 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:06.522Z,1761591366.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119396,0.990498,0.068247],[-0.992351,0.121227,-0.023326],[-0.031378,-0.064939,0.997396]]
2025-10-27T18:56:06.748Z,1761591366.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:06.928Z,1761591366.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087810,0.996011,0.015886],[-0.995623,0.087241,0.033516],[0.031996,-0.018759,0.999312]]
2025-10-27T18:56:07.000Z,1761591367.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:07.252Z,1761591367.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:07.330Z,1761591367.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073935,0.997260,0.002503],[-0.995225,0.073624,0.064079],[0.063719,-0.007228,0.997942]]
2025-10-27T18:56:07.504Z,1761591367.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:07.733Z,1761591367.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089461,0.995433,0.033321],[-0.994498,0.087447,0.057682],[0.054505,-0.038298,0.997779]]
2025-10-27T18:56:07.756Z,1761591367.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:08.008Z,1761591368.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:08.138Z,1761591368.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096435,0.992436,0.075964],[-0.994746,0.093462,0.041770],[0.034355,-0.079593,0.996235]]
2025-10-27T18:56:08.260Z,1761591368.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:08.512Z,1761591368.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:08.766Z,1761591368.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:08.946Z,1761591368.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091654,0.985463,0.143049],[-0.994655,0.083739,0.060415],[0.047558,-0.147822,0.987870]]
2025-10-27T18:56:09.016Z,1761591369.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:09.268Z,1761591369.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:09.350Z,1761591369.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085521,0.988248,0.126694],[-0.996262,0.083263,0.023021],[0.012202,-0.128189,0.991675]]
2025-10-27T18:56:09.520Z,1761591369.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:09.754Z,1761591369.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081387,0.993338,0.081578],[-0.996508,0.082630,-0.011973],[-0.018634,-0.080319,0.996595]]
2025-10-27T18:56:09.772Z,1761591369.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:10.024Z,1761591370.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:10.147Z,1761591370.147 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:10.161Z,1761591370.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063896,0.996281,0.057801],[-0.996981,0.066286,-0.040425],[-0.044106,-0.055044,0.997509]]
2025-10-27T18:56:10.276Z,1761591370.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:10.528Z,1761591370.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:10.564Z,1761591370.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055487,0.997293,0.048240],[-0.995946,0.058708,-0.068155],[-0.070803,-0.044263,0.996508]]
2025-10-27T18:56:10.784Z,1761591370.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:11.032Z,1761591371.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:11.284Z,1761591371.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:11.369Z,1761591371.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076782,0.996720,0.025577],[-0.994992,0.074952,0.066127],[0.063993,-0.030526,0.997483]]
2025-10-27T18:56:11.536Z,1761591371.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:11.774Z,1761591371.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076726,0.996524,0.032462],[-0.994320,0.074067,0.076430],[0.073760,-0.038142,0.996546]]
2025-10-27T18:56:11.788Z,1761591371.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:12.040Z,1761591372.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:12.183Z,1761591372.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041568,0.996867,0.067293],[-0.998969,0.042696,-0.015412],[-0.018237,-0.066583,0.997614]]
2025-10-27T18:56:12.292Z,1761591372.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:12.547Z,1761591372.547 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:12.582Z,1761591372.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048737,0.995339,0.083213],[-0.997020,0.053468,-0.055604],[-0.059795,-0.080255,0.994979]]
2025-10-27T18:56:12.802Z,1761591372.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:12.987Z,1761591372.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062758,0.995643,0.068964],[-0.997491,0.064842,-0.028409],[-0.032757,-0.067008,0.997214]]
2025-10-27T18:56:13.052Z,1761591373.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:13.304Z,1761591373.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:13.390Z,1761591373.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035852,0.997646,0.058464],[-0.999229,0.036722,-0.013889],[-0.016003,-0.057921,0.998193]]
2025-10-27T18:56:13.556Z,1761591373.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:13.794Z,1761591373.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015566,0.996766,0.078833],[-0.999879,0.015517,0.001233],[0.000006,-0.078842,0.996887]]
2025-10-27T18:56:13.808Z,1761591373.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:14.060Z,1761591374.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:14.198Z,1761591374.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016142,0.992536,0.120882],[-0.999303,0.011946,0.035364],[0.033656,-0.121369,0.992037]]
2025-10-27T18:56:14.312Z,1761591374.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:14.564Z,1761591374.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:14.818Z,1761591374.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:15.008Z,1761591375.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021078,0.990046,0.139158],[-0.994728,-0.034739,0.096484],[0.100358,-0.136391,0.985559]]
2025-10-27T18:56:15.068Z,1761591375.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:15.320Z,1761591375.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:15.410Z,1761591375.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037119,0.995835,0.083271],[-0.992929,-0.046156,0.109371],[0.112759,-0.078622,0.990507]]
2025-10-27T18:56:15.572Z,1761591375.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:15.814Z,1761591375.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025488,0.999077,0.034587],[-0.992874,-0.029329,0.115506],[0.116413,-0.031396,0.992704]]
2025-10-27T18:56:15.824Z,1761591375.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:16.076Z,1761591376.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:16.219Z,1761591376.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008474,0.999664,0.024491],[-0.996551,-0.010465,0.082317],[0.082545,-0.023709,0.996305]]
2025-10-27T18:56:16.328Z,1761591376.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:16.580Z,1761591376.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:16.625Z,1761591376.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026656,0.999436,0.020422],[-0.999111,-0.027304,0.032135],[0.032674,-0.019547,0.999275]]
2025-10-27T18:56:16.832Z,1761591376.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:17.025Z,1761591377.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043290,0.998542,0.032233],[-0.998353,-0.044452,0.036257],[0.037637,-0.030610,0.998823]]
2025-10-27T18:56:17.101Z,1761591377.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:17.352Z,1761591377.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:17.429Z,1761591377.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034643,0.997496,0.061654],[-0.996334,-0.039299,0.075986],[0.078219,-0.058796,0.995201]]
2025-10-27T18:56:17.604Z,1761591377.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:17.834Z,1761591377.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007454,0.996184,0.086955],[-0.990232,-0.019460,0.138064],[0.139230,-0.085077,0.986599]]
2025-10-27T18:56:17.858Z,1761591377.858 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:18.108Z,1761591378.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:18.240Z,1761591378.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000674,0.997191,0.074892],[-0.984187,-0.012604,0.176685],[0.177133,-0.073827,0.981414]]
2025-10-27T18:56:18.360Z,1761591378.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:18.612Z,1761591378.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:18.641Z,1761591378.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018058,0.997610,0.066696],[-0.989605,0.008315,0.143572],[0.142675,-0.068596,0.987390]]
2025-10-27T18:56:18.864Z,1761591378.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:19.046Z,1761591379.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022028,0.996871,0.075920],[-0.998542,0.018195,0.050814],[0.049274,-0.076929,0.995818]]
2025-10-27T18:56:19.123Z,1761591379.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:19.129Z,1761591379.129 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:19.380Z,1761591379.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:19.449Z,1761591379.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007228,0.997762,0.066468],[-0.999544,0.005261,0.029719],[0.029303,-0.066653,0.997346]]
2025-10-27T18:56:19.632Z,1761591379.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:19.856Z,1761591379.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003592,0.998808,0.048684],[-0.997119,-0.007266,0.075505],[0.075769,-0.048272,0.995956]]
2025-10-27T18:56:19.884Z,1761591379.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:20.136Z,1761591380.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:20.258Z,1761591380.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017960,0.998322,0.055042],[-0.996316,-0.022487,0.082759],[0.083858,-0.053353,0.995048]]
2025-10-27T18:56:20.390Z,1761591380.390 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:20.640Z,1761591380.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:20.661Z,1761591380.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028112,0.996021,0.084569],[-0.996891,-0.034165,0.071006],[0.073613,-0.082310,0.993884]]
2025-10-27T18:56:20.892Z,1761591380.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:21.066Z,1761591381.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038924,0.992668,0.114435],[-0.993506,-0.050699,0.101856],[0.106911,-0.109728,0.988195]]
2025-10-27T18:56:21.144Z,1761591381.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:21.396Z,1761591381.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:21.471Z,1761591381.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026124,0.990312,0.136384],[-0.995084,-0.038799,0.091122],[0.095531,-0.133333,0.986456]]
2025-10-27T18:56:21.648Z,1761591381.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:21.875Z,1761591381.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012417,0.992869,0.118561],[-0.999790,-0.014258,0.014694],[0.016280,-0.118354,0.992838]]
2025-10-27T18:56:21.900Z,1761591381.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:22.152Z,1761591382.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:22.277Z,1761591382.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026851,0.995840,0.087071],[-0.999418,-0.024911,-0.023294],[-0.021028,-0.087646,0.995930]]
2025-10-27T18:56:22.404Z,1761591382.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:22.656Z,1761591382.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:22.682Z,1761591382.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032409,0.997989,0.054470],[-0.999393,-0.031660,-0.014559],[-0.012805,-0.054909,0.998409]]
2025-10-27T18:56:22.908Z,1761591382.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:23.160Z,1761591383.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:23.412Z,1761591383.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:23.490Z,1761591383.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024480,0.998696,0.044799],[-0.999095,-0.022881,-0.035861],[-0.034789,-0.045636,0.998352]]
2025-10-27T18:56:23.664Z,1761591383.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:23.894Z,1761591383.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073067,0.992177,0.101221],[-0.997100,-0.070509,-0.028627],[-0.021266,-0.103019,0.994452]]
2025-10-27T18:56:23.916Z,1761591383.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:24.168Z,1761591384.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:24.298Z,1761591384.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073159,0.988782,0.130219],[-0.997194,-0.070443,-0.025346],[-0.015888,-0.131708,0.991161]]
2025-10-27T18:56:24.420Z,1761591384.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:24.672Z,1761591384.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:24.924Z,1761591384.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:25.105Z,1761591385.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039072,0.996358,0.075794],[-0.999232,-0.039185,-0.000002],[0.002968,-0.075736,0.997123]]
2025-10-27T18:56:25.176Z,1761591385.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:25.428Z,1761591385.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:25.509Z,1761591385.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041174,0.998062,0.046660],[-0.998081,-0.043247,0.044315],[0.046247,-0.044746,0.997927]]
2025-10-27T18:56:25.680Z,1761591385.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:25.913Z,1761591385.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070360,0.997194,0.025549],[-0.997150,-0.071010,0.025486],[0.027229,-0.023683,0.999349]]
2025-10-27T18:56:25.932Z,1761591385.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:26.184Z,1761591386.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:26.320Z,1761591386.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106914,0.993333,0.043114],[-0.994262,-0.106661,-0.008131],[-0.003478,-0.043736,0.999037]]
2025-10-27T18:56:26.436Z,1761591386.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:26.688Z,1761591386.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:26.721Z,1761591386.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104739,0.991257,0.080245],[-0.994496,-0.104173,-0.011212],[-0.002755,-0.080977,0.996712]]
2025-10-27T18:56:26.940Z,1761591386.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:27.192Z,1761591387.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:27.444Z,1761591387.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:27.536Z,1761591387.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143917,0.977684,0.153039],[-0.989311,-0.145818,0.001213],[0.023502,-0.151229,0.988219]]
2025-10-27T18:56:27.696Z,1761591387.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:27.935Z,1761591387.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168121,0.968282,0.184841],[-0.985360,-0.170453,-0.003319],[0.028293,-0.182693,0.982763]]
2025-10-27T18:56:27.948Z,1761591387.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:28.035Z,1761591388.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:28.200Z,1761591388.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:28.337Z,1761591388.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169405,0.971932,0.163248],[-0.985135,-0.171784,0.000461],[0.028492,-0.160743,0.986585]]
2025-10-27T18:56:28.452Z,1761591388.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:28.704Z,1761591388.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:28.744Z,1761591388.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154248,0.985090,0.076192],[-0.987508,-0.156219,0.020594],[0.032189,-0.072064,0.996880]]
2025-10-27T18:56:28.956Z,1761591388.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:29.148Z,1761591389.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133254,0.990928,-0.017461],[-0.990347,-0.132456,0.040849],[0.038165,0.022736,0.999013]]
2025-10-27T18:56:29.208Z,1761591389.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:29.460Z,1761591389.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:29.550Z,1761591389.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145536,0.988257,-0.046556],[-0.985393,-0.140587,0.096107],[0.088433,0.059863,0.994282]]
2025-10-27T18:56:29.712Z,1761591389.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:29.954Z,1761591389.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159604,0.986734,-0.029698],[-0.982999,-0.156090,0.096686],[0.090767,0.044624,0.994872]]
2025-10-27T18:56:29.964Z,1761591389.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:30.216Z,1761591390.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:30.358Z,1761591390.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166734,0.985445,0.033132],[-0.985941,-0.167003,0.005509],[0.010962,-0.031748,0.999436]]
2025-10-27T18:56:30.468Z,1761591390.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:30.720Z,1761591390.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:30.802Z,1761591390.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170955,0.979908,0.102733],[-0.985214,-0.168818,-0.029214],[-0.011284,-0.106209,0.994280]]
2025-10-27T18:56:30.972Z,1761591390.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:31.224Z,1761591391.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:31.476Z,1761591391.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:31.570Z,1761591391.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209388,0.968751,0.132956],[-0.977832,-0.207641,-0.027026],[0.001426,-0.135667,0.990753]]
2025-10-27T18:56:31.728Z,1761591391.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:31.974Z,1761591391.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208505,0.973407,0.094890],[-0.977920,-0.208895,-0.005920],[0.014059,-0.094029,0.995470]]
2025-10-27T18:56:31.980Z,1761591391.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:32.232Z,1761591392.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:32.379Z,1761591392.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210795,0.975088,0.069062],[-0.974548,-0.215141,0.063007],[0.076296,-0.054023,0.995621]]
2025-10-27T18:56:32.484Z,1761591392.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:32.736Z,1761591392.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:32.988Z,1761591392.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:33.240Z,1761591393.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:33.492Z,1761591393.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:33.590Z,1761591393.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188006,0.981350,0.040075],[-0.982035,-0.188495,0.008759],[0.016149,-0.037708,0.999158]]
2025-10-27T18:56:33.744Z,1761591393.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:33.996Z,1761591393.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:33.996Z,1761591393.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220972,0.968161,0.117624],[-0.975115,-0.221544,-0.008358],[0.017967,-0.116544,0.993023]]
2025-10-27T18:56:34.248Z,1761591394.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:34.398Z,1761591394.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218049,0.963981,0.152299],[-0.975892,-0.216874,-0.024485],[0.009427,-0.153967,0.988031]]
2025-10-27T18:56:34.500Z,1761591394.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:34.752Z,1761591394.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:34.830Z,1761591394.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218422,0.969406,0.111996],[-0.973800,-0.223965,0.039408],[0.063286,-0.100454,0.992927]]
2025-10-27T18:56:35.004Z,1761591395.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:35.256Z,1761591395.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:35.508Z,1761591395.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:35.619Z,1761591395.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211171,0.975353,0.063978],[-0.976629,-0.213223,0.027069],[0.040044,-0.056766,0.997584]]
2025-10-27T18:56:35.760Z,1761591395.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:36.012Z,1761591396.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:36.024Z,1761591396.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240093,0.969379,0.051575],[-0.970101,-0.241536,0.023753],[0.035482,-0.044330,0.998387]]
2025-10-27T18:56:36.264Z,1761591396.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:36.422Z,1761591396.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261919,0.961751,0.080202],[-0.963247,-0.265648,0.039821],[0.059604,-0.066824,0.995983]]
2025-10-27T18:56:36.516Z,1761591396.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:36.770Z,1761591396.770 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:36.834Z,1761591396.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236813,0.969250,0.066884],[-0.969646,-0.240101,0.046240],[0.060877,-0.053903,0.996689]]
2025-10-27T18:56:37.020Z,1761591397.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:37.043Z,1761591397.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:37.227Z,1761591397.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203392,0.978514,0.033801],[-0.977374,-0.204961,0.052260],[0.058065,-0.022407,0.998061]]
2025-10-27T18:56:37.273Z,1761591397.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:37.524Z,1761591397.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:37.629Z,1761591397.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196870,0.980393,-0.008461],[-0.979501,-0.196300,0.045209],[0.042662,0.017188,0.998942]]
2025-10-27T18:56:37.776Z,1761591397.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:38.028Z,1761591398.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:38.035Z,1761591398.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221507,0.975148,0.004549],[-0.974955,-0.221554,0.019409],[0.019934,-0.000136,0.999801]]
2025-10-27T18:56:38.280Z,1761591398.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:38.438Z,1761591398.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241966,0.966030,0.090763],[-0.970285,-0.240923,-0.022444],[0.000185,-0.093496,0.995620]]
2025-10-27T18:56:38.532Z,1761591398.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:38.789Z,1761591398.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:39.036Z,1761591399.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:39.246Z,1761591399.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237644,0.953016,0.187845],[-0.970666,-0.240262,-0.009049],[0.036508,-0.184485,0.982157]]
2025-10-27T18:56:39.288Z,1761591399.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:39.540Z,1761591399.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:39.650Z,1761591399.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224279,0.964223,0.141328],[-0.972903,-0.229903,0.024592],[0.056204,-0.131983,0.989657]]
2025-10-27T18:56:39.792Z,1761591399.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:40.044Z,1761591400.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:40.055Z,1761591400.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224416,0.972997,0.053982],[-0.974020,-0.225689,0.018685],[0.030364,-0.048387,0.998367]]
2025-10-27T18:56:40.296Z,1761591400.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:40.459Z,1761591400.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253794,0.967009,-0.021944],[-0.967199,-0.253461,0.016848],[0.010730,0.025500,0.999617]]
2025-10-27T18:56:40.548Z,1761591400.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:40.802Z,1761591400.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:40.862Z,1761591400.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293463,0.955943,-0.007287],[-0.955800,-0.293258,0.021120],[0.018053,0.013163,0.999750]]
2025-10-27T18:56:41.052Z,1761591401.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:41.266Z,1761591401.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311579,0.945659,0.092992],[-0.946263,-0.317715,0.060366],[0.086630,-0.069186,0.993835]]
2025-10-27T18:56:41.304Z,1761591401.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:41.556Z,1761591401.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:41.670Z,1761591401.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272259,0.941659,0.197870],[-0.945024,-0.300385,0.129220],[0.181118,-0.151811,0.971674]]
2025-10-27T18:56:41.808Z,1761591401.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:42.060Z,1761591402.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:42.078Z,1761591402.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191237,0.963420,0.187752],[-0.963467,-0.220791,0.151603],[0.187511,-0.151900,0.970446]]
2025-10-27T18:56:42.312Z,1761591402.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:42.478Z,1761591402.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171218,0.980806,0.093296],[-0.977747,-0.180805,0.106395],[0.121221,-0.073003,0.989937]]
2025-10-27T18:56:42.564Z,1761591402.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:42.819Z,1761591402.819 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:42.882Z,1761591402.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176087,0.983641,0.037989],[-0.980833,-0.178594,0.077922],[0.083431,-0.023540,0.996235]]
2025-10-27T18:56:43.068Z,1761591403.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:43.286Z,1761591403.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145094,0.989309,0.014669],[-0.989134,-0.145392,0.021800],[0.023700,-0.011347,0.999655]]
2025-10-27T18:56:43.320Z,1761591403.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:43.572Z,1761591403.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:43.691Z,1761591403.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151184,0.988066,0.029473],[-0.986962,-0.149216,-0.060337],[-0.055219,-0.038211,0.997743]]
2025-10-27T18:56:43.824Z,1761591403.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:44.076Z,1761591404.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:44.093Z,1761591404.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193227,0.977414,0.085591],[-0.975725,-0.182261,-0.121415],[-0.103072,-0.106974,0.988905]]
2025-10-27T18:56:44.328Z,1761591404.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:44.498Z,1761591404.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208954,0.965444,0.155744],[-0.970617,-0.185311,-0.153502],[-0.119336,-0.183242,0.975798]]
2025-10-27T18:56:44.580Z,1761591404.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:44.832Z,1761591404.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:44.901Z,1761591404.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214286,0.959320,0.183814],[-0.963394,-0.176538,-0.201756],[-0.161099,-0.220319,0.962033]]
2025-10-27T18:56:45.084Z,1761591405.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:45.307Z,1761591405.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229751,0.956193,0.181411],[-0.963781,-0.197591,-0.179119],[-0.135427,-0.215993,0.966957]]
2025-10-27T18:56:45.337Z,1761591405.337 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:45.588Z,1761591405.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:45.710Z,1761591405.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215588,0.971135,0.102076],[-0.975758,-0.210216,-0.060867],[-0.037652,-0.112724,0.992913]]
2025-10-27T18:56:45.840Z,1761591405.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:46.067Z,1761591406.067 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:46.092Z,1761591406.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:46.114Z,1761591406.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175980,0.984393,0.001115],[-0.984100,-0.175955,0.024228],[0.024046,0.003166,0.999706]]
2025-10-27T18:56:46.344Z,1761591406.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:46.517Z,1761591406.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184116,0.981790,-0.046786],[-0.982524,-0.182513,0.036541],[0.027336,0.052696,0.998236]]
2025-10-27T18:56:46.597Z,1761591406.597 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:46.849Z,1761591406.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:46.922Z,1761591406.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207792,0.978034,-0.016493],[-0.976932,-0.206650,0.053848],[0.049257,0.027302,0.998413]]
2025-10-27T18:56:47.100Z,1761591407.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:47.327Z,1761591407.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174431,0.983595,0.045989],[-0.980582,-0.177769,0.082803],[0.089620,-0.030652,0.995504]]
2025-10-27T18:56:47.353Z,1761591407.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:47.604Z,1761591407.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:47.729Z,1761591407.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146157,0.984900,0.092794],[-0.988351,-0.149402,0.029010],[0.042436,-0.087473,0.995263]]
2025-10-27T18:56:47.856Z,1761591407.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:48.108Z,1761591408.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:48.134Z,1761591408.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165607,0.976224,0.139859],[-0.986165,-0.164986,-0.016105],[0.007352,-0.140592,0.990040]]
2025-10-27T18:56:48.360Z,1761591408.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:48.612Z,1761591408.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:48.864Z,1761591408.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:48.944Z,1761591408.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122139,0.981942,0.144468],[-0.990223,-0.130441,0.049425],[0.067377,-0.137019,0.988274]]
2025-10-27T18:56:49.116Z,1761591409.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:49.368Z,1761591409.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:49.623Z,1761591409.623 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:49.750Z,1761591409.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161367,0.986893,0.001900],[-0.986864,-0.161346,-0.008212],[-0.007798,-0.003201,0.999964]]
2025-10-27T18:56:49.872Z,1761591409.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:50.124Z,1761591410.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:50.154Z,1761591410.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146350,0.988875,0.026601],[-0.987494,-0.147633,0.055316],[0.058628,-0.018172,0.998114]]
2025-10-27T18:56:50.376Z,1761591410.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:50.560Z,1761591410.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125843,0.990620,0.053250],[-0.988192,-0.129902,0.081249],[0.087404,-0.042396,0.995270]]
2025-10-27T18:56:50.629Z,1761591410.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:50.880Z,1761591410.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:50.962Z,1761591410.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119881,0.991050,0.058726],[-0.986861,-0.125410,0.101872],[0.108325,-0.045742,0.993063]]
2025-10-27T18:56:51.132Z,1761591411.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:51.365Z,1761591411.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083149,0.995066,0.054128],[-0.987814,-0.089470,0.127353],[0.131567,-0.042879,0.990379]]
2025-10-27T18:56:51.384Z,1761591411.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:51.636Z,1761591411.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:51.770Z,1761591411.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058372,0.997104,0.048753],[-0.992553,-0.063197,0.104137],[0.106916,-0.042312,0.993367]]
2025-10-27T18:56:51.888Z,1761591411.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:52.140Z,1761591412.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:52.177Z,1761591412.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069041,0.995478,0.065240],[-0.997260,-0.070611,0.022075],[0.026581,-0.063537,0.997625]]
2025-10-27T18:56:52.392Z,1761591412.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:52.582Z,1761591412.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099170,0.985367,0.138628],[-0.994877,-0.095439,-0.033326],[-0.019608,-0.141223,0.989784]]
2025-10-27T18:56:52.644Z,1761591412.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:52.896Z,1761591412.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:52.982Z,1761591412.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094574,0.972857,0.211200],[-0.994297,-0.081804,-0.068426],[-0.049291,-0.216467,0.975045]]
2025-10-27T18:56:53.148Z,1761591413.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:53.385Z,1761591413.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100303,0.971266,0.215828],[-0.991001,-0.078201,-0.108637],[-0.088638,-0.224783,0.970369]]
2025-10-27T18:56:53.400Z,1761591413.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:53.652Z,1761591413.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:53.904Z,1761591413.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:54.156Z,1761591414.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:54.193Z,1761591414.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120383,0.989586,0.078913],[-0.992712,-0.119562,-0.015069],[-0.005478,-0.080152,0.996768]]
2025-10-27T18:56:54.408Z,1761591414.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:54.598Z,1761591414.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123467,0.991693,0.036076],[-0.989952,-0.125613,0.064928],[0.068920,-0.027697,0.997238]]
2025-10-27T18:56:54.660Z,1761591414.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:54.912Z,1761591414.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:54.951Z,1761591414.951 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:56:55.002Z,1761591415.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095904,0.995373,0.005901],[-0.992761,-0.096080,0.072065],[0.072299,0.001053,0.997382]]
2025-10-27T18:56:55.164Z,1761591415.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:55.408Z,1761591415.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073321,0.997276,-0.008053],[-0.996380,-0.072902,0.043720],[0.043014,0.011229,0.999011]]
2025-10-27T18:56:55.416Z,1761591415.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:55.668Z,1761591415.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:55.810Z,1761591415.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079455,0.996765,0.012105],[-0.994832,-0.080060,0.062455],[0.063222,-0.007080,0.997974]]
2025-10-27T18:56:55.920Z,1761591415.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:56.172Z,1761591416.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:56.213Z,1761591416.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082509,0.994229,0.068565],[-0.992233,-0.088380,0.087534],[0.093089,-0.060811,0.993799]]
2025-10-27T18:56:56.424Z,1761591416.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:56.617Z,1761591416.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058892,0.988850,0.136773],[-0.995730,-0.067945,0.062495],[0.071092,-0.132508,0.988629]]
2025-10-27T18:56:56.676Z,1761591416.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:56.928Z,1761591416.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:57.021Z,1761591417.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017226,0.986320,0.163940],[-0.999081,-0.023416,0.035900],[0.039248,-0.163171,0.985817]]
2025-10-27T18:56:57.183Z,1761591417.183 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:57.426Z,1761591417.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004884,0.991551,0.129626],[-0.999786,-0.007448,0.019302],[0.020104,-0.129504,0.991375]]
2025-10-27T18:56:57.436Z,1761591417.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:57.688Z,1761591417.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:57.830Z,1761591417.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016936,0.996692,0.079492],[-0.999856,-0.016994,0.000047],[0.001397,-0.079479,0.996836]]
2025-10-27T18:56:57.941Z,1761591417.941 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:58.192Z,1761591418.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:58.236Z,1761591418.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016321,0.998784,0.046526],[-0.999824,-0.015873,-0.009981],[-0.009230,-0.046681,0.998867]]
2025-10-27T18:56:58.444Z,1761591418.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:58.639Z,1761591418.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003014,0.998077,0.061908],[-0.999932,-0.003706,0.011070],[0.011278,-0.061870,0.998020]]
2025-10-27T18:56:58.696Z,1761591418.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:58.948Z,1761591418.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:59.042Z,1761591419.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019974,0.996760,0.077914],[-0.999371,0.017621,0.030771],[0.029299,-0.078480,0.996485]]
2025-10-27T18:56:59.200Z,1761591419.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:59.452Z,1761591419.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:59.704Z,1761591419.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:56:59.956Z,1761591419.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:00.208Z,1761591420.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:00.257Z,1761591420.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043361,0.998596,0.030439],[-0.998793,0.042625,0.024417],[0.023085,-0.031461,0.999238]]
2025-10-27T18:57:00.460Z,1761591420.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:00.658Z,1761591420.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068623,0.993714,0.088453],[-0.996951,0.065004,0.043170],[0.037149,-0.091146,0.995144]]
2025-10-27T18:57:00.712Z,1761591420.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:00.964Z,1761591420.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:01.062Z,1761591421.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071024,0.988905,0.130468],[-0.997423,0.071746,-0.000841],[-0.010192,-0.130072,0.991452]]
2025-10-27T18:57:01.216Z,1761591421.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:01.466Z,1761591421.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056912,0.992033,0.112393],[-0.997912,0.059966,-0.023979],[-0.030528,-0.110794,0.993374]]
2025-10-27T18:57:01.468Z,1761591421.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:01.720Z,1761591421.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:01.871Z,1761591421.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060691,0.995392,0.074239],[-0.998138,0.060069,0.010574],[0.006066,-0.074742,0.997184]]
2025-10-27T18:57:01.972Z,1761591421.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:02.225Z,1761591422.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:02.274Z,1761591422.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080889,0.996015,0.037565],[-0.996580,0.080181,0.019988],[0.016896,-0.039053,0.999094]]
2025-10-27T18:57:02.476Z,1761591422.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:02.678Z,1761591422.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100081,0.994969,0.004597],[-0.994912,0.100019,0.012110],[0.011590,-0.005785,0.999916]]
2025-10-27T18:57:02.728Z,1761591422.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:02.980Z,1761591422.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:03.082Z,1761591423.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095283,0.995410,0.008898],[-0.994138,0.094695,0.052176],[0.051094,-0.013818,0.998598]]
2025-10-27T18:57:03.232Z,1761591423.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:03.484Z,1761591423.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:03.489Z,1761591423.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076237,0.993734,0.081739],[-0.993211,0.068461,0.094050],[0.087865,-0.088354,0.992206]]
2025-10-27T18:57:03.736Z,1761591423.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:03.960Z,1761591423.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:57:03.988Z,1761591423.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:04.240Z,1761591424.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:04.294Z,1761591424.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069677,0.982253,0.174137],[-0.997174,0.063664,0.039887],[0.028093,-0.176424,0.983913]]
2025-10-27T18:57:04.492Z,1761591424.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:04.698Z,1761591424.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068062,0.986807,0.146901],[-0.997627,0.068851,-0.000288],[-0.010399,-0.146533,0.989151]]
2025-10-27T18:57:04.746Z,1761591424.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:04.996Z,1761591424.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:05.104Z,1761591425.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071181,0.993276,0.091298],[-0.997458,0.071191,0.003154],[-0.003367,-0.091291,0.995819]]
2025-10-27T18:57:05.248Z,1761591425.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:05.500Z,1761591425.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:05.512Z,1761591425.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087915,0.995695,0.029357],[-0.994900,0.086305,0.052207],[0.049449,-0.033797,0.998205]]
2025-10-27T18:57:05.752Z,1761591425.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:05.910Z,1761591425.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089804,0.995933,-0.007286],[-0.993720,0.090090,0.066372],[0.066759,0.001280,0.997768]]
2025-10-27T18:57:06.004Z,1761591426.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:06.256Z,1761591426.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:06.314Z,1761591426.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077720,0.996808,-0.018256],[-0.995953,0.078456,0.043846],[0.045138,0.014775,0.998872]]
2025-10-27T18:57:06.508Z,1761591426.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:06.718Z,1761591426.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080580,0.996716,0.008043],[-0.995833,0.080157,0.043492],[0.042705,-0.011514,0.999021]]
2025-10-27T18:57:06.762Z,1761591426.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:07.012Z,1761591427.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:07.122Z,1761591427.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083799,0.993587,0.075911],[-0.995388,0.079895,0.053096],[0.046690,-0.080010,0.995700]]
2025-10-27T18:57:07.264Z,1761591427.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:07.516Z,1761591427.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:07.527Z,1761591427.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093959,0.984799,0.146090],[-0.995506,0.094677,0.002043],[-0.011819,-0.145626,0.989269]]
2025-10-27T18:57:07.768Z,1761591427.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:07.930Z,1761591427.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091965,0.978911,0.182416],[-0.992975,0.103853,-0.056702],[-0.074450,-0.175920,0.981585]]
2025-10-27T18:57:08.020Z,1761591428.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:08.272Z,1761591428.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:08.524Z,1761591428.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:08.738Z,1761591428.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101037,0.985344,0.137436],[-0.993249,0.091991,0.070665],[0.056987,-0.143648,0.987987]]
2025-10-27T18:57:08.778Z,1761591428.778 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:09.028Z,1761591429.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:09.143Z,1761591429.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082912,0.992138,0.093744],[-0.988016,0.069547,0.137797],[0.130194,-0.104046,0.986014]]
2025-10-27T18:57:09.280Z,1761591429.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:09.532Z,1761591429.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:09.549Z,1761591429.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072081,0.993898,0.083494],[-0.988206,0.059827,0.140958],[0.135103,-0.092669,0.986489]]
2025-10-27T18:57:09.784Z,1761591429.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:09.955Z,1761591429.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086210,0.992108,0.091044],[-0.991582,0.076584,0.104401],[0.096605,-0.099278,0.990359]]
2025-10-27T18:57:10.036Z,1761591430.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:10.288Z,1761591430.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:10.357Z,1761591430.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116461,0.990659,0.070931],[-0.992686,0.113818,0.040243],[0.031793,-0.075099,0.996669]]
2025-10-27T18:57:10.540Z,1761591430.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:10.774Z,1761591430.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107303,0.993680,0.032941],[-0.994200,0.107484,-0.003765],[-0.007282,-0.032346,0.999450]]
2025-10-27T18:57:10.794Z,1761591430.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:11.044Z,1761591431.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:11.166Z,1761591431.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114591,0.993363,0.009923],[-0.993267,0.114397,0.018280],[0.017023,-0.011951,0.999784]]
2025-10-27T18:57:11.296Z,1761591431.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:11.548Z,1761591431.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:11.572Z,1761591431.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128798,0.991377,0.024125],[-0.991016,0.127791,0.039460],[0.036037,-0.028990,0.998930]]
2025-10-27T18:57:11.800Z,1761591431.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:11.973Z,1761591431.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124827,0.991177,0.044576],[-0.990515,0.121892,0.063418],[0.057425,-0.052069,0.996991]]
2025-10-27T18:57:12.052Z,1761591432.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:12.304Z,1761591432.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:12.378Z,1761591432.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120707,0.989285,0.082130],[-0.989201,0.112942,0.093412],[0.083135,-0.092519,0.992234]]
2025-10-27T18:57:12.557Z,1761591432.557 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:12.810Z,1761591432.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:12.828Z,1761591432.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120609,0.983310,0.136216],[-0.990787,0.110722,0.077990],[0.061606,-0.144367,0.987605]]
2025-10-27T18:57:13.047Z,1761591433.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:57:13.060Z,1761591433.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:13.187Z,1761591433.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109414,0.981468,0.157320],[-0.992574,0.099417,0.070095],[0.053156,-0.163821,0.985057]]
2025-10-27T18:57:13.312Z,1761591433.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:13.564Z,1761591433.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:13.589Z,1761591433.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115987,0.983678,0.137568],[-0.987718,0.099630,0.120365],[0.104695,-0.149839,0.983152]]
2025-10-27T18:57:13.816Z,1761591433.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:13.993Z,1761591433.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127945,0.988566,0.079800],[-0.982834,0.115597,0.143790],[0.132921,-0.096827,0.986386]]
2025-10-27T18:57:14.075Z,1761591434.075 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:14.328Z,1761591434.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:14.398Z,1761591434.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109797,0.993853,0.014159],[-0.989147,0.107856,0.099773],[0.097632,-0.024960,0.994910]]
2025-10-27T18:57:14.580Z,1761591434.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:14.829Z,1761591434.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106859,0.993847,-0.029136],[-0.992773,0.108262,0.051787],[0.054623,0.023392,0.998233]]
2025-10-27T18:57:14.832Z,1761591434.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:15.084Z,1761591435.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:15.206Z,1761591435.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151612,0.987882,-0.033225],[-0.987842,0.152604,0.029677],[0.034388,0.028322,0.999007]]
2025-10-27T18:57:15.336Z,1761591435.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:15.588Z,1761591435.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:15.610Z,1761591435.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157897,0.987435,0.006438],[-0.986291,0.157391,0.049579],[0.047943,-0.014178,0.998749]]
2025-10-27T18:57:15.840Z,1761591435.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:16.015Z,1761591436.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127880,0.990214,0.055889],[-0.987034,0.121552,0.104827],[0.097008,-0.068570,0.992919]]
2025-10-27T18:57:16.092Z,1761591436.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:16.344Z,1761591436.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:16.418Z,1761591436.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110877,0.987641,0.110782],[-0.985852,0.095201,0.137960],[0.125708,-0.124512,0.984223]]
2025-10-27T18:57:16.596Z,1761591436.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:16.838Z,1761591436.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108601,0.980179,0.165696],[-0.985620,0.084464,0.146353],[0.129457,-0.179207,0.975257]]
2025-10-27T18:57:16.854Z,1761591436.854 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:17.100Z,1761591437.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:17.226Z,1761591437.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096642,0.977564,0.187160],[-0.985667,0.067873,0.154446],[0.138277,-0.199404,0.970112]]
2025-10-27T18:57:17.352Z,1761591437.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:17.604Z,1761591437.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:17.632Z,1761591437.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101842,0.984448,0.143147],[-0.985916,0.080693,0.146488],[0.132659,-0.156049,0.978800]]
2025-10-27T18:57:17.856Z,1761591437.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:18.036Z,1761591438.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108885,0.991993,0.063982],[-0.989293,0.101846,0.104535],[0.097182,-0.074679,0.992461]]
2025-10-27T18:57:18.108Z,1761591438.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:18.360Z,1761591438.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:18.438Z,1761591438.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087084,0.996061,0.016691],[-0.991702,0.085088,0.096365],[0.094565,-0.024944,0.995206]]
2025-10-27T18:57:18.612Z,1761591438.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:18.842Z,1761591438.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086189,0.996273,0.003368],[-0.991503,0.085445,0.098091],[0.097437,-0.011794,0.995172]]
2025-10-27T18:57:18.871Z,1761591438.871 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:19.124Z,1761591439.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:19.376Z,1761591439.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:19.628Z,1761591439.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:19.880Z,1761591439.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:20.060Z,1761591440.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082192,0.992772,0.087458],[-0.994494,0.075977,0.072169],[0.065003,-0.092909,0.993551]]
2025-10-27T18:57:20.132Z,1761591440.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:20.384Z,1761591440.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:20.462Z,1761591440.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083255,0.995105,0.053249],[-0.989932,0.076447,0.119128],[0.114474,-0.062631,0.991450]]
2025-10-27T18:57:20.636Z,1761591440.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:20.867Z,1761591440.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104470,0.993151,0.052309],[-0.993145,0.101408,0.058130],[0.052427,-0.058023,0.996938]]
2025-10-27T18:57:20.888Z,1761591440.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:21.140Z,1761591441.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:21.273Z,1761591441.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096372,0.991982,0.081755],[-0.994231,0.099825,-0.039248],[-0.047094,-0.077501,0.995879]]
2025-10-27T18:57:21.392Z,1761591441.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:21.644Z,1761591441.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:21.674Z,1761591441.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078396,0.991997,0.098975],[-0.994049,0.085317,-0.067736],[-0.075638,-0.093075,0.992782]]
2025-10-27T18:57:21.896Z,1761591441.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:22.044Z,1761591442.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:57:22.074Z,1761591442.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072888,0.993776,0.084241],[-0.997298,0.073397,-0.002960],[-0.009124,-0.083797,0.996441]]
2025-10-27T18:57:22.149Z,1761591442.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:22.400Z,1761591442.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:22.477Z,1761591442.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073867,0.995013,0.067022],[-0.995756,0.069889,0.059880],[0.054897,-0.071161,0.995953]]
2025-10-27T18:57:22.652Z,1761591442.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:22.882Z,1761591442.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081747,0.995751,0.042393],[-0.993610,0.078102,0.081485],[0.077828,-0.048784,0.995773]]
2025-10-27T18:57:22.904Z,1761591442.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:23.156Z,1761591443.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:23.286Z,1761591443.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096724,0.995309,0.002303],[-0.994750,0.096592,0.033787],[0.033406,-0.005559,0.999426]]
2025-10-27T18:57:23.408Z,1761591443.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:23.662Z,1761591443.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:23.690Z,1761591443.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090882,0.995801,-0.010999],[-0.995213,0.090418,-0.037093],[-0.035943,0.014317,0.999251]]
2025-10-27T18:57:23.912Z,1761591443.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:24.095Z,1761591444.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088831,0.995671,0.027352],[-0.995511,0.089650,-0.030337],[-0.032657,-0.024534,0.999165]]
2025-10-27T18:57:24.164Z,1761591444.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:24.416Z,1761591444.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:24.498Z,1761591444.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092508,0.990611,0.100653],[-0.995431,0.089607,0.032974],[0.023645,-0.103244,0.994375]]
2025-10-27T18:57:24.668Z,1761591444.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:24.920Z,1761591444.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:25.172Z,1761591445.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:25.306Z,1761591445.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098658,0.986384,0.131577],[-0.993935,0.091219,0.061424],[0.048585,-0.136839,0.989401]]
2025-10-27T18:57:25.424Z,1761591445.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:25.676Z,1761591445.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:25.713Z,1761591445.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088056,0.993141,0.076926],[-0.994733,0.083604,0.059299],[0.052461,-0.081742,0.995272]]
2025-10-27T18:57:25.928Z,1761591445.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:26.114Z,1761591446.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109687,0.993810,0.017615],[-0.989277,0.107433,0.098945],[0.096440,-0.028279,0.994937]]
2025-10-27T18:57:26.180Z,1761591446.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:26.432Z,1761591446.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:26.518Z,1761591446.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119961,0.992549,-0.021364],[-0.980982,0.121816,0.151116],[0.152592,0.002830,0.988285]]
2025-10-27T18:57:26.684Z,1761591446.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:26.936Z,1761591446.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:27.188Z,1761591447.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:27.440Z,1761591447.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:27.692Z,1761591447.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:27.730Z,1761591447.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157056,0.986608,0.044032],[-0.984774,0.153089,0.082361],[0.074517,-0.056296,0.995629]]
2025-10-27T18:57:27.944Z,1761591447.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:28.133Z,1761591448.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139587,0.987419,0.074295],[-0.989695,0.136702,0.042628],[0.031936,-0.079479,0.996325]]
2025-10-27T18:57:28.196Z,1761591448.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:28.448Z,1761591448.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:28.538Z,1761591448.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128473,0.986050,0.105833],[-0.991567,0.129550,-0.003334],[-0.016998,-0.104512,0.994378]]
2025-10-27T18:57:28.700Z,1761591448.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:28.943Z,1761591448.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141663,0.983575,0.111854],[-0.986376,0.149799,-0.067991],[-0.083630,-0.100698,0.991396]]
2025-10-27T18:57:28.952Z,1761591448.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:29.204Z,1761591449.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:29.346Z,1761591449.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158522,0.984084,0.080302],[-0.980720,0.166348,-0.102550],[-0.114276,-0.062497,0.991481]]
2025-10-27T18:57:29.456Z,1761591449.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:29.708Z,1761591449.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:29.750Z,1761591449.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153169,0.986313,0.061034],[-0.987523,0.155058,-0.027484],[-0.036571,-0.056062,0.997757]]
2025-10-27T18:57:29.960Z,1761591449.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:30.156Z,1761591450.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135940,0.985910,0.097474],[-0.989937,0.131270,0.052845],[0.039305,-0.103677,0.993834]]
2025-10-27T18:57:30.213Z,1761591450.213 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:30.467Z,1761591450.467 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:30.558Z,1761591450.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125118,0.982192,0.140161],[-0.991873,0.120538,0.040734],[0.023114,-0.144118,0.989291]]
2025-10-27T18:57:30.716Z,1761591450.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:30.962Z,1761591450.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127510,0.984191,0.122920],[-0.991837,0.126396,0.016855],[0.001052,-0.124066,0.992273]]
2025-10-27T18:57:30.968Z,1761591450.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:31.038Z,1761591451.038 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-10-27T18:57:31.038Z,1761591451.038 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-27T18:57:31.038Z,1761591451.038 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T18:57:31.043Z,1761591451.043 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-10-27T18:57:31.055Z,1761591451.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:57:31.220Z,1761591451.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:31.366Z,1761591451.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148278,0.985838,0.078335],[-0.988912,0.147150,0.020012],[0.008202,-0.080434,0.996726]]
2025-10-27T18:57:31.408Z,1761591451.408 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-10-27T18:57:31.408Z,1761591451.408 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-10-27T18:57:31.472Z,1761591451.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:31.724Z,1761591451.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:31.772Z,1761591451.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149947,0.987672,0.044938],[-0.988512,0.148892,0.025986],[0.018975,-0.048318,0.998652]]
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  6.643217 min 
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T18:57:31.826Z,1761591451.826 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-27T18:57:31.976Z,1761591451.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:32.175Z,1761591452.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143144,0.989355,0.026207],[-0.989541,0.142594,0.021796],[0.017827,-0.029053,0.999419]]
2025-10-27T18:57:32.228Z,1761591452.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:32.480Z,1761591452.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:32.578Z,1761591452.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144213,0.988950,0.034346],[-0.989527,0.143903,0.011334],[0.006267,-0.035620,0.999346]]
2025-10-27T18:57:32.732Z,1761591452.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:32.982Z,1761591452.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142808,0.986655,0.078211],[-0.989683,0.141430,0.022918],[0.011551,-0.080677,0.996673]]
2025-10-27T18:57:32.984Z,1761591452.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:33.236Z,1761591453.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:33.386Z,1761591453.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141249,0.983657,0.111654],[-0.989671,0.137513,0.040519],[0.024503,-0.116224,0.992921]]
2025-10-27T18:57:33.488Z,1761591453.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:33.740Z,1761591453.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:33.810Z,1761591453.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185733.00,A,3646.64931,N,12151.95774,W,0.369,252.34,271025,,,D*7F
2025-10-27T18:57:33.813Z,1761591453.813 [NAL9602](INFO): GPS fix at 20251027T185733: (36.777488, -121.865962)
2025-10-27T18:57:33.864Z,1761591453.864 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-27T18:57:33.864Z,1761591453.864 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-27T18:57:33.992Z,1761591453.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:34.244Z,1761591454.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:34.496Z,1761591454.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:34.736Z,1761591454.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152501,0.986275,0.063279],[-0.987569,0.154543,-0.028709],[-0.038094,-0.058115,0.997583]]
2025-10-27T18:57:34.748Z,1761591454.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:34.000Z,1761591455.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:35.122Z,1761591455.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116236,0.990416,0.074605],[-0.993127,0.114858,0.022506],[0.013721,-0.076708,0.996959]]
2025-10-27T18:57:35.252Z,1761591455.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:35.504Z,1761591455.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:35.528Z,1761591455.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111095,0.988808,0.099580],[-0.988598,0.099708,0.112841],[0.101649,-0.110981,0.988610]]
2025-10-27T18:57:35.756Z,1761591455.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:35.930Z,1761591455.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148215,0.983244,0.106128],[-0.983404,0.135177,0.121009],[0.104635,-0.122302,0.986962]]
2025-10-27T18:57:36.008Z,1761591456.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:36.260Z,1761591456.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:36.334Z,1761591456.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167627,0.981124,0.096424],[-0.984777,0.162078,0.062815],[0.046001,-0.105486,0.993356]]
2025-10-27T18:57:36.512Z,1761591456.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:36.739Z,1761591456.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171940,0.981908,0.079334],[-0.985021,0.172436,0.000610],[-0.013081,-0.078250,0.996848]]
2025-10-27T18:57:36.765Z,1761591456.765 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:37.016Z,1761591457.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:37.142Z,1761591457.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162255,0.985354,0.052449],[-0.986536,0.163096,-0.012130],[-0.020507,-0.049775,0.998550]]
2025-10-27T18:57:37.268Z,1761591457.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:37.520Z,1761591457.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:37.772Z,1761591457.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:37.808Z,1761591457.808 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251027T165046/Courier0036.lzma
2025-10-27T18:57:38.024Z,1761591458.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:38.276Z,1761591458.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:38.355Z,1761591458.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172976,0.982962,0.062170],[-0.983859,0.169506,0.057358],[0.045843,-0.071088,0.996416]]
2025-10-27T18:57:38.469Z,1761591458.469 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Courier0036.lzma.bak
2025-10-27T18:57:38.469Z,1761591458.469 [DataOverHttps](INFO): SBD MOMSN=26250090
2025-10-27T18:57:38.528Z,1761591458.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:38.782Z,1761591458.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:39.032Z,1761591459.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:39.161Z,1761591459.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177615,0.977944,0.109902],[-0.983629,0.172964,0.050575],[0.030450,-0.117085,0.992655]]
2025-10-27T18:57:39.287Z,1761591459.287 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:39.540Z,1761591459.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:39.792Z,1761591459.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:39.971Z,1761591459.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183797,0.980918,0.063392],[-0.980603,0.178506,0.080955],[0.068095,-0.077042,0.994700]]
2025-10-27T18:57:40.044Z,1761591460.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:40.296Z,1761591460.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:40.374Z,1761591460.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170421,0.984652,0.037638],[-0.984064,0.168104,0.057952],[0.050735,-0.046914,0.997610]]
2025-10-27T18:57:40.548Z,1761591460.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:40.804Z,1761591460.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:40.821Z,1761591460.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191815,0.980734,0.036987],[-0.978826,0.188425,0.079976],[0.071466,-0.051545,0.996110]]
2025-10-27T18:57:41.052Z,1761591461.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:41.182Z,1761591461.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204709,0.978164,0.035918],[-0.977246,0.202160,0.064205],[0.055541,-0.048244,0.997290]]
2025-10-27T18:57:41.304Z,1761591461.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:41.556Z,1761591461.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:41.588Z,1761591461.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187174,0.981654,0.036351],[-0.982052,0.186118,0.030571],[0.023245,-0.041421,0.998871]]
2025-10-27T18:57:41.808Z,1761591461.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:41.990Z,1761591461.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175192,0.983157,0.052054],[-0.983046,0.171776,0.064143],[0.054121,-0.062408,0.996582]]
2025-10-27T18:57:42.060Z,1761591462.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:42.312Z,1761591462.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:42.394Z,1761591462.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184790,0.977628,0.100480],[-0.978525,0.173524,0.111261],[0.091337,-0.118882,0.988698]]
2025-10-27T18:57:42.565Z,1761591462.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:42.818Z,1761591462.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:43.068Z,1761591463.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:43.320Z,1761591463.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:43.572Z,1761591463.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:43.606Z,1761591463.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219328,0.973054,0.071149],[-0.973613,0.213575,0.080399],[0.063037,-0.086906,0.994220]]
2025-10-27T18:57:43.828Z,1761591463.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:44.010Z,1761591464.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213066,0.976952,0.012927],[-0.974662,0.211607,0.072508],[0.068102,-0.028048,0.997284]]
2025-10-27T18:57:44.083Z,1761591464.083 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:44.332Z,1761591464.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:44.414Z,1761591464.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229596,0.972877,-0.028219],[-0.970528,0.231031,0.068557],[0.073217,0.011647,0.997248]]
2025-10-27T18:57:44.584Z,1761591464.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:44.836Z,1761591464.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:44.841Z,1761591464.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271771,0.961456,-0.041755],[-0.959485,0.274056,0.065431],[0.074352,0.022281,0.996983]]
2025-10-27T18:57:45.088Z,1761591465.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:45.222Z,1761591465.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275476,0.961308,-0.000864],[-0.959692,0.275065,0.057705],[0.055710,-0.015067,0.998333]]
2025-10-27T18:57:45.340Z,1761591465.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:45.592Z,1761591465.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:45.625Z,1761591465.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255209,0.962334,0.093716],[-0.966880,0.253675,0.028129],[0.003296,-0.097791,0.995202]]
2025-10-27T18:57:45.844Z,1761591465.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:46.030Z,1761591466.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235821,0.953771,0.186306],[-0.971447,0.236504,0.018879],[-0.026056,-0.185439,0.982310]]
2025-10-27T18:57:46.096Z,1761591466.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:46.348Z,1761591466.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:46.435Z,1761591466.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234109,0.943910,0.232866],[-0.971960,0.232673,0.034023],[-0.022067,-0.234301,0.971914]]
2025-10-27T18:57:46.600Z,1761591466.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:46.838Z,1761591466.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234657,0.948852,0.211226],[-0.971695,0.235058,0.023576],[-0.027280,-0.210779,0.977153]]
2025-10-27T18:57:46.852Z,1761591466.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:47.104Z,1761591467.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:47.242Z,1761591467.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216542,0.968189,0.125382],[-0.976056,0.217411,0.006878],[-0.020600,-0.123869,0.992085]]
2025-10-27T18:57:47.356Z,1761591467.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:47.608Z,1761591467.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:47.646Z,1761591467.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211404,0.977199,0.019771],[-0.977201,0.210910,0.024402],[0.019676,-0.024479,0.999507]]
2025-10-27T18:57:47.860Z,1761591467.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:48.050Z,1761591468.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234724,0.968912,-0.078195],[-0.967180,0.240840,0.080988],[0.097303,0.056618,0.993643]]
2025-10-27T18:57:48.112Z,1761591468.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:48.364Z,1761591468.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:48.456Z,1761591468.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254894,0.958939,-0.124361],[-0.956577,0.268865,0.112571],[0.141385,0.090267,0.985831]]
2025-10-27T18:57:48.616Z,1761591468.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:48.858Z,1761591468.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258315,0.961829,-0.090317],[-0.958055,0.267063,0.103958],[0.124110,0.059675,0.990472]]
2025-10-27T18:57:48.875Z,1761591468.875 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:49.120Z,1761591469.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:49.262Z,1761591469.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277692,0.960481,0.019055],[-0.956648,0.274662,0.096875],[0.087814,-0.045130,0.995114]]
2025-10-27T18:57:49.372Z,1761591469.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:49.624Z,1761591469.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:49.666Z,1761591469.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275578,0.952820,0.127243],[-0.959518,0.264645,0.096371],[0.058150,-0.148650,0.987179]]
2025-10-27T18:57:49.876Z,1761591469.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:50.128Z,1761591470.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:50.380Z,1761591470.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:50.474Z,1761591470.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283900,0.939104,0.193611],[-0.958854,0.277901,0.058057],[0.000717,-0.202127,0.979359]]
2025-10-27T18:57:50.632Z,1761591470.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:50.878Z,1761591470.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297987,0.946134,0.126625],[-0.954288,0.298492,0.015416],[-0.023211,-0.125431,0.991831]]
2025-10-27T18:57:50.884Z,1761591470.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:51.136Z,1761591471.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:51.282Z,1761591471.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295356,0.955361,0.007041],[-0.955191,0.295437,-0.018084],[-0.019357,-0.001385,0.999812]]
2025-10-27T18:57:51.388Z,1761591471.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:51.640Z,1761591471.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:51.695Z,1761591471.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267524,0.962766,-0.038895],[-0.962511,0.268892,0.035622],[0.044754,0.027907,0.998608]]
2025-10-27T18:57:51.892Z,1761591471.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:52.094Z,1761591472.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287040,0.954748,0.077878],[-0.957739,0.284463,0.042614],[0.018532,-0.086819,0.996052]]
2025-10-27T18:57:52.144Z,1761591472.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:52.396Z,1761591472.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:52.498Z,1761591472.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320057,0.932522,0.167230],[-0.947236,0.318242,0.038283],[-0.017520,-0.170660,0.985174]]
2025-10-27T18:57:52.648Z,1761591472.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:52.900Z,1761591472.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:52.904Z,1761591472.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323774,0.933064,0.156725],[-0.945896,0.315500,0.075774],[0.021256,-0.172779,0.984731]]
2025-10-27T18:57:53.152Z,1761591473.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:53.308Z,1761591473.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326207,0.941730,0.082057],[-0.940967,0.315185,0.123450],[0.090394,-0.117483,0.988952]]
2025-10-27T18:57:53.404Z,1761591473.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:53.656Z,1761591473.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:53.708Z,1761591473.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329261,0.943155,0.045220],[-0.940689,0.323498,0.102242],[0.081802,-0.076202,0.993731]]
2025-10-27T18:57:53.908Z,1761591473.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:54.110Z,1761591474.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307758,0.950560,0.041494],[-0.948813,0.303355,0.087916],[0.070982,-0.066427,0.995263]]
2025-10-27T18:57:54.160Z,1761591474.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:54.412Z,1761591474.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:54.514Z,1761591474.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295340,0.954976,0.028187],[-0.953298,0.292612,0.074848],[0.063230,-0.048976,0.996796]]
2025-10-27T18:57:54.664Z,1761591474.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:54.917Z,1761591474.917 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:54.920Z,1761591474.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295571,0.954371,0.042593],[-0.955076,0.294192,0.035787],[0.021623,-0.051257,0.998451]]
2025-10-27T18:57:55.168Z,1761591475.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:55.321Z,1761591475.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294979,0.952951,0.069790],[-0.955495,0.293880,0.025758],[0.004037,-0.074282,0.997229]]
2025-10-27T18:57:55.420Z,1761591475.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:55.623Z,1761591475.623 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20251027T165046/Express0037.lzma
2025-10-27T18:57:55.672Z,1761591475.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:55.726Z,1761591475.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318648,0.946712,0.046896],[-0.947643,0.317091,0.037765],[0.020882,-0.056474,0.998186]]
2025-10-27T18:57:55.924Z,1761591475.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:56.130Z,1761591476.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366326,0.930401,-0.012638],[-0.928446,0.366388,0.061221],[0.061590,-0.010693,0.998044]]
2025-10-27T18:57:56.176Z,1761591476.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:56.428Z,1761591476.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:56.535Z,1761591476.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367302,0.928508,-0.054426],[-0.923277,0.371058,0.099376],[0.112467,0.013750,0.993560]]
2025-10-27T18:57:56.625Z,1761591476.625 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0037.lzma.bak
2025-10-27T18:57:56.625Z,1761591476.625 [DataOverHttps](INFO): SBD MOMSN=26250093
2025-10-27T18:57:56.680Z,1761591476.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:56.932Z,1761591476.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:56.939Z,1761591476.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331561,0.943189,-0.021475],[-0.931778,0.330947,0.149210],[0.147840,-0.029463,0.988572]]
2025-10-27T18:57:57.184Z,1761591477.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:57.366Z,1761591477.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325841,0.943359,0.062454],[-0.933598,0.310646,0.178587],[0.149070,-0.116498,0.981940]]
2025-10-27T18:57:57.436Z,1761591477.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:57.688Z,1761591477.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:57.746Z,1761591477.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311680,0.942508,0.120560],[-0.943498,0.291956,0.156760],[0.112549,-0.162607,0.980251]]
2025-10-27T18:57:57.940Z,1761591477.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:58.150Z,1761591478.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300783,0.938605,0.168966],[-0.950287,0.280009,0.136196],[0.080522,-0.201532,0.976167]]
2025-10-27T18:57:58.192Z,1761591478.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:58.444Z,1761591478.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:58.554Z,1761591478.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316338,0.930167,0.186333],[-0.948080,0.303204,0.095978],[0.032779,-0.207020,0.977788]]
2025-10-27T18:57:58.588Z,1761591478.588 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-27T18:57:58.588Z,1761591478.588 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-27T18:57:58.588Z,1761591478.588 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-27T18:57:58.696Z,1761591478.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:58.948Z,1761591478.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:58.962Z,1761591478.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313445,0.939052,0.141182],[-0.949349,0.306421,0.069584],[0.022082,-0.155842,0.987535]]
2025-10-27T18:57:58.967Z,1761591478.967 [NAL9602](INFO): SBD MO Status=0, MOMSN=3089, MT Status=0, MTMSN=0
2025-10-27T18:57:58.967Z,1761591478.967 [NAL9602](INFO): No messages in MT queue
2025-10-27T18:57:59.200Z,1761591479.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:59.362Z,1761591479.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317970,0.945899,0.064574],[-0.946378,0.312551,0.081734],[0.057129,-0.087100,0.994560]]
2025-10-27T18:57:59.452Z,1761591479.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:59.704Z,1761591479.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:57:59.766Z,1761591479.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334457,0.942397,-0.005096],[-0.941259,0.334311,0.047615],[0.046576,-0.011129,0.998853]]
2025-10-27T18:57:59.956Z,1761591479.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:00.169Z,1761591480.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348934,0.936691,-0.029244],[-0.937025,0.349222,0.005225],[0.015107,0.025579,0.999559]]
2025-10-27T18:58:00.208Z,1761591480.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:00.460Z,1761591480.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:00.575Z,1761591480.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343604,0.939106,0.003993],[-0.938607,0.343276,0.034338],[0.030876,-0.015546,0.999402]]
2025-10-27T18:58:00.712Z,1761591480.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:00.964Z,1761591480.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:00.980Z,1761591480.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344289,0.937358,0.053155],[-0.938138,0.341246,0.058719],[0.036901,-0.070083,0.996858]]
2025-10-27T18:58:01.216Z,1761591481.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:01.382Z,1761591481.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344065,0.931131,0.120892],[-0.938658,0.337907,0.068851],[0.023259,-0.137165,0.990275]]
2025-10-27T18:58:01.468Z,1761591481.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:01.720Z,1761591481.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:01.786Z,1761591481.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333894,0.928324,0.163493],[-0.942594,0.327798,0.063758],[0.005595,-0.175396,0.984482]]
2025-10-27T18:58:01.973Z,1761591481.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:02.192Z,1761591482.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349311,0.925378,0.147166],[-0.936975,0.346257,0.046730],[-0.007714,-0.154214,0.988007]]
2025-10-27T18:58:02.224Z,1761591482.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:02.476Z,1761591482.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:02.594Z,1761591482.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375619,0.921657,0.097253],[-0.926291,0.376740,0.007269],[-0.029939,-0.092815,0.995233]]
2025-10-27T18:58:02.728Z,1761591482.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:02.996Z,1761591482.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:03.003Z,1761591483.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357794,0.933538,0.022163],[-0.933793,0.357594,0.012513],[0.003756,-0.025173,0.999676]]
2025-10-27T18:58:03.252Z,1761591483.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:03.410Z,1761591483.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326396,0.944056,-0.047145],[-0.941603,0.329105,0.071234],[0.082764,0.021141,0.996345]]
2025-10-27T18:58:03.506Z,1761591483.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:03.756Z,1761591483.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:03.817Z,1761591483.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324226,0.944961,-0.043886],[-0.938740,0.327127,0.108419],[0.116808,0.006046,0.993136]]
2025-10-27T18:58:04.008Z,1761591484.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:04.225Z,1761591484.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340616,0.940028,0.018080],[-0.933852,0.336022,0.122515],[0.109092,-0.058614,0.992302]]
2025-10-27T18:58:04.260Z,1761591484.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:04.512Z,1761591484.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:04.634Z,1761591484.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342690,0.935505,0.085994],[-0.933998,0.329424,0.138304],[0.101056,-0.127714,0.986649]]
2025-10-27T18:58:04.766Z,1761591484.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:05.016Z,1761591485.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:05.076Z,1761591485.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329862,0.934807,0.131633],[-0.938354,0.309409,0.154136],[0.103359,-0.174362,0.979242]]
2025-10-27T18:58:05.268Z,1761591485.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:05.446Z,1761591485.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337105,0.932280,0.131204],[-0.935946,0.316787,0.153789],[0.101811,-0.174643,0.979354]]
2025-10-27T18:58:05.520Z,1761591485.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:05.772Z,1761591485.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:05.850Z,1761591485.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361234,0.929482,0.074652],[-0.929582,0.352656,0.107286],[0.073394,-0.108151,0.991422]]
2025-10-27T18:58:06.024Z,1761591486.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:06.255Z,1761591486.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339272,0.940447,0.021292],[-0.939539,0.337653,0.057074],[0.046486,-0.039369,0.998143]]
2025-10-27T18:58:06.276Z,1761591486.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:06.528Z,1761591486.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:06.662Z,1761591486.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308086,0.951091,-0.022568],[-0.950643,0.308688,0.031464],[0.036892,0.011760,0.999250]]
2025-10-27T18:58:06.782Z,1761591486.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:07.032Z,1761591487.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:07.062Z,1761591487.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305565,0.951671,-0.030869],[-0.950823,0.306696,0.043268],[0.050645,0.016130,0.998586]]
2025-10-27T18:58:07.284Z,1761591487.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:07.538Z,1761591487.538 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:07.788Z,1761591487.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:07.870Z,1761591487.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357845,0.933708,0.011664],[-0.929818,0.355149,0.096479],[0.085941,-0.045370,0.995267]]
2025-10-27T18:58:08.040Z,1761591488.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:08.274Z,1761591488.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363620,0.931464,0.012478],[-0.926033,0.359980,0.113478],[0.101209,-0.052818,0.993462]]
2025-10-27T18:58:08.292Z,1761591488.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:08.544Z,1761591488.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:08.797Z,1761591488.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:09.048Z,1761591489.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:09.082Z,1761591489.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351312,0.933549,0.071173],[-0.934916,0.345723,0.080050],[0.050124,-0.094663,0.994247]]
2025-10-27T18:58:09.300Z,1761591489.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:09.486Z,1761591489.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359103,0.929245,0.086880],[-0.933266,0.356756,0.041720],[0.007773,-0.096064,0.995345]]
2025-10-27T18:58:09.556Z,1761591489.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:09.808Z,1761591489.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:09.890Z,1761591489.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359389,0.928913,0.089221],[-0.933106,0.356443,0.047559],[0.012376,-0.100345,0.994876]]
2025-10-27T18:58:10.060Z,1761591490.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:10.295Z,1761591490.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361007,0.927387,0.098119],[-0.932555,0.358561,0.042128],[0.003887,-0.106710,0.994283]]
2025-10-27T18:58:10.312Z,1761591490.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:10.564Z,1761591490.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:10.699Z,1761591490.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362550,0.926488,0.100882],[-0.931848,0.362082,0.023571],[-0.014689,-0.102552,0.994619]]
2025-10-27T18:58:10.817Z,1761591490.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:11.068Z,1761591491.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:11.104Z,1761591491.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353414,0.932067,0.079688],[-0.935466,0.352237,0.028844],[-0.001184,-0.084739,0.996402]]
2025-10-27T18:58:11.213Z,1761591491.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:58:11.320Z,1761591491.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:11.507Z,1761591491.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349197,0.933061,0.086364],[-0.937027,0.348344,0.025249],[-0.006525,-0.089742,0.995944]]
2025-10-27T18:58:11.572Z,1761591491.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:11.824Z,1761591491.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:11.909Z,1761591491.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329546,0.938991,0.098469],[-0.944139,0.327901,0.032915],[-0.001381,-0.103815,0.994596]]
2025-10-27T18:58:12.076Z,1761591492.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:12.313Z,1761591492.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320740,0.944603,0.069643],[-0.946989,0.318385,0.042928],[0.018376,-0.079720,0.996648]]
2025-10-27T18:58:12.328Z,1761591492.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:12.580Z,1761591492.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:12.718Z,1761591492.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323576,0.945278,0.041799],[-0.946184,0.322977,0.020554],[0.005929,-0.046200,0.998915]]
2025-10-27T18:58:12.832Z,1761591492.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:13.084Z,1761591493.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:13.121Z,1761591493.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333676,0.942225,0.029545],[-0.942683,0.333406,0.013762],[0.003117,-0.032444,0.999469]]
2025-10-27T18:58:13.336Z,1761591493.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:13.526Z,1761591493.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328442,0.943962,0.032583],[-0.943103,0.325860,0.066122],[0.051799,-0.052447,0.997279]]
2025-10-27T18:58:13.588Z,1761591493.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:13.840Z,1761591493.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:13.930Z,1761591493.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322035,0.945146,0.054707],[-0.942490,0.314597,0.112876],[0.089473,-0.087911,0.992102]]
2025-10-27T18:58:14.092Z,1761591494.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:14.335Z,1761591494.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323335,0.944678,0.055123],[-0.942063,0.315850,0.112944],[0.089285,-0.088448,0.992071]]
2025-10-27T18:58:14.344Z,1761591494.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:14.596Z,1761591494.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:14.738Z,1761591494.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316382,0.947591,0.044428],[-0.944923,0.310662,0.102998],[0.083798,-0.074568,0.993689]]
2025-10-27T18:58:14.848Z,1761591494.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:15.100Z,1761591495.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:15.142Z,1761591495.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312398,0.948806,0.046636],[-0.948234,0.308506,0.075344],[0.057100,-0.067759,0.996066]]
2025-10-27T18:58:15.352Z,1761591495.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:15.604Z,1761591495.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:15.856Z,1761591495.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:15.953Z,1761591495.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333461,0.940813,0.060623],[-0.942397,0.334435,-0.006404],[-0.026299,-0.054995,0.998140]]
2025-10-27T18:58:16.108Z,1761591496.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:16.354Z,1761591496.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325990,0.944055,0.049908],[-0.945126,0.326658,-0.005638],[-0.021625,-0.045332,0.998738]]
2025-10-27T18:58:16.360Z,1761591496.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:16.612Z,1761591496.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:16.778Z,1761591496.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299864,0.952811,0.047251],[-0.953660,0.298108,0.040795],[0.024784,-0.057294,0.998050]]
2025-10-27T18:58:16.864Z,1761591496.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:17.116Z,1761591497.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:17.368Z,1761591497.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:17.567Z,1761591497.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294452,0.952887,0.072826],[-0.954155,0.288848,0.078461],[0.053729,-0.092590,0.994254]]
2025-10-27T18:58:17.620Z,1761591497.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:17.872Z,1761591497.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:17.970Z,1761591497.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306328,0.947978,0.086606],[-0.951337,0.301668,0.062884],[0.033487,-0.101654,0.994256]]
2025-10-27T18:58:18.124Z,1761591498.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:18.374Z,1761591498.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295251,0.952253,0.077723],[-0.952674,0.287265,0.099454],[0.072378,-0.103408,0.992002]]
2025-10-27T18:58:18.376Z,1761591498.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:18.628Z,1761591498.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:18.818Z,1761591498.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283818,0.956845,0.062413],[-0.955755,0.277045,0.098883],[0.077324,-0.087717,0.993140]]
2025-10-27T18:58:18.896Z,1761591498.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:19.148Z,1761591499.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:19.182Z,1761591499.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260125,0.963225,0.067331],[-0.964954,0.256824,0.053906],[0.034632,-0.078993,0.996273]]
2025-10-27T18:58:19.400Z,1761591499.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:19.586Z,1761591499.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267697,0.961200,0.066579],[-0.962370,0.263392,0.066848],[0.046718,-0.081969,0.995539]]
2025-10-27T18:58:19.652Z,1761591499.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:19.904Z,1761591499.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:19.990Z,1761591499.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306693,0.950374,0.052240],[-0.951019,0.303742,0.057478],[0.038758,-0.067309,0.996979]]
2025-10-27T18:58:20.056Z,1761591500.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:58:20.156Z,1761591500.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:20.396Z,1761591500.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325604,0.943762,0.057400],[-0.944263,0.327688,-0.031437],[-0.048478,-0.043965,0.997856]]
2025-10-27T18:58:20.408Z,1761591500.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:20.660Z,1761591500.660 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:20.826Z,1761591500.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298287,0.951187,0.079171],[-0.950913,0.303310,-0.061386],[-0.082403,-0.056974,0.994969]]
2025-10-27T18:58:20.912Z,1761591500.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:21.164Z,1761591501.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:21.202Z,1761591501.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267909,0.960876,0.070299],[-0.963438,0.266927,0.023187],[0.003515,-0.073941,0.997256]]
2025-10-27T18:58:21.416Z,1761591501.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:21.606Z,1761591501.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267089,0.961982,0.057042],[-0.962055,0.262746,0.073581],[0.055796,-0.074531,0.995657]]
2025-10-27T18:58:21.668Z,1761591501.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:21.920Z,1761591501.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:22.012Z,1761591502.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278529,0.955277,0.099339],[-0.960422,0.277398,0.025298],[-0.003390,-0.102454,0.994732]]
2025-10-27T18:58:22.172Z,1761591502.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:22.414Z,1761591502.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263660,0.955728,0.130642],[-0.964570,0.262539,0.026047],[-0.009404,-0.132881,0.991087]]
2025-10-27T18:58:22.424Z,1761591502.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:22.679Z,1761591502.679 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:22.835Z,1761591502.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259000,0.960476,0.102001],[-0.962438,0.247731,0.111096],[0.081436,-0.126943,0.988561]]
2025-10-27T18:58:22.932Z,1761591502.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:23.184Z,1761591503.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:23.222Z,1761591503.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289386,0.954995,0.065116],[-0.952635,0.280690,0.117042],[0.093497,-0.095903,0.990990]]
2025-10-27T18:58:23.436Z,1761591503.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:23.627Z,1761591503.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289096,0.956619,0.036106],[-0.955387,0.285929,0.074028],[0.060493,-0.055896,0.996602]]
2025-10-27T18:58:23.688Z,1761591503.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:23.940Z,1761591503.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:24.030Z,1761591504.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275837,0.961105,0.013810],[-0.957332,0.273410,0.093604],[0.086187,-0.039040,0.995514]]
2025-10-27T18:58:24.192Z,1761591504.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:24.434Z,1761591504.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287221,0.957580,0.023320],[-0.955557,0.284756,0.076318],[0.066440,-0.044204,0.996811]]
2025-10-27T18:58:24.444Z,1761591504.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:24.696Z,1761591504.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:24.838Z,1761591504.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276235,0.954585,0.111632],[-0.960968,0.276180,0.016260],[-0.015309,-0.111767,0.993617]]
2025-10-27T18:58:24.948Z,1761591504.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:25.200Z,1761591505.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:25.245Z,1761591505.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244774,0.954361,0.171115],[-0.968510,0.248955,-0.003080],[-0.045540,-0.164972,0.985246]]
2025-10-27T18:58:25.452Z,1761591505.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:25.646Z,1761591505.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236730,0.957133,0.166900],[-0.971551,0.231989,0.047638],[0.006877,-0.173429,0.984822]]
2025-10-27T18:58:25.704Z,1761591505.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:25.956Z,1761591505.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:26.050Z,1761591506.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249015,0.962476,0.107853],[-0.967636,0.242545,0.069655],[0.040882,-0.121707,0.991724]]
2025-10-27T18:58:26.208Z,1761591506.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:26.453Z,1761591506.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254518,0.966901,0.017968],[-0.966700,0.253865,0.032302],[0.026671,-0.025591,0.999317]]
2025-10-27T18:58:26.460Z,1761591506.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:26.712Z,1761591506.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:26.859Z,1761591506.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251493,0.966193,-0.056770],[-0.966549,0.253771,0.037191],[0.050340,0.045518,0.997694]]
2025-10-27T18:58:26.964Z,1761591506.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:27.219Z,1761591507.219 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:27.262Z,1761591507.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255394,0.965024,-0.059179],[-0.961940,0.259777,0.084778],[0.097186,0.035275,0.994641]]
2025-10-27T18:58:27.472Z,1761591507.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:27.665Z,1761591507.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240599,0.970387,0.021494],[-0.962986,0.235874,0.130469],[0.121536,-0.052089,0.991219]]
2025-10-27T18:58:27.728Z,1761591507.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:27.976Z,1761591507.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:28.070Z,1761591508.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247265,0.963946,0.098324],[-0.962995,0.233246,0.135041],[0.107239,-0.128076,0.985949]]
2025-10-27T18:58:28.228Z,1761591508.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:28.476Z,1761591508.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271101,0.955579,0.115645],[-0.961094,0.262121,0.087132],[0.052948,-0.134768,0.989462]]
2025-10-27T18:58:28.480Z,1761591508.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:28.732Z,1761591508.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:28.878Z,1761591508.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263920,0.958490,0.107901],[-0.964262,0.259478,0.053572],[0.023350,-0.118184,0.992717]]
2025-10-27T18:58:28.984Z,1761591508.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:29.223Z,1761591509.223 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:58:29.236Z,1761591509.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:29.281Z,1761591509.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272495,0.960129,0.062438],[-0.961985,0.270645,0.036547],[0.018191,-0.070024,0.997379]]
2025-10-27T18:58:29.488Z,1761591509.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:29.697Z,1761591509.697 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T18:58:29.742Z,1761591509.742 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:29.992Z,1761591509.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:30.091Z,1761591510.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269529,0.962988,0.002957],[-0.961797,0.269040,0.050634],[0.047965,-0.016491,0.998713]]
2025-10-27T18:58:30.244Z,1761591510.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:30.494Z,1761591510.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258339,0.965885,0.018111],[-0.959833,0.254506,0.118104],[0.109465,-0.047894,0.992836]]
2025-10-27T18:58:30.501Z,1761591510.501 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:30.748Z,1761591510.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:30.898Z,1761591510.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253793,0.965457,0.059010],[-0.955941,0.241051,0.167546],[0.147534,-0.098932,0.984097]]
2025-10-27T18:58:31.007Z,1761591511.007 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:31.260Z,1761591511.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:31.302Z,1761591511.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253426,0.961693,0.104505],[-0.960517,0.237340,0.145176],[0.114812,-0.137170,0.983871]]
2025-10-27T18:58:31.512Z,1761591511.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:31.707Z,1761591511.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279599,0.954031,0.107931],[-0.958095,0.269950,0.095818],[0.062277,-0.130199,0.989530]]
2025-10-27T18:58:31.764Z,1761591511.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:32.016Z,1761591512.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:32.110Z,1761591512.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289920,0.953308,0.084555],[-0.956937,0.287389,0.040979],[0.014765,-0.092794,0.995576]]
2025-10-27T18:58:32.268Z,1761591512.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:32.514Z,1761591512.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278345,0.958692,0.058593],[-0.960437,0.277229,0.026545],[0.009205,-0.063664,0.997929]]
2025-10-27T18:58:32.520Z,1761591512.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:32.774Z,1761591512.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:32.918Z,1761591512.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274816,0.960932,0.032958],[-0.961263,0.273830,0.031483],[0.021228,-0.040334,0.998961]]
2025-10-27T18:58:33.032Z,1761591513.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:33.284Z,1761591513.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:33.322Z,1761591513.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291350,0.956095,0.031589],[-0.956495,0.290629,0.025527],[0.015225,-0.037652,0.999175]]
2025-10-27T18:58:33.536Z,1761591513.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:33.727Z,1761591513.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280360,0.958956,0.042443],[-0.959804,0.280668,-0.001359],[-0.013216,-0.040356,0.999098]]
2025-10-27T18:58:33.788Z,1761591513.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:34.040Z,1761591514.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:34.137Z,1761591514.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243597,0.967056,0.073917],[-0.969876,0.242832,0.019305],[0.000720,-0.076393,0.997078]]
2025-10-27T18:58:34.292Z,1761591514.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:34.540Z,1761591514.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299196,0.947888,0.109499],[-0.953843,0.294010,0.061167],[0.025786,-0.122746,0.992103]]
2025-10-27T18:58:34.544Z,1761591514.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:34.798Z,1761591514.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:35.048Z,1761591515.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:35.300Z,1761591515.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:35.347Z,1761591515.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300510,0.953588,0.019096],[-0.952809,0.299241,0.051086],[0.043001,-0.033546,0.998512]]
2025-10-27T18:58:35.552Z,1761591515.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:35.752Z,1761591515.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296113,0.955120,0.007973],[-0.952641,0.294719,0.074940],[0.069227,-0.029786,0.997156]]
2025-10-27T18:58:35.804Z,1761591515.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:36.056Z,1761591516.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:36.152Z,1761591516.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270284,0.960073,0.072152],[-0.957529,0.260236,0.124163],[0.100429,-0.102647,0.989635]]
2025-10-27T18:58:36.308Z,1761591516.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:36.554Z,1761591516.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276879,0.954431,0.111350],[-0.955984,0.261893,0.132312],[0.097121,-0.143084,0.984934]]
2025-10-27T18:58:36.560Z,1761591516.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:36.814Z,1761591516.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:36.958Z,1761591516.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297148,0.948591,0.108985],[-0.952567,0.286650,0.102215],[0.065720,-0.134189,0.988774]]
2025-10-27T18:58:37.064Z,1761591517.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:37.316Z,1761591517.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:37.568Z,1761591517.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:37.766Z,1761591517.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334644,0.941009,0.050153],[-0.941446,0.331526,0.061403],[0.041154,-0.067764,0.996852]]
2025-10-27T18:58:37.821Z,1761591517.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:38.072Z,1761591518.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:38.169Z,1761591518.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339495,0.940377,0.020812],[-0.940267,0.338694,0.034411],[0.025310,-0.031251,0.999191]]
2025-10-27T18:58:38.271Z,1761591518.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:58:38.324Z,1761591518.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:38.573Z,1761591518.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359135,0.933285,0.001422],[-0.933270,0.359120,0.006307],[0.005376,-0.003592,0.999979]]
2025-10-27T18:58:38.576Z,1761591518.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:38.828Z,1761591518.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:38.982Z,1761591518.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361873,0.932027,0.019314],[-0.932227,0.361802,0.007168],[-0.000306,-0.020599,0.999788]]
2025-10-27T18:58:39.080Z,1761591519.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:39.332Z,1761591519.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:39.382Z,1761591519.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348728,0.935983,0.048221],[-0.937200,0.348625,0.010805],[-0.006698,-0.048961,0.998778]]
2025-10-27T18:58:39.584Z,1761591519.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:39.836Z,1761591519.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:40.088Z,1761591520.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:40.189Z,1761591520.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366442,0.922387,0.122158],[-0.930183,0.360079,0.071431],[0.021901,-0.139805,0.989937]]
2025-10-27T18:58:40.340Z,1761591520.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:40.592Z,1761591520.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:40.596Z,1761591520.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356893,0.925087,0.129778],[-0.931256,0.341421,0.127256],[0.073414,-0.166273,0.983343]]
2025-10-27T18:58:40.844Z,1761591520.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:40.998Z,1761591520.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347143,0.930662,0.115585],[-0.932361,0.329223,0.149385],[0.100974,-0.159624,0.982000]]
2025-10-27T18:58:41.096Z,1761591521.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:41.348Z,1761591521.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:41.402Z,1761591521.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365934,0.925277,0.099773],[-0.927047,0.353007,0.126374],[0.081711,-0.138739,0.986952]]
2025-10-27T18:58:41.600Z,1761591521.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:41.806Z,1761591521.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367098,0.925077,0.097317],[-0.930108,0.363730,0.050998],[0.011780,-0.109236,0.993946]]
2025-10-27T18:58:41.852Z,1761591521.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:42.104Z,1761591522.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:42.210Z,1761591522.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354624,0.930448,0.092235],[-0.933961,0.357167,-0.012147],[-0.044245,-0.081836,0.995663]]
2025-10-27T18:58:42.356Z,1761591522.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:42.608Z,1761591522.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:42.860Z,1761591522.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:43.018Z,1761591523.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368530,0.929331,0.022990],[-0.929595,0.368573,0.002509],[-0.006142,-0.022296,0.999733]]
2025-10-27T18:58:43.112Z,1761591523.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:43.364Z,1761591523.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:43.424Z,1761591523.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365617,0.930319,0.028829],[-0.930633,0.365912,-0.005508],[-0.015673,-0.024815,0.999569]]
2025-10-27T18:58:43.616Z,1761591523.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:43.826Z,1761591523.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363471,0.930015,0.054407],[-0.931318,0.364189,-0.003567],[-0.023132,-0.049373,0.998512]]
2025-10-27T18:58:43.868Z,1761591523.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:44.120Z,1761591524.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:44.230Z,1761591524.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367707,0.928539,0.051060],[-0.929941,0.367212,0.019108],[-0.001007,-0.054509,0.998513]]
2025-10-27T18:58:44.372Z,1761591524.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:44.624Z,1761591524.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:44.635Z,1761591524.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371416,0.928332,0.015814],[-0.927462,0.370169,0.052807],[0.043169,-0.034280,0.998479]]
2025-10-27T18:58:44.876Z,1761591524.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:45.038Z,1761591525.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378219,0.925596,-0.014881],[-0.921636,0.378012,0.087714],[0.086813,-0.019460,0.996035]]
2025-10-27T18:58:45.137Z,1761591525.137 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:45.388Z,1761591525.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:45.444Z,1761591525.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388160,0.921508,0.012430],[-0.917499,0.385131,0.099348],[0.086763,-0.049968,0.994975]]
2025-10-27T18:58:45.640Z,1761591525.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:45.846Z,1761591525.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398052,0.913792,0.080862],[-0.915442,0.389970,0.099448],[0.059340,-0.113610,0.991752]]
2025-10-27T18:58:45.892Z,1761591525.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:46.146Z,1761591526.146 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:46.249Z,1761591526.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395119,0.912643,0.104706],[-0.915665,0.382127,0.124643],[0.073744,-0.145125,0.986661]]
2025-10-27T18:58:46.396Z,1761591526.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:46.648Z,1761591526.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:46.656Z,1761591526.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399616,0.913786,0.072815],[-0.907894,0.383562,0.169140],[0.126628,-0.133700,0.982899]]
2025-10-27T18:58:46.900Z,1761591526.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:46.928Z,1761591526.928 [DataOverHttps](IMPORTANT): SBD MTMSN=20251027T185845
2025-10-27T18:58:47.059Z,1761591527.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422044,0.906521,0.009911],[-0.890345,0.412404,0.192894],[0.170775,-0.090234,0.981170]]
2025-10-27T18:58:47.152Z,1761591527.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:47.404Z,1761591527.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:47.462Z,1761591527.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398974,0.915579,-0.050343],[-0.894278,0.400653,0.199357],[0.202697,-0.034518,0.978633]]
2025-10-27T18:58:47.656Z,1761591527.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:47.866Z,1761591527.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376811,0.924593,-0.056054],[-0.899158,0.379642,0.217685],[0.222550,-0.031625,0.974408]]
2025-10-27T18:58:47.908Z,1761591527.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:48.160Z,1761591528.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:48.270Z,1761591528.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396933,0.917847,-0.001182],[-0.897085,0.388226,0.210996],[0.194121,-0.082691,0.977486]]
2025-10-27T18:58:48.412Z,1761591528.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:48.664Z,1761591528.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:48.678Z,1761591528.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408753,0.911806,0.039122],[-0.902343,0.397345,0.167016],[0.136741,-0.103570,0.985178]]
2025-10-27T18:58:48.916Z,1761591528.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:49.077Z,1761591529.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412475,0.908976,0.060222],[-0.907621,0.404399,0.112629],[0.078023,-0.101116,0.991810]]
2025-10-27T18:58:49.168Z,1761591529.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:49.420Z,1761591529.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:49.481Z,1761591529.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411117,0.911209,0.026073],[-0.908389,0.407117,0.095319],[0.076241,-0.062872,0.995105]]
2025-10-27T18:58:49.672Z,1761591529.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:49.885Z,1761591529.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419931,0.906711,-0.039157],[-0.900238,0.421625,0.108650],[0.115024,-0.010375,0.993309]]
2025-10-27T18:58:49.924Z,1761591529.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:50.176Z,1761591530.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:50.291Z,1761591530.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439232,0.895146,-0.076081],[-0.889319,0.445237,0.104289],[0.127228,0.021853,0.991633]]
2025-10-27T18:58:50.428Z,1761591530.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:50.680Z,1761591530.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:50.700Z,1761591530.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447728,0.892465,-0.055186],[-0.886786,0.451099,0.100596],[0.114673,0.003899,0.993396]]
2025-10-27T18:58:50.932Z,1761591530.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:51.098Z,1761591531.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437035,0.899443,0.001722],[-0.891140,0.432740,0.136400],[0.121939,-0.061146,0.990652]]
2025-10-27T18:58:51.184Z,1761591531.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:51.436Z,1761591531.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:51.688Z,1761591531.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:51.906Z,1761591531.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402543,0.909031,0.107806],[-0.889176,0.360302,0.282044],[0.217543,-0.209393,0.953325]]
2025-10-27T18:58:51.940Z,1761591531.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:52.192Z,1761591532.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:52.444Z,1761591532.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:52.696Z,1761591532.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:52.948Z,1761591532.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:53.118Z,1761591533.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424962,0.904928,-0.022640],[-0.897726,0.424526,0.117756],[0.116172,-0.029717,0.992784]]
2025-10-27T18:58:53.200Z,1761591533.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:53.452Z,1761591533.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:53.522Z,1761591533.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424202,0.898621,-0.111952],[-0.900116,0.431959,0.056598],[0.099218,0.076761,0.992101]]
2025-10-27T18:58:53.704Z,1761591533.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:53.926Z,1761591533.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413954,0.903274,-0.112864],[-0.905555,0.421259,0.050105],[0.092803,0.081464,0.992346]]
2025-10-27T18:58:53.956Z,1761591533.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:54.209Z,1761591534.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:54.329Z,1761591534.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394104,0.918933,-0.015595],[-0.916519,0.394218,0.067714],[0.068373,-0.012394,0.997583]]
2025-10-27T18:58:54.460Z,1761591534.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:54.712Z,1761591534.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:54.737Z,1761591534.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392891,0.914795,0.093741],[-0.919193,0.387703,0.069067],[0.026839,-0.113302,0.993198]]
2025-10-27T18:58:54.964Z,1761591534.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:55.138Z,1761591535.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396567,0.905663,0.150033],[-0.917978,0.389953,0.072480],[0.007137,-0.166470,0.986021]]
2025-10-27T18:58:55.216Z,1761591535.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:55.271Z,1761591535.271 [DataOverHttps](INFO): Received command: run Maintenance/run_backseat_on_surface.tl
2025-10-27T18:58:55.339Z,1761591535.339 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-27T18:58:55.340Z,1761591535.340 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-27T18:58:55.340Z,1761591535.340 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-27T18:58:55.344Z,1761591535.344 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-27T18:58:55.468Z,1761591535.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:55.542Z,1761591535.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395010,0.908781,0.134478],[-0.918676,0.390977,0.056314],[-0.001401,-0.145786,0.989315]]
2025-10-27T18:58:55.720Z,1761591535.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:55.946Z,1761591535.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390038,0.916829,0.085412],[-0.920247,0.391334,0.001691],[-0.031874,-0.079259,0.996344]]
2025-10-27T18:58:55.972Z,1761591535.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:56.224Z,1761591536.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:56.352Z,1761591536.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402593,0.915315,0.010866],[-0.915056,0.402738,-0.021771],[-0.024304,-0.001178,0.999704]]
2025-10-27T18:58:56.476Z,1761591536.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:56.728Z,1761591536.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:56.774Z,1761591536.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409407,0.911425,-0.041119],[-0.912219,0.409701,-0.001384],[0.015585,0.038077,0.999153]]
2025-10-27T18:58:56.980Z,1761591536.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:57.158Z,1761591537.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378090,0.925756,-0.004931],[-0.924610,0.377878,0.047998],[0.046298,-0.013588,0.998835]]
2025-10-27T18:58:57.232Z,1761591537.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:57.276Z,1761591537.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:58:57.484Z,1761591537.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:57.562Z,1761591537.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359847,0.930424,0.069435],[-0.930865,0.352979,0.094323],[0.063252,-0.098576,0.993117]]
2025-10-27T18:58:57.736Z,1761591537.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:57.967Z,1761591537.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365834,0.924816,0.104306],[-0.927559,0.353139,0.122177],[0.076156,-0.141446,0.987012]]
2025-10-27T18:58:57.991Z,1761591537.991 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:58.240Z,1761591538.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:58.372Z,1761591538.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372230,0.921642,0.109639],[-0.925417,0.359496,0.119860],[0.071053,-0.146077,0.986718]]
2025-10-27T18:58:58.498Z,1761591538.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:58.748Z,1761591538.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:58.825Z,1761591538.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356580,0.926446,0.120618],[-0.932835,0.345916,0.100803],[0.051665,-0.148461,0.987568]]
2025-10-27T18:58:59.000Z,1761591539.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:59.178Z,1761591539.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346628,0.931060,0.113909],[-0.936398,0.336375,0.100053],[0.054839,-0.141345,0.988440]]
2025-10-27T18:58:59.252Z,1761591539.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:59.504Z,1761591539.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:59.583Z,1761591539.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375217,0.923379,0.081142],[-0.925211,0.367741,0.093549],[0.056542,-0.110174,0.992303]]
2025-10-27T18:58:59.753Z,1761591539.753 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-10-27T18:58:59.756Z,1761591539.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:58:59.769Z,1761591539.769 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min
2025-10-27T18:58:59.769Z,1761591539.769 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-27T18:58:59.769Z,1761591539.769 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-27T18:58:59.778Z,1761591539.778 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-27T18:58:59.986Z,1761591539.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397371,0.917213,0.028583],[-0.915370,0.393989,0.082893],[0.064770,-0.059103,0.996148]]
2025-10-27T18:59:00.008Z,1761591540.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:00.260Z,1761591540.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:00.390Z,1761591540.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376915,0.926236,0.004747],[-0.922647,0.374993,0.090009],[0.081589,-0.038306,0.995930]]
2025-10-27T18:59:00.512Z,1761591540.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:00.766Z,1761591540.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:00.826Z,1761591540.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367544,0.929801,0.019529],[-0.928242,0.365474,0.069245],[0.057246,-0.043579,0.997409]]
2025-10-27T18:59:01.016Z,1761591541.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:01.200Z,1761591541.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387914,0.919830,0.058607],[-0.921230,0.384914,0.056359],[0.029282,-0.075853,0.996689]]
2025-10-27T18:59:01.268Z,1761591541.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:01.520Z,1761591541.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:01.602Z,1761591541.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402452,0.914291,0.045881],[-0.913061,0.397289,0.092093],[0.065972,-0.078955,0.994693]]
2025-10-27T18:59:01.772Z,1761591541.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:02.006Z,1761591542.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385618,0.922579,-0.012078],[-0.912442,0.383258,0.143395],[0.136923,-0.044275,0.989592]]
2025-10-27T18:59:02.024Z,1761591542.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:02.276Z,1761591542.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:02.410Z,1761591542.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361347,0.931794,-0.034480],[-0.914432,0.361360,0.182301],[0.182327,-0.034344,0.982638]]
2025-10-27T18:59:02.529Z,1761591542.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:02.782Z,1761591542.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:02.833Z,1761591542.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354751,0.934906,0.010144],[-0.917847,0.346171,0.194225],[0.178071,-0.078212,0.980905]]
2025-10-27T18:59:03.032Z,1761591543.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:03.218Z,1761591543.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348412,0.933745,0.082027],[-0.923446,0.326918,0.200930],[0.160801,-0.145754,0.976165]]
2025-10-27T18:59:03.284Z,1761591543.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:03.536Z,1761591543.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:03.622Z,1761591543.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336594,0.934448,0.116237],[-0.929950,0.310472,0.196977],[0.147977,-0.174396,0.973493]]
2025-10-27T18:59:03.788Z,1761591543.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:04.026Z,1761591544.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339042,0.936505,0.089499],[-0.931233,0.320569,0.173322],[0.133626,-0.142107,0.980790]]
2025-10-27T18:59:04.040Z,1761591544.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:04.292Z,1761591544.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:04.430Z,1761591544.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345782,0.938186,0.015553],[-0.928729,0.339839,0.148225],[0.133777,-0.065698,0.988831]]
2025-10-27T18:59:04.544Z,1761591544.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:04.798Z,1761591544.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:04.836Z,1761591544.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348665,0.936336,-0.041324],[-0.925599,0.350926,0.141833],[0.147305,-0.011203,0.989028]]
2025-10-27T18:59:05.048Z,1761591545.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:05.238Z,1761591545.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343866,0.938273,-0.037416],[-0.929686,0.345782,0.126958],[0.132059,-0.008871,0.991202]]
2025-10-27T18:59:05.300Z,1761591545.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:05.552Z,1761591545.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:05.643Z,1761591545.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333409,0.942770,0.004833],[-0.935447,0.330172,0.126194],[0.117376,-0.046595,0.991994]]
2025-10-27T18:59:05.804Z,1761591545.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:06.046Z,1761591546.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336291,0.939950,0.058326],[-0.933923,0.324880,0.149132],[0.121227,-0.104624,0.987096]]
2025-10-27T18:59:06.056Z,1761591546.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:06.308Z,1761591546.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:06.450Z,1761591546.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332257,0.940491,0.071284],[-0.933860,0.317427,0.164761],[0.132329,-0.121312,0.983754]]
2025-10-27T18:59:06.560Z,1761591546.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:06.814Z,1761591546.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:06.855Z,1761591546.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342658,0.938386,0.044911],[-0.931175,0.332913,0.148598],[0.124491,-0.092738,0.987877]]
2025-10-27T18:59:07.064Z,1761591547.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:07.260Z,1761591547.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353632,0.935329,0.010210],[-0.926793,0.348886,0.139047],[0.126492,-0.058633,0.990233]]
2025-10-27T18:59:07.316Z,1761591547.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:07.568Z,1761591547.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:07.662Z,1761591547.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325337,0.945503,0.013436],[-0.933702,0.318965,0.162673],[0.149522,-0.065469,0.986589]]
2025-10-27T18:59:07.820Z,1761591547.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:08.045Z,1761591548.045 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-27T18:59:08.066Z,1761591548.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318821,0.946697,0.046020],[-0.935168,0.306290,0.177897],[0.154319,-0.099754,0.982973]]
2025-10-27T18:59:08.072Z,1761591548.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:08.158Z,1761591548.158 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool
2025-10-27T18:59:08.165Z,1761591548.165 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-27T18:59:08.180Z,1761591548.180 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectChlActive = 0 bool
2025-10-27T18:59:08.191Z,1761591548.191 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min
2025-10-27T18:59:08.194Z,1761591548.194 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool
2025-10-27T18:59:08.201Z,1761591548.201 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool
2025-10-27T18:59:08.215Z,1761591548.215 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool
2025-10-27T18:59:08.218Z,1761591548.218 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool
2025-10-27T18:59:08.225Z,1761591548.225 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count
2025-10-27T18:59:08.229Z,1761591548.229 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-27T18:59:08.244Z,1761591548.244 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-27T18:59:08.246Z,1761591548.246 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool
2025-10-27T18:59:08.253Z,1761591548.253 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool
2025-10-27T18:59:08.272Z,1761591548.272 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool
2025-10-27T18:59:08.274Z,1761591548.274 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool
2025-10-27T18:59:08.281Z,1761591548.281 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T18:59:08.286Z,1761591548.286 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T18:59:08.297Z,1761591548.297 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T18:59:08.311Z,1761591548.311 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T18:59:08.314Z,1761591548.314 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T18:59:08.321Z,1761591548.321 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T18:59:08.324Z,1761591548.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:08.326Z,1761591548.326 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T18:59:08.337Z,1761591548.337 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T18:59:08.346Z,1761591548.346 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-27T18:59:08.354Z,1761591548.354 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool
2025-10-27T18:59:08.367Z,1761591548.367 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool
2025-10-27T18:59:08.371Z,1761591548.371 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledRBRTridente = 0 bool
2025-10-27T18:59:08.386Z,1761591548.386 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 1 bool
2025-10-27T18:59:08.406Z,1761591548.406 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-27T18:59:08.410Z,1761591548.410 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-27T18:59:08.422Z,1761591548.422 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool
2025-10-27T18:59:08.430Z,1761591548.430 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count
2025-10-27T18:59:08.449Z,1761591548.449 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count
2025-10-27T18:59:08.453Z,1761591548.453 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ShallowBound = nan m
2025-10-27T18:59:08.470Z,1761591548.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338939,0.937158,0.082801],[-0.937418,0.328942,0.114217],[0.079803,-0.116332,0.989999]]
2025-10-27T18:59:08.500Z,1761591548.500 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DeepBound = nan m
2025-10-27T18:59:08.512Z,1761591548.512 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-27T18:59:08.527Z,1761591548.527 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalAscent = nan %
2025-10-27T18:59:08.530Z,1761591548.530 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalDescent = nan %
2025-10-27T18:59:08.537Z,1761591548.537 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-27T18:59:08.552Z,1761591548.552 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumberOfLayers = 1.000000 count
2025-10-27T18:59:08.560Z,1761591548.560 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool
2025-10-27T18:59:08.565Z,1761591548.565 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l
2025-10-27T18:59:08.576Z,1761591548.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:08.584Z,1761591548.584 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l
2025-10-27T18:59:08.600Z,1761591548.600 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count
2025-10-27T18:59:08.607Z,1761591548.607 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-27T18:59:08.610Z,1761591548.610 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-27T18:59:08.618Z,1761591548.618 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-27T18:59:08.625Z,1761591548.625 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-27T18:59:08.629Z,1761591548.629 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.GoDown = 1 bool
2025-10-27T18:59:08.640Z,1761591548.640 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l
2025-10-27T18:59:08.644Z,1761591548.644 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m
2025-10-27T18:59:08.656Z,1761591548.656 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC
2025-10-27T18:59:08.663Z,1761591548.663 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg
2025-10-27T18:59:08.666Z,1761591548.666 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg
2025-10-27T18:59:08.674Z,1761591548.674 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlAvgProfiles = nan ug/l
2025-10-27T18:59:08.688Z,1761591548.688 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepthAvgProfiles = nan m
2025-10-27T18:59:08.695Z,1761591548.695 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChl = nan ug/l
2025-10-27T18:59:08.702Z,1761591548.702 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlDepth = nan m
2025-10-27T18:59:08.705Z,1761591548.705 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlTemperature = nan degC
2025-10-27T18:59:08.710Z,1761591548.710 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLatitude = nan arcdeg
2025-10-27T18:59:08.722Z,1761591548.722 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLongitude = nan arcdeg
2025-10-27T18:59:08.726Z,1761591548.726 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l
2025-10-27T18:59:08.749Z,1761591548.749 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m
2025-10-27T18:59:08.796Z,1761591548.796 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg
2025-10-27T18:59:08.828Z,1761591548.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:08.840Z,1761591548.840 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg
2025-10-27T18:59:08.874Z,1761591548.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328623,0.940472,0.086718],[-0.943964,0.324085,0.062455],[0.030633,-0.102383,0.994273]]
2025-10-27T18:59:08.908Z,1761591548.908 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3
2025-10-27T18:59:08.923Z,1761591548.923 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m
2025-10-27T18:59:08.933Z,1761591548.933 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg
2025-10-27T18:59:08.941Z,1761591548.941 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg
2025-10-27T18:59:08.948Z,1761591548.948 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb
2025-10-27T18:59:08.974Z,1761591548.974 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m
2025-10-27T18:59:08.984Z,1761591548.984 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC
2025-10-27T18:59:09.006Z,1761591549.006 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg
2025-10-27T18:59:09.014Z,1761591549.014 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg
2025-10-27T18:59:09.021Z,1761591549.021 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu
2025-10-27T18:59:09.029Z,1761591549.029 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m
2025-10-27T18:59:09.033Z,1761591549.033 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC
2025-10-27T18:59:09.048Z,1761591549.048 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg
2025-10-27T18:59:09.055Z,1761591549.055 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg
2025-10-27T18:59:09.058Z,1761591549.058 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-27T18:59:09.066Z,1761591549.066 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-27T18:59:09.073Z,1761591549.073 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-27T18:59:09.080Z,1761591549.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:09.082Z,1761591549.082 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T18:59:09.090Z,1761591549.090 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T18:59:09.094Z,1761591549.094 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-27T18:59:09.110Z,1761591549.110 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-27T18:59:09.118Z,1761591549.118 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-27T18:59:09.121Z,1761591549.121 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T18:59:09.134Z,1761591549.134 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T18:59:09.138Z,1761591549.138 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-27T18:59:09.154Z,1761591549.154 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-27T18:59:09.158Z,1761591549.158 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-27T18:59:09.170Z,1761591549.170 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T18:59:09.177Z,1761591549.177 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T18:59:09.193Z,1761591549.193 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-27T18:59:09.197Z,1761591549.197 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-27T18:59:09.209Z,1761591549.209 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-27T18:59:09.213Z,1761591549.213 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T18:59:09.225Z,1761591549.225 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T18:59:09.232Z,1761591549.232 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-27T18:59:09.240Z,1761591549.240 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-27T18:59:09.247Z,1761591549.247 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-27T18:59:09.250Z,1761591549.250 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T18:59:09.258Z,1761591549.258 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T18:59:09.278Z,1761591549.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309325,0.948601,0.066882],[-0.947854,0.301877,0.102191],[0.076748,-0.095005,0.992514]]
2025-10-27T18:59:09.297Z,1761591549.297 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-27T18:59:09.305Z,1761591549.305 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-27T18:59:09.325Z,1761591549.325 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-27T18:59:09.332Z,1761591549.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:09.337Z,1761591549.337 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T18:59:09.355Z,1761591549.355 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T18:59:09.364Z,1761591549.364 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-27T18:59:09.383Z,1761591549.383 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-27T18:59:09.400Z,1761591549.400 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T18:59:09.408Z,1761591549.408 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T18:59:09.416Z,1761591549.416 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T18:59:09.423Z,1761591549.423 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-27T18:59:09.435Z,1761591549.435 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-27T18:59:09.438Z,1761591549.438 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T18:59:09.446Z,1761591549.446 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T18:59:09.454Z,1761591549.454 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T18:59:09.457Z,1761591549.457 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l
2025-10-27T18:59:09.469Z,1761591549.469 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m
2025-10-27T18:59:09.472Z,1761591549.472 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg
2025-10-27T18:59:09.488Z,1761591549.488 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg
2025-10-27T18:59:09.493Z,1761591549.493 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m
2025-10-27T18:59:09.497Z,1761591549.497 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu
2025-10-27T18:59:09.508Z,1761591549.508 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m
2025-10-27T18:59:09.516Z,1761591549.516 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg
2025-10-27T18:59:09.523Z,1761591549.523 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg
2025-10-27T18:59:09.534Z,1761591549.534 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m
2025-10-27T18:59:09.538Z,1761591549.538 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu
2025-10-27T18:59:09.550Z,1761591549.550 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m
2025-10-27T18:59:09.553Z,1761591549.553 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg
2025-10-27T18:59:09.557Z,1761591549.557 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg
2025-10-27T18:59:09.568Z,1761591549.568 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m
2025-10-27T18:59:09.571Z,1761591549.571 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool
2025-10-27T18:59:09.575Z,1761591549.575 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l
2025-10-27T18:59:09.584Z,1761591549.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:09.630Z,1761591549.630 [run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:09.683Z,1761591549.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296166,0.952096,0.076148],[-0.945470,0.280922,0.164829],[0.135541,-0.120812,0.983378]]
2025-10-27T18:59:09.705Z,1761591549.705 [run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T18:59:09.781Z,1761591549.781 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T18:59:09.826Z,1761591549.826 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T18:59:09.836Z,1761591549.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:09.850Z,1761591549.850 [run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:09.874Z,1761591549.874 [run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:09.897Z,1761591549.897 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T18:59:09.933Z,1761591549.933 [run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:09.966Z,1761591549.966 [run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:09.996Z,1761591549.996 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T18:59:10.022Z,1761591550.022 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:10.057Z,1761591550.057 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T18:59:10.086Z,1761591550.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280705,0.953150,0.112738],[-0.952022,0.261587,0.158828],[0.121896,-0.151913,0.980849]]
2025-10-27T18:59:10.088Z,1761591550.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:10.181Z,1761591550.181 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:10.214Z,1761591550.214 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T18:59:10.265Z,1761591550.265 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:10.307Z,1761591550.307 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T18:59:10.340Z,1761591550.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:10.354Z,1761591550.354 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T18:59:10.389Z,1761591550.389 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T18:59:10.448Z,1761591550.448 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-27T18:59:10.464Z,1761591550.464 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-27T18:59:10.464Z,1761591550.464 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-27T18:59:10.465Z,1761591550.465 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-27T18:59:10.490Z,1761591550.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280782,0.952755,0.115840],[-0.958400,0.271881,0.086890],[0.051290,-0.135418,0.989460]]
2025-10-27T18:59:10.561Z,1761591550.561 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-27T18:59:10.581Z,1761591550.581 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool
2025-10-27T18:59:10.592Z,1761591550.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:10.599Z,1761591550.599 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-27T18:59:10.611Z,1761591550.611 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T18:59:10.615Z,1761591550.615 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-27T18:59:10.615Z,1761591550.615 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-27T18:59:10.616Z,1761591550.616 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-27T18:59:10.844Z,1761591550.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:10.894Z,1761591550.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283087,0.955386,0.084251],[-0.959085,0.282383,0.020411],[-0.004291,-0.086582,0.996236]]
2025-10-27T18:59:10.952Z,1761591550.952 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-27T18:59:10.969Z,1761591550.969 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool
2025-10-27T18:59:10.985Z,1761591550.985 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool
2025-10-27T18:59:10.000Z,1761591551.000 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool
2025-10-27T18:59:11.003Z,1761591551.003 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool
2025-10-27T18:59:11.025Z,1761591551.025 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-27T18:59:11.050Z,1761591551.050 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-27T18:59:11.060Z,1761591551.060 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-27T18:59:11.096Z,1761591551.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:11.097Z,1761591551.097 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-10-27T18:59:11.104Z,1761591551.104 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-10-27T18:59:11.110Z,1761591551.110 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute.
2025-10-27T18:59:11.208Z,1761591551.208 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-10-27T18:59:11.222Z,1761591551.222 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-27T18:59:11.298Z,1761591551.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268093,0.960783,0.070866],[-0.963185,0.265782,0.040427],[0.020007,-0.079095,0.996666]]
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock] Stopped
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-27T18:59:11.325Z,1761591551.325 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T18:59:11.325Z,1761591551.325 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:A] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:D] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:F] Running Loop=1
2025-10-27T18:59:11.326Z,1761591551.326 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1
2025-10-27T18:59:11.327Z,1761591551.327 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:PeakDetectChl:A] Running Loop=1
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:EdgeDetectChl] Running Loop=1
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:EdgeDetectChl:A] Running Loop=1
2025-10-27T18:59:11.331Z,1761591551.331 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-27T18:59:11.332Z,1761591551.332 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectNO3:A] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:PeakDetectOil:A] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T18:59:11.333Z,1761591551.333 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-27T18:59:11.334Z,1761591551.334 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1
2025-10-27T18:59:11.335Z,1761591551.335 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-27T18:59:11.339Z,1761591551.339 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T18:59:11.339Z,1761591551.339 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T18:59:11.339Z,1761591551.339 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T18:59:11.340Z,1761591551.340 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T18:59:11.341Z,1761591551.341 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1
2025-10-27T18:59:11.342Z,1761591551.342 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-27T18:59:11.348Z,1761591551.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:11.348Z,1761591551.348 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-27T18:59:11.348Z,1761591551.348 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly
2025-10-27T18:59:11.349Z,1761591551.349 [run_backseat_on_surface:PowerOnly:A] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:PowerOnly:C] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:PowerOnly:D] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:E.GoToSurface] Running Loop=1
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-27T18:59:11.350Z,1761591551.350 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-27T18:59:11.351Z,1761591551.351 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-27T18:59:11.359Z,1761591551.359 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-27T18:59:11.359Z,1761591551.359 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-27T18:59:11.360Z,1761591551.360 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-27T18:59:11.360Z,1761591551.360 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-27T18:59:11.360Z,1761591551.360 [run_backseat_on_surface:C] Running Loop=1
2025-10-27T18:59:11.361Z,1761591551.361 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:PowerOnly:D] Stopped
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:PowerOnly:C] Stopped
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:PowerOnly:B] Stopped
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:PowerOnly:A] Stopped
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:C] Stopped
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-27T18:59:11.362Z,1761591551.362 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-27T18:59:11.405Z,1761591551.405 [run_backseat_on_surface:Science] Running Loop=1
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T18:59:11.407Z,1761591551.407 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-27T18:59:11.408Z,1761591551.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped
2025-10-27T18:59:11.409Z,1761591551.409 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectOil] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectOil:A] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped
2025-10-27T18:59:11.410Z,1761591551.410 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-27T18:59:11.411Z,1761591551.411 [run_backseat_on_surface:Science:PeakDetectNO3:A] Stopped
2025-10-27T18:59:11.411Z,1761591551.411 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:EdgeDetectChl] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:EdgeDetectChl:A] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:PeakDetectChl] Stopped
2025-10-27T18:59:11.417Z,1761591551.417 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-27T18:59:11.418Z,1761591551.418 [run_backseat_on_surface:Science:PeakDetectChl:A] Stopped
2025-10-27T18:59:11.418Z,1761591551.418 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T18:59:11.423Z,1761591551.423 [run_backseat_on_surface:Science:Read_Oil] Stopped
2025-10-27T18:59:11.423Z,1761591551.423 [run_backseat_on_surface:Science:F] Stopped
2025-10-27T18:59:11.423Z,1761591551.423 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-27T18:59:11.424Z,1761591551.424 [run_backseat_on_surface:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-27T18:59:11.424Z,1761591551.424 [run_backseat_on_surface:Science:D] Stopped
2025-10-27T18:59:11.424Z,1761591551.424 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-27T18:59:11.425Z,1761591551.425 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-27T18:59:11.425Z,1761591551.425 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-27T18:59:11.425Z,1761591551.425 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-27T18:59:11.426Z,1761591551.426 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-27T18:59:11.431Z,1761591551.431 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-27T18:59:11.431Z,1761591551.431 [run_backseat_on_surface:Science:A] Stopped
2025-10-27T18:59:11.579Z,1761591551.579 [BackseatComponent](INFO): Powering up
2025-10-27T18:59:11.580Z,1761591551.580 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-27T18:59:11.600Z,1761591551.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:11.702Z,1761591551.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266213,0.962001,0.060696],[-0.961138,0.260144,0.092407],[0.073106,-0.082937,0.993870]]
2025-10-27T18:59:11.733Z,1761591551.733 [run_backseat_on_surface:CheckIn] Running Loop=1
2025-10-27T18:59:11.733Z,1761591551.733 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-10-27T18:59:11.733Z,1761591551.733 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-10-27T18:59:11.852Z,1761591551.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:12.104Z,1761591552.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:12.108Z,1761591552.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272785,0.960280,0.058742],[-0.960926,0.268968,0.065396],[0.046999,-0.074286,0.996129]]
2025-10-27T18:59:12.137Z,1761591552.137 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-27T18:59:12.292Z,1761591552.292 [WetLabsBB2FL](INFO): Powering up
2025-10-27T18:59:12.356Z,1761591552.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:12.509Z,1761591552.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275192,0.958074,0.079767],[-0.960929,0.276679,-0.008016],[-0.029750,-0.074444,0.996781]]
2025-10-27T18:59:12.608Z,1761591552.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:12.860Z,1761591552.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:12.914Z,1761591552.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294423,0.950262,0.101573],[-0.955288,0.295662,0.002975],[-0.027205,-0.097907,0.994824]]
2025-10-27T18:59:13.112Z,1761591553.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:13.320Z,1761591553.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294068,0.951092,0.094593],[-0.955175,0.288906,0.064603],[0.034115,-0.109351,0.993418]]
2025-10-27T18:59:13.364Z,1761591553.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:13.616Z,1761591553.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:13.722Z,1761591553.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264701,0.961314,0.076213],[-0.961770,0.257417,0.093460],[0.070226,-0.098039,0.992702]]
2025-10-27T18:59:13.730Z,1761591553.730 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185912.00,A,3646.65395,N,12151.96880,W,0.175,284.90,271025,,,D*7A
2025-10-27T18:59:13.732Z,1761591553.732 [NAL9602](INFO): GPS fix at 20251027T185912: (36.777566, -121.866147)
2025-10-27T18:59:13.799Z,1761591553.799 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-10-27T18:59:13.800Z,1761591553.800 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-10-27T18:59:13.868Z,1761591553.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:14.120Z,1761591554.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:14.128Z,1761591554.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259693,0.964955,0.037690],[-0.962031,0.255117,0.097013],[0.083997,-0.061453,0.994569]]
2025-10-27T18:59:14.181Z,1761591554.181 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-27T18:59:14.372Z,1761591554.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:14.624Z,1761591554.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:14.876Z,1761591554.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:14.889Z,1761591554.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278598,0.959992,0.028260],[-0.957857,0.275595,0.080979],[0.069951,-0.049629,0.996315]]
2025-10-27T18:59:15.116Z,1761591555.116 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-27T18:59:15.128Z,1761591555.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:15.282Z,1761591555.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277017,0.959224,0.056128],[-0.958688,0.271988,0.083307],[0.064644,-0.076887,0.994942]]
2025-10-27T18:59:15.381Z,1761591555.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:15.632Z,1761591555.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:15.678Z,1761591555.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292107,0.954270,0.063578],[-0.952080,0.283848,0.113901],[0.090646,-0.093803,0.991456]]
2025-10-27T18:59:15.884Z,1761591555.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:16.082Z,1761591556.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294177,0.953525,0.065198],[-0.954199,0.289129,0.076862],[0.054439,-0.084823,0.994908]]
2025-10-27T18:59:16.136Z,1761591556.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:16.388Z,1761591556.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:16.486Z,1761591556.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265893,0.957953,0.107823],[-0.963956,0.265314,0.019952],[-0.009493,-0.109241,0.993970]]
2025-10-27T18:59:16.640Z,1761591556.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:16.890Z,1761591556.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253206,0.955349,0.152302],[-0.966471,0.256747,-0.003721],[-0.042658,-0.146253,0.988327]]
2025-10-27T18:59:16.892Z,1761591556.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:17.144Z,1761591557.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:17.235Z,1761591557.235 [DockingStepper](ERROR): getADC uart error serial timeout
2025-10-27T18:59:17.235Z,1761591557.235 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-10-27T18:59:17.235Z,1761591557.235 [DockingStepper] Communications Fault, FailCount= 1
2025-10-27T18:59:17.235Z,1761591557.235 [DockingStepper](ERROR): Communications Fault
2025-10-27T18:59:17.240Z,1761591557.240 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-10-27T18:59:17.295Z,1761591557.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255879,0.954156,0.155283],[-0.966282,0.257217,0.011760],[-0.028720,-0.153056,0.987800]]
2025-10-27T18:59:17.396Z,1761591557.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:17.452Z,1761591557.452 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-27T18:59:17.452Z,1761591557.452 [DockingStepper](INFO): Powering down
2025-10-27T18:59:17.649Z,1761591557.649 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:17.698Z,1761591557.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230785,0.966349,0.113618],[-0.972656,0.225999,0.053520],[0.026041,-0.122863,0.992082]]
2025-10-27T18:59:17.900Z,1761591557.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:18.102Z,1761591558.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206534,0.976024,0.068713],[-0.972173,0.196770,0.127128],[0.110559,-0.093057,0.989503]]
2025-10-27T18:59:18.152Z,1761591558.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:18.360Z,1761591558.360 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251027T165046/Courier0039.lzma
2025-10-27T18:59:18.404Z,1761591558.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:18.505Z,1761591558.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215424,0.975775,0.038148],[-0.961814,0.205263,0.181055],[0.168838,-0.075694,0.982733]]
2025-10-27T18:59:18.625Z,1761591558.625 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Courier0039.lzma.bak
2025-10-27T18:59:18.625Z,1761591558.625 [DataOverHttps](INFO): SBD MOMSN=26250109
2025-10-27T18:59:18.656Z,1761591558.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:18.908Z,1761591558.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:18.915Z,1761591558.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232011,0.972568,0.016818],[-0.955427,0.224609,0.191598],[0.182565,-0.060521,0.981329]]
2025-10-27T18:59:19.160Z,1761591559.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:19.313Z,1761591559.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242377,0.969633,0.032633],[-0.958546,0.234140,0.162380],[0.149808,-0.070637,0.986189]]
2025-10-27T18:59:19.412Z,1761591559.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:19.664Z,1761591559.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:19.717Z,1761591559.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244986,0.967511,0.062481],[-0.962370,0.234857,0.136701],[0.117585,-0.093620,0.988640]]
2025-10-27T18:59:19.916Z,1761591559.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:20.122Z,1761591560.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228916,0.970621,0.074109],[-0.966567,0.217604,0.135632],[0.115521,-0.102680,0.987984]]
2025-10-27T18:59:20.168Z,1761591560.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:20.421Z,1761591560.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:20.527Z,1761591560.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225299,0.971497,0.073720],[-0.963887,0.211227,0.162189],[0.141994,-0.107599,0.984002]]
2025-10-27T18:59:20.672Z,1761591560.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:20.924Z,1761591560.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:20.931Z,1761591560.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244000,0.967030,0.072924],[-0.955627,0.226961,0.187790],[0.165048,-0.115509,0.979498]]
2025-10-27T18:59:21.176Z,1761591561.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:21.333Z,1761591561.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238264,0.969504,0.057383],[-0.959377,0.225761,0.169195],[0.151081,-0.095365,0.983911]]
2025-10-27T18:59:21.428Z,1761591561.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:21.680Z,1761591561.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:21.753Z,1761591561.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221665,0.974865,0.022445],[-0.969767,0.217980,0.109716],[0.102066,-0.046087,0.993709]]
2025-10-27T18:59:21.932Z,1761591561.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:22.147Z,1761591562.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235815,0.971755,0.009134],[-0.969802,0.234718,0.066275],[0.062259,-0.024486,0.997760]]
2025-10-27T18:59:22.188Z,1761591562.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:22.440Z,1761591562.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:22.546Z,1761591562.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267332,0.963082,0.031719],[-0.960890,0.263966,0.083744],[0.072280,-0.052866,0.995982]]
2025-10-27T18:59:22.692Z,1761591562.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:22.944Z,1761591562.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:23.196Z,1761591563.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:23.354Z,1761591563.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240663,0.968066,0.070211],[-0.970513,0.238993,0.031410],[0.013627,-0.075700,0.997037]]
2025-10-27T18:59:23.448Z,1761591563.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:23.700Z,1761591563.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:23.770Z,1761591563.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218232,0.969312,0.113177],[-0.975871,0.217594,0.018110],[-0.007072,-0.114398,0.993410]]
2025-10-27T18:59:23.952Z,1761591563.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:24.166Z,1761591564.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208125,0.971297,0.115178],[-0.977511,0.202456,0.059032],[0.034019,-0.124873,0.991589]]
2025-10-27T18:59:24.204Z,1761591564.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:24.456Z,1761591564.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:24.566Z,1761591564.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218623,0.970406,0.102550],[-0.973627,0.209900,0.089402],[0.065231,-0.119391,0.990702]]
2025-10-27T18:59:24.708Z,1761591564.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:24.960Z,1761591564.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:25.212Z,1761591565.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:25.375Z,1761591565.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177326,0.977228,0.116541],[-0.983948,0.178451,0.000797],[-0.020018,-0.114812,0.993186]]
2025-10-27T18:59:25.464Z,1761591565.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:25.716Z,1761591565.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:25.779Z,1761591565.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175716,0.980084,0.092513],[-0.984434,0.174580,0.020303],[0.003748,-0.094640,0.995504]]
2025-10-27T18:59:25.968Z,1761591565.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:26.181Z,1761591566.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211412,0.975451,0.061646],[-0.977396,0.211070,0.012079],[-0.001229,-0.062807,0.998025]]
2025-10-27T18:59:26.220Z,1761591566.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:26.472Z,1761591566.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:26.586Z,1761591566.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205084,0.977673,0.045789],[-0.978364,0.206084,-0.018264],[-0.027293,-0.041053,0.998784]]
2025-10-27T18:59:26.724Z,1761591566.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:26.984Z,1761591566.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:27.000Z,1761591567.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175336,0.982919,0.055918],[-0.983360,0.177592,-0.038278],[-0.047555,-0.048276,0.997701]]
2025-10-27T18:59:27.228Z,1761591567.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:27.399Z,1761591567.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186308,0.980721,0.058962],[-0.982353,0.186955,-0.005606],[-0.016521,-0.056877,0.998245]]
2025-10-27T18:59:27.480Z,1761591567.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:27.733Z,1761591567.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:27.803Z,1761591567.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193389,0.977907,0.079359],[-0.980934,0.191133,0.035176],[0.019230,-0.084649,0.996225]]
2025-10-27T18:59:27.984Z,1761591567.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:28.208Z,1761591568.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181808,0.977103,0.110523],[-0.981788,0.174072,0.076094],[0.055113,-0.122345,0.990956]]
2025-10-27T18:59:28.240Z,1761591568.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:28.492Z,1761591568.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:28.610Z,1761591568.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178355,0.974755,0.134322],[-0.982904,0.170153,0.070344],[0.045713,-0.144572,0.988438]]
2025-10-27T18:59:28.745Z,1761591568.745 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:28.996Z,1761591568.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:29.012Z,1761591569.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163006,0.978395,0.127173],[-0.986264,0.158098,0.047846],[0.026707,-0.133225,0.990726]]
2025-10-27T18:59:29.248Z,1761591569.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:29.500Z,1761591569.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:29.753Z,1761591569.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:30.004Z,1761591570.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:30.257Z,1761591570.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:30.508Z,1761591570.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:30.626Z,1761591570.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166703,0.985064,0.043109],[-0.982500,0.162267,0.091451],[0.083089,-0.057600,0.994876]]
2025-10-27T18:59:30.763Z,1761591570.763 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:31.012Z,1761591571.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:31.030Z,1761591571.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189538,0.980645,0.049097],[-0.980250,0.186113,0.066872],[0.056440,-0.060803,0.996553]]
2025-10-27T18:59:31.264Z,1761591571.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:31.434Z,1761591571.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208147,0.976907,0.048236],[-0.976318,0.204542,0.070466],[0.058973,-0.061761,0.996347]]
2025-10-27T18:59:31.516Z,1761591571.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:31.768Z,1761591571.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:31.839Z,1761591571.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186940,0.979404,0.076302],[-0.981361,0.182661,0.059716],[0.044548,-0.086043,0.995295]]
2025-10-27T18:59:32.020Z,1761591572.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:32.250Z,1761591572.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142793,0.982087,0.122944],[-0.989627,0.139693,0.033527],[0.015752,-0.126456,0.991847]]
2025-10-27T18:59:32.272Z,1761591572.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:32.524Z,1761591572.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:32.674Z,1761591572.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156586,0.977547,0.141003],[-0.986769,0.148764,0.064467],[0.042044,-0.149232,0.987908]]
2025-10-27T18:59:32.777Z,1761591572.777 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:33.028Z,1761591573.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:33.052Z,1761591573.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188106,0.974384,0.123259],[-0.980365,0.178719,0.083334],[0.059170,-0.136514,0.988869]]
2025-10-27T18:59:33.280Z,1761591573.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:33.455Z,1761591573.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153342,0.982811,0.102803],[-0.988061,0.150926,0.030923],[0.014876,-0.106317,0.994221]]
2025-10-27T18:59:33.532Z,1761591573.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:33.784Z,1761591573.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:33.858Z,1761591573.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111305,0.989116,0.096233],[-0.993775,0.110325,0.015462],[0.004677,-0.097355,0.995239]]
2025-10-27T18:59:34.036Z,1761591574.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:34.263Z,1761591574.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116872,0.990439,0.073284],[-0.993089,0.115749,0.019402],[0.010734,-0.075045,0.997122]]
2025-10-27T18:59:34.288Z,1761591574.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:34.540Z,1761591574.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:34.666Z,1761591574.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117884,0.992222,0.039980],[-0.993013,0.118004,-0.000641],[-0.005354,-0.039625,0.999200]]
2025-10-27T18:59:34.794Z,1761591574.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:35.044Z,1761591575.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:35.070Z,1761591575.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119289,0.992620,0.021800],[-0.992822,0.119446,-0.006058],[-0.008617,-0.020921,0.999744]]
2025-10-27T18:59:35.296Z,1761591575.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:35.474Z,1761591575.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103107,0.993182,0.054392],[-0.994514,0.101968,0.023318],[0.017612,-0.056498,0.998247]]
2025-10-27T18:59:35.548Z,1761591575.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:35.802Z,1761591575.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:35.877Z,1761591575.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091887,0.990527,0.102041],[-0.994441,0.085989,0.060774],[0.051424,-0.107058,0.992922]]
2025-10-27T18:59:35.975Z,1761591575.975 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20251027T165046/Express0040.lzma
2025-10-27T18:59:36.052Z,1761591576.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:36.283Z,1761591576.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122853,0.986938,0.104218],[-0.987529,0.111153,0.111494],[0.098453,-0.116616,0.988285]]
2025-10-27T18:59:36.304Z,1761591576.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:36.556Z,1761591576.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:36.685Z,1761591576.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166694,0.984745,0.049911],[-0.976783,0.158015,0.144658],[0.134565,-0.072866,0.988222]]
2025-10-27T18:59:36.811Z,1761591576.811 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:36.977Z,1761591576.977 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0040.lzma.bak
2025-10-27T18:59:36.977Z,1761591576.977 [DataOverHttps](INFO): SBD MOMSN=26250112
2025-10-27T18:59:37.060Z,1761591577.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:37.089Z,1761591577.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160757,0.986993,-0.001433],[-0.976923,0.159324,0.142255],[0.140633,-0.021469,0.989829]]
2025-10-27T18:59:37.312Z,1761591577.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:37.498Z,1761591577.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132743,0.990203,0.043326],[-0.984256,0.126547,0.123396],[0.116705,-0.059024,0.991411]]
2025-10-27T18:59:37.564Z,1761591577.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:37.816Z,1761591577.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:37.962Z,1761591577.962 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-10-27T18:59:37.962Z,1761591577.962 [DockingStepper] No Fault, FailCount= 1
2025-10-27T18:59:38.068Z,1761591578.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:38.301Z,1761591578.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184363,0.970856,0.153129],[-0.982655,0.185243,0.008627],[-0.019990,-0.152064,0.988169]]
2025-10-27T18:59:38.320Z,1761591578.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:38.355Z,1761591578.355 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T18:59:38.359Z,1761591578.359 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T18:59:38.572Z,1761591578.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:38.705Z,1761591578.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182454,0.971669,0.150233],[-0.980589,0.190990,-0.044372],[-0.071808,-0.139221,0.987654]]
2025-10-27T18:59:38.824Z,1761591578.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:39.077Z,1761591579.077 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:39.110Z,1761591579.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154810,0.979000,0.132637],[-0.987670,0.156528,-0.002561],[-0.023268,-0.130605,0.991161]]
2025-10-27T18:59:39.328Z,1761591579.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:39.521Z,1761591579.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128334,0.986927,0.097496],[-0.988408,0.119243,0.093969],[0.081115,-0.108425,0.990790]]
2025-10-27T18:59:39.580Z,1761591579.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:39.832Z,1761591579.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:39.917Z,1761591579.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138103,0.986883,0.083604],[-0.982857,0.126149,0.134457],[0.122147,-0.100740,0.987386]]
2025-10-27T18:59:40.084Z,1761591580.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:40.322Z,1761591580.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171885,0.980419,0.096090],[-0.980472,0.160798,0.113216],[0.095548,-0.113674,0.988913]]
2025-10-27T18:59:40.336Z,1761591580.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:40.588Z,1761591580.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:40.737Z,1761591580.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190355,0.979304,0.068766],[-0.980016,0.185439,0.071986],[0.057745,-0.081095,0.995032]]
2025-10-27T18:59:40.840Z,1761591580.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:41.092Z,1761591581.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:41.344Z,1761591581.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:41.537Z,1761591581.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158753,0.985912,0.052679],[-0.986136,0.155727,0.057304],[0.048293,-0.061046,0.996966]]
2025-10-27T18:59:41.596Z,1761591581.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:41.849Z,1761591581.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:41.938Z,1761591581.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172433,0.982641,0.068431],[-0.983612,0.168056,0.065300],[0.052666,-0.078569,0.995516]]
2025-10-27T18:59:42.007Z,1761591582.007 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T18:59:42.100Z,1761591582.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:42.342Z,1761591582.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207342,0.977452,0.039971],[-0.977479,0.205360,0.048593],[0.039289,-0.049146,0.998019]]
2025-10-27T18:59:42.352Z,1761591582.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:42.604Z,1761591582.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:42.759Z,1761591582.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206571,0.978380,0.010083],[-0.978002,0.206164,0.031767],[0.029002,-0.016423,0.999444]]
2025-10-27T18:59:42.856Z,1761591582.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:43.108Z,1761591583.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:43.152Z,1761591583.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186565,0.982315,0.015814],[-0.980863,0.185329,0.059665],[0.055679,-0.026643,0.998093]]
2025-10-27T18:59:43.360Z,1761591583.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:43.564Z,1761591583.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196925,0.979752,0.036149],[-0.974201,0.191397,0.119581],[0.110241,-0.058765,0.992166]]
2025-10-27T18:59:43.612Z,1761591583.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:43.864Z,1761591583.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:43.958Z,1761591583.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215677,0.973902,0.070694],[-0.968005,0.203739,0.146478],[0.128253,-0.100024,0.986685]]
2025-10-27T18:59:44.116Z,1761591584.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:44.362Z,1761591584.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208401,0.970349,0.122442],[-0.972643,0.192483,0.130057],[0.102633,-0.146196,0.983917]]
2025-10-27T18:59:44.368Z,1761591584.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:44.620Z,1761591584.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:44.800Z,1761591584.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210672,0.966953,0.143597],[-0.973689,0.194507,0.118733],[0.086878,-0.164832,0.982488]]
2025-10-27T18:59:44.872Z,1761591584.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:45.124Z,1761591585.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:45.173Z,1761591585.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224963,0.969771,0.094530],[-0.969589,0.213208,0.120166],[0.096379,-0.118688,0.988243]]
2025-10-27T18:59:45.377Z,1761591585.377 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:45.574Z,1761591585.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241068,0.970087,0.028581],[-0.965725,0.236856,0.106182],[0.096236,-0.053199,0.993936]]
2025-10-27T18:59:45.628Z,1761591585.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:45.880Z,1761591585.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:45.978Z,1761591585.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250872,0.968017,0.002469],[-0.965505,0.250035,0.072686],[0.069744,-0.020619,0.997352]]
2025-10-27T18:59:46.132Z,1761591586.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:46.381Z,1761591586.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246450,0.968954,0.019740],[-0.968495,0.245479,0.041911],[0.035765,-0.029447,0.998926]]
2025-10-27T18:59:46.387Z,1761591586.387 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:46.640Z,1761591586.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:46.822Z,1761591586.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243995,0.967959,0.059352],[-0.968842,0.240618,0.058713],[0.042551,-0.071828,0.996509]]
2025-10-27T18:59:46.892Z,1761591586.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:47.144Z,1761591587.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:47.189Z,1761591587.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265561,0.960346,0.084931],[-0.962325,0.258707,0.083677],[0.058387,-0.103953,0.992867]]
2025-10-27T18:59:47.396Z,1761591587.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:47.594Z,1761591587.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275860,0.956190,0.097990],[-0.960278,0.269700,0.071613],[0.042047,-0.113853,0.992608]]
2025-10-27T18:59:47.648Z,1761591587.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:47.900Z,1761591587.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:48.000Z,1761591588.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286523,0.953226,0.096257],[-0.957754,0.282382,0.054480],[0.024750,-0.107801,0.993864]]
2025-10-27T18:59:48.152Z,1761591588.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:48.404Z,1761591588.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:48.405Z,1761591588.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291571,0.951879,0.094411],[-0.955914,0.286359,0.065014],[0.034850,-0.109205,0.993408]]
2025-10-27T18:59:48.656Z,1761591588.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:48.833Z,1761591588.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288503,0.954474,0.075794],[-0.957304,0.286034,0.041867],[0.018281,-0.084637,0.996244]]
2025-10-27T18:59:48.915Z,1761591588.915 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:49.168Z,1761591589.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:49.228Z,1761591589.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284347,0.954176,0.093246],[-0.958667,0.281944,0.038285],[0.010240,-0.100278,0.994907]]
2025-10-27T18:59:49.420Z,1761591589.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:49.614Z,1761591589.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296144,0.948941,0.108673],[-0.955103,0.293167,0.042791],[0.008747,-0.116466,0.993156]]
2025-10-27T18:59:49.672Z,1761591589.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:49.924Z,1761591589.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:50.018Z,1761591590.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299973,0.947925,0.107026],[-0.953866,0.299525,0.020621],[-0.012510,-0.108275,0.994042]]
2025-10-27T18:59:50.176Z,1761591590.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:50.423Z,1761591590.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301394,0.950530,0.075199],[-0.953105,0.302599,-0.004907],[-0.027420,-0.070194,0.997157]]
2025-10-27T18:59:50.428Z,1761591590.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:50.681Z,1761591590.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:50.837Z,1761591590.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317261,0.948073,0.022444],[-0.948069,0.317646,-0.016311],[-0.022593,-0.016104,0.999615]]
2025-10-27T18:59:50.932Z,1761591590.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:51.184Z,1761591591.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:51.231Z,1761591591.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333837,0.942602,-0.007329],[-0.942562,0.333897,0.009439],[0.011345,0.003757,0.999929]]
2025-10-27T18:59:51.436Z,1761591591.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:51.633Z,1761591591.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333942,0.942574,0.006031],[-0.942135,0.333573,0.033332],[0.029406,-0.016813,0.999426]]
2025-10-27T18:59:51.689Z,1761591591.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:51.940Z,1761591591.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:52.041Z,1761591592.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308658,0.945504,0.103692],[-0.951134,0.305813,0.042698],[0.008661,-0.111804,0.993693]]
2025-10-27T18:59:52.192Z,1761591592.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:52.442Z,1761591592.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307967,0.930324,0.199132],[-0.951299,0.298112,0.078479],[0.013647,-0.213603,0.976825]]
2025-10-27T18:59:52.444Z,1761591592.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:52.697Z,1761591592.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:52.845Z,1761591592.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322647,0.922674,0.211120],[-0.944103,0.297787,0.141395],[0.067593,-0.244940,0.967179]]
2025-10-27T18:59:52.948Z,1761591592.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:53.200Z,1761591593.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:53.251Z,1761591593.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340044,0.930573,0.135664],[-0.935717,0.320414,0.147543],[0.093831,-0.177114,0.979707]]
2025-10-27T18:59:53.452Z,1761591593.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:53.660Z,1761591593.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358946,0.932187,0.046744],[-0.932354,0.355787,0.064279],[0.043290,-0.066655,0.996837]]
2025-10-27T18:59:53.705Z,1761591593.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:53.956Z,1761591593.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:54.058Z,1761591594.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373396,0.927667,-0.002957],[-0.927635,0.373408,0.007701],[0.008248,-0.000132,0.999966]]
2025-10-27T18:59:54.208Z,1761591594.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:54.460Z,1761591594.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:54.463Z,1761591594.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385683,0.922348,-0.022857],[-0.922604,0.385744,-0.001868],[0.007093,0.021808,0.999737]]
2025-10-27T18:59:54.712Z,1761591594.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:54.867Z,1761591594.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409087,0.912494,-0.001431],[-0.912456,0.409053,-0.010005],[-0.008544,0.005398,0.999949]]
2025-10-27T18:59:54.964Z,1761591594.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:55.216Z,1761591595.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:55.275Z,1761591595.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408273,0.910117,0.070718],[-0.912031,0.409978,-0.010890],[-0.038904,-0.060051,0.997437]]
2025-10-27T18:59:55.468Z,1761591595.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:55.676Z,1761591595.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381100,0.909088,0.168292],[-0.923171,0.384061,0.015899],[-0.050181,-0.161421,0.985609]]
2025-10-27T18:59:55.720Z,1761591595.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:55.972Z,1761591595.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:56.077Z,1761591596.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377139,0.902091,0.209759],[-0.925529,0.375430,0.049493],[-0.034103,-0.212803,0.976500]]
2025-10-27T18:59:56.225Z,1761591596.225 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:56.480Z,1761591596.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:56.486Z,1761591596.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405385,0.900122,0.159511],[-0.914131,0.398162,0.076363],[0.005225,-0.176771,0.984238]]
2025-10-27T18:59:56.732Z,1761591596.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:56.885Z,1761591596.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443059,0.893565,0.072397],[-0.895549,0.437443,0.081457],[0.041118,-0.100926,0.994044]]
2025-10-27T18:59:56.923Z,1761591596.923 [DataOverHttps](INFO): Sending 110 bytes from file Logs/20251027T165046/Express0043.lzma
2025-10-27T18:59:56.984Z,1761591596.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:57.236Z,1761591597.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:57.293Z,1761591597.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438431,0.898759,0.003189],[-0.896544,0.437096,0.071802],[0.063139,-0.034339,0.997414]]
2025-10-27T18:59:57.488Z,1761591597.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:57.714Z,1761591597.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408479,0.912566,-0.019198],[-0.906455,0.408033,0.108850],[0.107166,-0.027061,0.993873]]
2025-10-27T18:59:57.740Z,1761591597.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:57.925Z,1761591597.925 [DataOverHttps](INFO): Moved sent file to Logs/20251027T165046/Express0043.lzma.bak
2025-10-27T18:59:57.925Z,1761591597.925 [DataOverHttps](INFO): SBD MOMSN=26250121
2025-10-27T18:59:57.992Z,1761591597.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:58.244Z,1761591598.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:58.496Z,1761591598.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:58.503Z,1761591598.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413979,0.905625,0.092006],[-0.909455,0.407163,0.084320],[0.038901,-0.118582,0.992182]]
2025-10-27T18:59:58.748Z,1761591598.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:58.906Z,1761591598.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418044,0.895297,0.153890],[-0.908406,0.413141,0.064135],[-0.006158,-0.166606,0.986004]]
2025-10-27T18:59:58.911Z,1761591598.911 [NAL9602](INFO): SBD MO Status=2, MOMSN=3090, MT Status=2, MTMSN=0
2025-10-27T18:59:58.911Z,1761591598.911 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T18:59:59.003Z,1761591599.003 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:59.256Z,1761591599.256 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:59.314Z,1761591599.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408321,0.902922,0.134189],[-0.912752,0.401820,0.073658],[0.012587,-0.152557,0.988215]]
2025-10-27T18:59:59.508Z,1761591599.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T18:59:59.714Z,1761591599.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407216,0.912494,0.039114],[-0.910193,0.401897,0.100134],[0.075652,-0.076377,0.994205]]
2025-10-27T18:59:59.749Z,1761591599.749 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-10-27T18:59:59.750Z,1761591599.750 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-10-27T18:59:59.750Z,1761591599.750 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-27T18:59:59.760Z,1761591599.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:00.012Z,1761591600.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:00.117Z,1761591600.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417962,0.907265,-0.046669],[-0.901414,0.420558,0.102880],[0.112967,-0.000932,0.993598]]
2025-10-27T19:00:00.264Z,1761591600.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:00.516Z,1761591600.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:00.523Z,1761591600.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423904,0.903663,-0.060821],[-0.897020,0.428169,0.109662],[0.125139,0.008072,0.992106]]
2025-10-27T19:00:00.769Z,1761591600.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:00.927Z,1761591600.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449006,0.893387,-0.015904],[-0.884577,0.446951,0.133258],[0.126159,-0.045766,0.990954]]
2025-10-27T19:00:01.022Z,1761591601.022 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:01.272Z,1761591601.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:01.330Z,1761591601.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479562,0.877336,0.017387],[-0.868446,0.471676,0.152721],[0.125786,-0.088339,0.988116]]
2025-10-27T19:00:01.524Z,1761591601.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:01.740Z,1761591601.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471797,0.881627,-0.011860],[-0.864655,0.465263,0.189479],[0.172568,-0.079141,0.981813]]
2025-10-27T19:00:01.776Z,1761591601.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:02.028Z,1761591602.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:02.140Z,1761591602.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438672,0.896738,-0.058551],[-0.865306,0.439082,0.241768],[0.242511,-0.055393,0.968566]]
2025-10-27T19:00:02.280Z,1761591602.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:02.532Z,1761591602.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:02.555Z,1761591602.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430237,0.902259,-0.028735],[-0.873582,0.424162,0.238623],[0.227488,-0.077562,0.970687]]
2025-10-27T19:00:02.786Z,1761591602.786 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:02.954Z,1761591602.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447909,0.893473,0.032923],[-0.879159,0.433438,0.198017],[0.162652,-0.117638,0.979646]]
2025-10-27T19:00:03.036Z,1761591603.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:03.288Z,1761591603.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:03.354Z,1761591603.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464324,0.885133,0.030696],[-0.878702,0.456059,0.141044],[0.110843,-0.092462,0.989527]]
2025-10-27T19:00:03.540Z,1761591603.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:03.792Z,1761591603.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:03.801Z,1761591603.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462771,0.886466,-0.004512],[-0.874038,0.457121,0.164616],[0.147989,-0.072235,0.986347]]
2025-10-27T19:00:04.044Z,1761591604.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:04.182Z,1761591604.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458209,0.888611,-0.020369],[-0.867889,0.452235,0.205553],[0.191869,-0.076508,0.978434]]
2025-10-27T19:00:04.296Z,1761591604.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:04.548Z,1761591604.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:04.573Z,1761591604.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454463,0.890753,-0.004659],[-0.875165,0.447472,0.183997],[0.165981,-0.079542,0.982916]]
2025-10-27T19:00:04.802Z,1761591604.802 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:04.978Z,1761591604.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447621,0.894159,0.010739],[-0.884699,0.441074,0.150869],[0.130164,-0.077033,0.988495]]
2025-10-27T19:00:05.052Z,1761591605.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:05.305Z,1761591605.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:05.382Z,1761591605.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448242,0.893910,0.002186],[-0.885408,0.443639,0.138696],[0.123012,-0.064105,0.990333]]
2025-10-27T19:00:05.556Z,1761591605.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:05.787Z,1761591605.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455140,0.890420,-0.000003],[-0.879076,0.449342,0.159112],[0.141678,-0.072416,0.987261]]
2025-10-27T19:00:05.808Z,1761591605.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:06.060Z,1761591606.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:06.197Z,1761591606.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454099,0.890839,0.014135],[-0.881566,0.446962,0.151875],[0.128979,-0.081427,0.988299]]
2025-10-27T19:00:06.313Z,1761591606.313 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:06.564Z,1761591606.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:06.594Z,1761591606.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443642,0.895914,0.022795],[-0.888750,0.436536,0.139859],[0.115351,-0.082306,0.989909]]
2025-10-27T19:00:06.818Z,1761591606.818 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:06.998Z,1761591606.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449615,0.893216,0.003377],[-0.881765,0.443240,0.161333],[0.142608,-0.075515,0.986894]]
2025-10-27T19:00:07.068Z,1761591607.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:07.320Z,1761591607.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:07.402Z,1761591607.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476202,0.879297,-0.008275],[-0.863134,0.469206,0.186671],[0.168022,-0.081751,0.982388]]
2025-10-27T19:00:07.572Z,1761591607.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:07.806Z,1761591607.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484556,0.874750,0.004292],[-0.862257,0.476798,0.170810],[0.147369,-0.086467,0.985295]]
2025-10-27T19:00:07.824Z,1761591607.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:08.076Z,1761591608.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:08.212Z,1761591608.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464026,0.885655,0.017206],[-0.877542,0.456952,0.145313],[0.120835,-0.082528,0.989236]]
2025-10-27T19:00:08.328Z,1761591608.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:08.580Z,1761591608.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:08.613Z,1761591608.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452061,0.891982,0.003073],[-0.882708,0.446860,0.145403],[0.128324,-0.068443,0.989368]]
2025-10-27T19:00:08.832Z,1761591608.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:09.017Z,1761591609.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472408,0.881169,-0.019284],[-0.867104,0.468567,0.169041],[0.157990,-0.063136,0.985420]]
2025-10-27T19:00:09.084Z,1761591609.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:09.336Z,1761591609.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:09.422Z,1761591609.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498852,0.866675,-0.004577],[-0.856165,0.493608,0.152750],[0.134644,-0.072280,0.988254]]
2025-10-27T19:00:09.588Z,1761591609.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:09.826Z,1761591609.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490709,0.870377,0.040600],[-0.867989,0.484228,0.110083],[0.076154,-0.089259,0.993093]]
2025-10-27T19:00:09.840Z,1761591609.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:10.092Z,1761591610.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:10.250Z,1761591610.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498490,0.865184,0.054449],[-0.863664,0.490233,0.117288],[0.074783,-0.105492,0.991604]]
2025-10-27T19:00:10.344Z,1761591610.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:10.596Z,1761591610.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:10.848Z,1761591610.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:11.044Z,1761591611.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449438,0.884983,0.121696],[-0.893233,0.447018,0.048067],[-0.011862,-0.130306,0.991403]]
2025-10-27T19:00:11.100Z,1761591611.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:11.352Z,1761591611.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:11.363Z,1761591611.363 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T19:00:11.448Z,1761591611.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426795,0.885565,0.183363],[-0.901974,0.431516,0.015391],[-0.065494,-0.171957,0.982925]]
2025-10-27T19:00:11.604Z,1761591611.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:11.850Z,1761591611.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442309,0.877098,0.187247],[-0.893929,0.448021,0.012999],[-0.072489,-0.173135,0.982227]]
2025-10-27T19:00:11.856Z,1761591611.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:12.108Z,1761591612.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:12.254Z,1761591612.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448425,0.885125,0.124377],[-0.892317,0.451383,0.004882],[-0.051821,-0.113172,0.992223]]
2025-10-27T19:00:12.360Z,1761591612.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:12.612Z,1761591612.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:12.671Z,1761591612.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441509,0.894911,0.064839],[-0.897225,0.440946,0.023533],[-0.007531,-0.068565,0.997618]]
2025-10-27T19:00:12.864Z,1761591612.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:13.058Z,1761591613.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476869,0.878721,0.021089],[-0.878933,0.476943,0.001701],[-0.008564,-0.019346,0.999776]]
2025-10-27T19:00:13.116Z,1761591613.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:13.368Z,1761591613.368 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:13.462Z,1761591613.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494217,0.869339,-0.000411],[-0.869104,0.494072,-0.023474],[-0.020204,0.011958,0.999724]]
2025-10-27T19:00:13.620Z,1761591613.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:13.867Z,1761591613.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475711,0.879594,0.003683],[-0.878816,0.475105,0.044237],[0.037161,-0.024281,0.999014]]
2025-10-27T19:00:13.872Z,1761591613.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:14.124Z,1761591614.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:14.270Z,1761591614.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441980,0.895457,0.053016],[-0.892047,0.432541,0.130997],[0.094370,-0.105191,0.989964]]
2025-10-27T19:00:14.376Z,1761591614.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:14.628Z,1761591614.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:14.679Z,1761591614.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441191,0.890972,0.107327],[-0.893418,0.424802,0.146112],[0.084589,-0.160351,0.983429]]
2025-10-27T19:00:14.880Z,1761591614.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:15.079Z,1761591615.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469924,0.873313,0.128438],[-0.881202,0.455636,0.126014],[0.051528,-0.172397,0.983679]]
2025-10-27T19:00:15.132Z,1761591615.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:15.384Z,1761591615.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:15.482Z,1761591615.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471018,0.873035,0.126303],[-0.881579,0.460847,0.102169],[0.030991,-0.159469,0.986716]]
2025-10-27T19:00:15.636Z,1761591615.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:15.886Z,1761591615.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445355,0.886473,0.125794],[-0.895353,0.440759,0.063824],[0.001134,-0.141055,0.990001]]
2025-10-27T19:00:15.888Z,1761591615.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:16.141Z,1761591616.141 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:16.292Z,1761591616.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435400,0.895332,0.093849],[-0.899837,0.435943,0.015721],[-0.026837,-0.091294,0.995462]]
2025-10-27T19:00:16.393Z,1761591616.393 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:16.646Z,1761591616.646 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:16.694Z,1761591616.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428712,0.902650,0.037793],[-0.903410,0.427972,0.026285],[0.007551,-0.045411,0.998940]]
2025-10-27T19:00:16.702Z,1761591616.702 [NAL9602](INFO): SBD MO Status=2, MOMSN=3090, MT Status=2, MTMSN=0
2025-10-27T19:00:16.702Z,1761591616.702 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-27T19:00:16.896Z,1761591616.896 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:17.098Z,1761591617.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437230,0.899018,-0.024435],[-0.898648,0.437800,0.027598],[0.035509,0.009892,0.999320]]
2025-10-27T19:00:17.148Z,1761591617.148 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:17.400Z,1761591617.400 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:17.504Z,1761591617.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430328,0.902396,-0.022367],[-0.902634,0.430407,-0.001389],[0.008374,0.020787,0.999749]]
2025-10-27T19:00:17.653Z,1761591617.653 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:17.904Z,1761591617.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:17.907Z,1761591617.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416670,0.908444,0.033388],[-0.909016,0.416721,0.005757],[-0.008683,-0.032749,0.999426]]
2025-10-27T19:00:18.156Z,1761591618.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:18.310Z,1761591618.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433959,0.898192,0.070223],[-0.900704,0.430774,0.056270],[0.020291,-0.087669,0.995943]]
2025-10-27T19:00:18.408Z,1761591618.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:18.661Z,1761591618.661 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:18.713Z,1761591618.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464915,0.882744,0.067952],[-0.882836,0.456439,0.110742],[0.066741,-0.111476,0.991523]]
2025-10-27T19:00:18.912Z,1761591618.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:19.117Z,1761591619.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465632,0.882747,0.062808],[-0.881190,0.455909,0.125106],[0.081802,-0.113599,0.990153]]
2025-10-27T19:00:19.164Z,1761591619.164 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:19.416Z,1761591619.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:19.522Z,1761591619.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439391,0.896413,0.058135],[-0.893153,0.429043,0.134906],[0.095989,-0.111200,0.989151]]
2025-10-27T19:00:19.668Z,1761591619.668 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:19.920Z,1761591619.920 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:19.928Z,1761591619.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443293,0.894768,0.053683],[-0.891076,0.433377,0.134789],[0.097340,-0.107587,0.989419]]
2025-10-27T19:00:20.172Z,1761591620.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:20.333Z,1761591620.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471876,0.880450,0.046277],[-0.879863,0.466908,0.088533],[0.056342,-0.082494,0.994998]]
2025-10-27T19:00:20.424Z,1761591620.424 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:20.676Z,1761591620.676 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:20.747Z,1761591620.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478248,0.878120,0.013584],[-0.877439,0.477109,0.049670],[0.037135,-0.035674,0.998673]]
2025-10-27T19:00:20.843Z,1761591620.843 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T19:00:20.928Z,1761591620.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:21.146Z,1761591621.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481872,0.876032,-0.019154],[-0.872958,0.481842,0.075981],[0.075791,-0.019892,0.996925]]
2025-10-27T19:00:21.180Z,1761591621.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:21.432Z,1761591621.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:21.541Z,1761591621.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488417,0.872422,0.018142],[-0.869853,0.485117,0.089534],[0.069310,-0.059511,0.995819]]
2025-10-27T19:00:21.684Z,1761591621.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:21.942Z,1761591621.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:21.950Z,1761591621.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489566,0.866543,0.097095],[-0.871578,0.482982,0.084147],[0.026021,-0.125822,0.991712]]
2025-10-27T19:00:22.196Z,1761591622.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:22.353Z,1761591622.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493859,0.858677,0.137029],[-0.869542,0.487736,0.077526],[-0.000264,-0.157439,0.987529]]
2025-10-27T19:00:22.454Z,1761591622.454 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:22.709Z,1761591622.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:22.789Z,1761591622.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486371,0.865004,0.123339],[-0.873747,0.482022,0.064973],[-0.003250,-0.139368,0.990235]]
2025-10-27T19:00:22.960Z,1761591622.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:23.165Z,1761591623.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472058,0.877235,0.087293],[-0.881404,0.467743,0.065915],[0.016992,-0.108056,0.994000]]
2025-10-27T19:00:23.212Z,1761591623.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:23.464Z,1761591623.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:23.562Z,1761591623.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493696,0.868365,0.046970],[-0.869463,0.491806,0.046484],[0.017265,-0.063788,0.997814]]
2025-10-27T19:00:23.716Z,1761591623.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:23.966Z,1761591623.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490229,0.871233,0.025084],[-0.871549,0.490291,0.004025],[-0.008792,-0.023835,0.999677]]
2025-10-27T19:00:23.968Z,1761591623.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:24.220Z,1761591624.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:24.370Z,1761591624.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488032,0.872786,-0.008333],[-0.872568,0.488098,0.019632],[0.021202,-0.002309,0.999773]]
2025-10-27T19:00:24.472Z,1761591624.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:24.724Z,1761591624.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:24.824Z,1761591624.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506207,0.862389,-0.006262],[-0.860057,0.505347,0.070186],[0.063692,-0.030143,0.997514]]
2025-10-27T19:00:24.977Z,1761591624.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:25.178Z,1761591625.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484650,0.872243,0.065627],[-0.874066,0.480055,0.074537],[0.033510,-0.093486,0.995056]]
2025-10-27T19:00:25.228Z,1761591625.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:25.480Z,1761591625.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:25.582Z,1761591625.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466646,0.875640,0.124484],[-0.884308,0.459463,0.083022],[0.015502,-0.148824,0.988742]]
2025-10-27T19:00:25.732Z,1761591625.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:25.984Z,1761591625.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:25.988Z,1761591625.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484601,0.867662,0.111016],[-0.873966,0.474937,0.103049],[0.036686,-0.146962,0.988462]]
2025-10-27T19:00:26.236Z,1761591626.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:26.393Z,1761591626.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492515,0.865150,0.094572],[-0.868933,0.482729,0.109218],[0.048837,-0.135968,0.989509]]
2025-10-27T19:00:26.488Z,1761591626.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:26.743Z,1761591626.743 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:26.829Z,1761591626.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492607,0.866498,0.080743],[-0.869259,0.485492,0.093203],[0.041560,-0.116099,0.992368]]
2025-10-27T19:00:26.838Z,1761591626.838 [NAL9602](INFO): SBD MO Status=0, MOMSN=3090, MT Status=0, MTMSN=0
2025-10-27T19:00:26.838Z,1761591626.838 [NAL9602](INFO): No messages in MT queue
2025-10-27T19:00:26.992Z,1761591626.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:27.198Z,1761591627.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472896,0.880263,0.038817],[-0.878734,0.467920,0.094217],[0.064772,-0.078665,0.994795]]
2025-10-27T19:00:27.244Z,1761591627.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:27.496Z,1761591627.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:27.601Z,1761591627.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483368,0.875405,0.004664],[-0.872577,0.481364,0.083054],[0.070461,-0.044215,0.996534]]
2025-10-27T19:00:27.749Z,1761591627.749 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:27.000Z,1761591628.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:28.009Z,1761591628.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507482,0.861346,0.023352],[-0.860243,0.504905,0.071082],[0.049436,-0.056161,0.997197]]
2025-10-27T19:00:28.252Z,1761591628.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:28.410Z,1761591628.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505962,0.862394,0.016710],[-0.858976,0.502005,0.100748],[0.078496,-0.065328,0.994772]]
2025-10-27T19:00:28.505Z,1761591628.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:28.758Z,1761591628.758 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:28.828Z,1761591628.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491462,0.870402,0.029413],[-0.864951,0.483886,0.133098],[0.101616,-0.090853,0.990666]]
2025-10-27T19:00:29.008Z,1761591629.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:29.218Z,1761591629.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483658,0.870642,0.089760],[-0.872183,0.470831,0.132718],[0.073288,-0.142477,0.987081]]
2025-10-27T19:00:29.260Z,1761591629.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:29.512Z,1761591629.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:29.636Z,1761591629.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492702,0.861744,0.121003],[-0.869567,0.482264,0.106185],[0.033149,-0.157538,0.986956]]
2025-10-27T19:00:29.764Z,1761591629.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:30.017Z,1761591630.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:30.028Z,1761591630.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494651,0.864139,0.092653],[-0.868944,0.489784,0.071050],[0.016017,-0.115656,0.993160]]
2025-10-27T19:00:30.136Z,1761591630.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T19:00:30.268Z,1761591630.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:30.433Z,1761591630.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520271,0.853397,0.032131],[-0.853863,0.519141,0.037558],[0.015372,-0.046976,0.998778]]
2025-10-27T19:00:30.521Z,1761591630.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:30.773Z,1761591630.773 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:30.836Z,1761591630.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550311,0.834816,-0.015513],[-0.834877,0.550423,0.003854],[0.011757,0.010830,0.999872]]
2025-10-27T19:00:31.024Z,1761591631.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:31.238Z,1761591631.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532065,0.845214,-0.050198],[-0.846425,0.532475,-0.005930],[0.021717,0.045644,0.998722]]
2025-10-27T19:00:31.276Z,1761591631.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:31.528Z,1761591631.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:31.646Z,1761591631.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505987,0.862511,0.007221],[-0.862481,0.505835,0.016040],[0.010182,-0.014344,0.999845]]
2025-10-27T19:00:31.780Z,1761591631.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:32.032Z,1761591632.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:32.049Z,1761591632.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501107,0.854461,0.137072],[-0.864587,0.501128,0.036891],[-0.037169,-0.136997,0.989874]]
2025-10-27T19:00:32.284Z,1761591632.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:32.456Z,1761591632.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510607,0.836321,0.199617],[-0.858962,0.506500,0.075118],[-0.038283,-0.209819,0.976990]]
2025-10-27T19:00:32.536Z,1761591632.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:32.789Z,1761591632.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:33.040Z,1761591633.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:33.295Z,1761591633.295 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:33.338Z,1761591633.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506338,0.860961,0.048668],[-0.857182,0.496350,0.137387],[0.094129,-0.111282,0.989321]]
2025-10-27T19:00:33.548Z,1761591633.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:33.734Z,1761591633.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478046,0.877865,0.028716],[-0.876930,0.475177,0.072120],[0.049667,-0.059659,0.996982]]
2025-10-27T19:00:33.800Z,1761591633.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:34.052Z,1761591634.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:34.304Z,1761591634.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:34.545Z,1761591634.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501764,0.864836,0.017086],[-0.864836,0.501179,0.029655],[0.017084,-0.029657,0.999414]]
2025-10-27T19:00:34.556Z,1761591634.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:34.810Z,1761591634.810 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:34.960Z,1761591634.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518314,0.854929,0.021147],[-0.855180,0.518270,0.007947],[-0.004166,-0.022203,0.999745]]
2025-10-27T19:00:35.060Z,1761591635.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:35.312Z,1761591635.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:35.364Z,1761591635.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497224,0.866691,0.040177],[-0.867135,0.497964,-0.010457],[-0.029070,-0.029640,0.999138]]
2025-10-27T19:00:35.576Z,1761591635.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:35.769Z,1761591635.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479130,0.875201,0.066760],[-0.877568,0.479167,0.016509],[-0.017541,-0.066497,0.997633]]
2025-10-27T19:00:35.828Z,1761591635.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:36.080Z,1761591636.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:36.165Z,1761591636.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479481,0.871575,0.102245],[-0.877409,0.474036,0.073773],[0.015831,-0.125084,0.992020]]
2025-10-27T19:00:36.332Z,1761591636.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:36.570Z,1761591636.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478240,0.865286,0.150220],[-0.878075,0.467903,0.100253],[0.016459,-0.179850,0.983556]]
2025-10-27T19:00:36.584Z,1761591636.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:36.836Z,1761591636.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:36.975Z,1761591636.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463033,0.871646,0.160729],[-0.886151,0.459016,0.063572],[-0.018365,-0.171866,0.984949]]
2025-10-27T19:00:37.088Z,1761591637.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:37.340Z,1761591637.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:37.592Z,1761591637.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:37.781Z,1761591637.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483642,0.874986,-0.022129],[-0.873752,0.481165,-0.070969],[-0.051450,0.053659,0.997233]]
2025-10-27T19:00:37.844Z,1761591637.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:38.102Z,1761591638.102 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:38.186Z,1761591638.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490546,0.867400,-0.083560],[-0.870295,0.482799,-0.097424],[-0.044163,0.120513,0.991729]]
2025-10-27T19:00:38.352Z,1761591638.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:38.590Z,1761591638.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484546,0.871313,-0.077652],[-0.874646,0.484037,-0.026506],[0.014491,0.080761,0.996628]]
2025-10-27T19:00:38.604Z,1761591638.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:38.857Z,1761591638.857 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:38.993Z,1761591638.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473870,0.880539,-0.009886],[-0.878275,0.473406,0.067230],[0.063879,-0.023175,0.997689]]
2025-10-27T19:00:39.109Z,1761591639.109 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:39.360Z,1761591639.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:39.398Z,1761591639.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466282,0.877682,0.110704],[-0.882366,0.452470,0.129229],[0.063332,-0.157938,0.985416]]
2025-10-27T19:00:39.613Z,1761591639.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:39.804Z,1761591639.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454724,0.869287,0.193820],[-0.888430,0.427432,0.167314],[0.062599,-0.248277,0.966664]]
2025-10-27T19:00:39.864Z,1761591639.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:40.117Z,1761591640.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:40.206Z,1761591640.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444621,0.877002,0.182151],[-0.891482,0.413517,0.185102],[0.087013,-0.244684,0.965691]]
2025-10-27T19:00:40.371Z,1761591640.371 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:40.621Z,1761591640.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449195,0.888145,0.097074],[-0.889973,0.435252,0.136027],[0.078560,-0.147496,0.985938]]
2025-10-27T19:00:40.624Z,1761591640.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:40.881Z,1761591640.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:41.014Z,1761591641.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441217,0.897385,-0.005275],[-0.894671,0.440326,0.075345],[0.069937,-0.028524,0.997144]]
2025-10-27T19:00:41.140Z,1761591641.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:41.384Z,1761591641.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:41.420Z,1761591641.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446529,0.890939,-0.082704],[-0.891215,0.451082,0.047557],[0.079677,0.052472,0.995439]]
2025-10-27T19:00:41.636Z,1761591641.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:41.888Z,1761591641.888 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:42.140Z,1761591642.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:42.226Z,1761591642.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406198,0.913058,-0.036447],[-0.913386,0.406876,0.013330],[0.027001,0.027876,0.999247]]
2025-10-27T19:00:42.392Z,1761591642.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:42.648Z,1761591642.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:42.900Z,1761591642.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:43.034Z,1761591643.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441698,0.886763,0.136211],[-0.896992,0.439462,0.047732],[-0.017532,-0.143263,0.989529]]
2025-10-27T19:00:43.152Z,1761591643.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:43.404Z,1761591643.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:43.438Z,1761591643.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430858,0.890047,0.148920],[-0.902221,0.421397,0.091766],[0.018922,-0.173897,0.984582]]
2025-10-27T19:00:43.656Z,1761591643.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:43.842Z,1761591643.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415154,0.901690,0.120840],[-0.909309,0.407137,0.085999],[0.028345,-0.145584,0.988940]]
2025-10-27T19:00:43.908Z,1761591643.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:44.160Z,1761591644.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:44.247Z,1761591644.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419518,0.906332,0.050661],[-0.906355,0.415133,0.078644],[0.050247,-0.078910,0.995615]]
2025-10-27T19:00:44.412Z,1761591644.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:44.650Z,1761591644.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425990,0.904414,-0.023844],[-0.902920,0.426656,0.051968],[0.057174,-0.000609,0.998364]]
2025-10-27T19:00:44.664Z,1761591644.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:44.916Z,1761591644.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:45.054Z,1761591645.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395861,0.917111,-0.046908],[-0.914859,0.398283,0.066361],[0.079543,0.016644,0.996692]]
2025-10-27T19:00:45.168Z,1761591645.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:45.287Z,1761591645.287 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T19:00:45.420Z,1761591645.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:45.461Z,1761591645.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373898,0.927339,-0.015563],[-0.919939,0.372944,0.120930],[0.117947,-0.030899,0.992539]]
2025-10-27T19:00:45.672Z,1761591645.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:45.862Z,1761591645.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374126,0.925594,0.057502],[-0.922182,0.364760,0.128571],[0.098030,-0.101129,0.990032]]
2025-10-27T19:00:45.924Z,1761591645.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:46.176Z,1761591646.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:46.266Z,1761591646.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403002,0.908720,0.108709],[-0.914761,0.396285,0.078545],[0.028295,-0.131096,0.990966]]
2025-10-27T19:00:46.428Z,1761591646.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:46.670Z,1761591646.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416489,0.900270,0.126687],[-0.909032,0.414534,0.042699],[-0.014076,-0.132946,0.991023]]
2025-10-27T19:00:46.680Z,1761591646.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:46.932Z,1761591646.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:47.080Z,1761591647.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403653,0.908762,0.105901],[-0.914545,0.397500,0.074842],[0.025918,-0.127062,0.991556]]
2025-10-27T19:00:47.184Z,1761591647.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:47.440Z,1761591647.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:47.489Z,1761591647.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386808,0.920907,0.048059],[-0.921779,0.384626,0.048847],[0.026499,-0.063194,0.997649]]
2025-10-27T19:00:47.688Z,1761591647.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:47.887Z,1761591647.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381896,0.922773,0.051441],[-0.923985,0.379998,0.043044],[0.020173,-0.063969,0.997748]]
2025-10-27T19:00:47.940Z,1761591647.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:48.192Z,1761591648.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:48.292Z,1761591648.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354327,0.932101,0.075107],[-0.935009,0.354388,0.012961],[-0.014536,-0.074818,0.997091]]
2025-10-27T19:00:48.444Z,1761591648.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:48.694Z,1761591648.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346089,0.932804,0.100495],[-0.936805,0.349428,-0.017217],[-0.051176,-0.088186,0.994789]]
2025-10-27T19:00:48.696Z,1761591648.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:48.948Z,1761591648.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:49.107Z,1761591649.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350797,0.932294,0.088146],[-0.935805,0.352496,-0.003998],[-0.034799,-0.081085,0.996099]]
2025-10-27T19:00:49.200Z,1761591649.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:49.452Z,1761591649.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:49.501Z,1761591649.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347694,0.936451,0.046561],[-0.937564,0.346767,0.026962],[0.009103,-0.053029,0.998551]]
2025-10-27T19:00:49.704Z,1761591649.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:49.902Z,1761591649.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340997,0.939397,0.035406],[-0.939451,0.339173,0.048924],[0.033950,-0.049945,0.998175]]
2025-10-27T19:00:49.956Z,1761591649.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:50.208Z,1761591650.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:50.305Z,1761591650.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338250,0.940143,0.041441],[-0.938688,0.333949,0.085691],[0.066723,-0.067885,0.995460]]
2025-10-27T19:00:50.461Z,1761591650.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:50.710Z,1761591650.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351583,0.935563,0.033321],[-0.932654,0.346970,0.098831],[0.080902,-0.065824,0.994546]]
2025-10-27T19:00:50.712Z,1761591650.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:50.964Z,1761591650.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:51.132Z,1761591651.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357413,0.933416,0.031471],[-0.932611,0.354898,0.065449],[0.049922,-0.052743,0.997360]]
2025-10-27T19:00:51.216Z,1761591651.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:51.468Z,1761591651.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:51.517Z,1761591651.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332587,0.941395,0.056229],[-0.942500,0.329715,0.054616],[0.032876,-0.071160,0.996923]]
2025-10-27T19:00:51.721Z,1761591651.721 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:51.922Z,1761591651.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337403,0.936765,0.092896],[-0.940904,0.332521,0.064263],[0.029309,-0.109089,0.993600]]
2025-10-27T19:00:51.972Z,1761591651.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:52.224Z,1761591652.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:52.476Z,1761591652.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:52.728Z,1761591652.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:52.747Z,1761591652.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332103,0.931678,0.147254],[-0.939759,0.340226,-0.033169],[-0.081002,-0.127368,0.988542]]
2025-10-27T19:00:52.848Z,1761591652.848 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 787.52, 872.76, 860.52
2025-10-27T19:00:52.980Z,1761591652.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:53.136Z,1761591653.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312247,0.945413,0.093248],[-0.948650,0.315531,-0.022456],[-0.050653,-0.081448,0.995390]]
2025-10-27T19:00:53.233Z,1761591653.233 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:53.487Z,1761591653.487 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:53.544Z,1761591653.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280231,0.957268,0.071472],[-0.959926,0.279171,0.024626],[0.003621,-0.075509,0.997139]]
2025-10-27T19:00:53.740Z,1761591653.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:53.942Z,1761591653.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263037,0.961520,0.079314],[-0.964735,0.261293,0.031809],[0.009861,-0.084884,0.996342]]
2025-10-27T19:00:53.992Z,1761591653.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:54.244Z,1761591654.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:54.348Z,1761591654.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253941,0.963437,0.085462],[-0.966965,0.254908,-0.000418],[-0.022187,-0.082532,0.996341]]
2025-10-27T19:00:54.496Z,1761591654.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:54.748Z,1761591654.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:54.832Z,1761591654.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240746,0.968383,0.065391],[-0.970033,0.242340,-0.017537],[-0.032829,-0.059210,0.997706]]
2025-10-27T19:00:55.000Z,1761591655.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:55.165Z,1761591655.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235758,0.971245,0.033186],[-0.971614,0.234885,0.028191],[0.019586,-0.038890,0.999052]]
2025-10-27T19:00:55.252Z,1761591655.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:55.504Z,1761591655.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:55.561Z,1761591655.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249189,0.968405,0.009786],[-0.963722,0.246961,0.101240],[0.095624,-0.034659,0.994814]]
2025-10-27T19:00:55.756Z,1761591655.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:55.964Z,1761591655.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253017,0.967439,0.006701],[-0.958087,0.249597,0.140610],[0.134359,-0.041997,0.990042]]
2025-10-27T19:00:56.008Z,1761591656.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:56.260Z,1761591656.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:56.366Z,1761591656.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242777,0.969758,0.025061],[-0.961319,0.237039,0.140282],[0.130099,-0.058148,0.989794]]
2025-10-27T19:00:56.512Z,1761591656.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:56.766Z,1761591656.766 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:56.834Z,1761591656.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249356,0.967521,0.041524],[-0.959105,0.240802,0.148767],[0.133936,-0.076921,0.988000]]
2025-10-27T19:00:57.016Z,1761591657.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:57.224Z,1761591657.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274218,0.960775,0.041424],[-0.949082,0.263432,0.172761],[0.155072,-0.086689,0.984092]]
2025-10-27T19:00:57.252Z,1761591657.252 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T19:00:57.268Z,1761591657.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:57.520Z,1761591657.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:57.597Z,1761591657.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286351,0.957263,0.040620],[-0.946232,0.275883,0.168918],[0.150492,-0.086806,0.984793]]
2025-10-27T19:00:57.772Z,1761591657.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:57.991Z,1761591657.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269147,0.962022,0.045532],[-0.953233,0.259343,0.155204],[0.137501,-0.085175,0.986833]]
2025-10-27T19:00:58.024Z,1761591658.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:58.276Z,1761591658.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:58.390Z,1761591658.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259265,0.963957,0.059737],[-0.961068,0.251380,0.114705],[0.095554,-0.087151,0.991602]]
2025-10-27T19:00:58.528Z,1761591658.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:58.782Z,1761591658.782 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:58.908Z,1761591658.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261503,0.962563,0.071339],[-0.964847,0.258683,0.046411],[0.026220,-0.080968,0.996372]]
2025-10-27T19:00:59.032Z,1761591659.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:59.284Z,1761591659.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:59.320Z,1761591659.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239103,0.967560,0.081595],[-0.970774,0.239993,-0.001136],[-0.020681,-0.078939,0.996665]]
2025-10-27T19:00:59.536Z,1761591659.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:00:59.670Z,1761591659.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221322,0.966163,0.132459],[-0.974102,0.225471,-0.017002],[-0.046292,-0.125266,0.991043]]
2025-10-27T19:00:59.788Z,1761591659.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:00.040Z,1761591660.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:00.089Z,1761591660.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217733,0.964578,0.148932],[-0.973092,0.226327,-0.043216],[-0.075392,-0.135515,0.987903]]
2025-10-27T19:01:00.294Z,1761591660.294 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:00.478Z,1761591660.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204140,0.969533,0.135401],[-0.975606,0.212896,-0.053547],[-0.080741,-0.121167,0.989343]]
2025-10-27T19:01:00.544Z,1761591660.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:00.799Z,1761591660.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:00.882Z,1761591660.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206196,0.971981,0.112849],[-0.977436,0.209999,-0.022785],[-0.045845,-0.105605,0.993351]]
2025-10-27T19:01:01.048Z,1761591661.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:01.300Z,1761591661.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:01.301Z,1761591661.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207251,0.975793,0.069827],[-0.978112,0.205333,0.033686],[0.018533,-0.075280,0.996990]]
2025-10-27T19:01:01.552Z,1761591661.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:01.690Z,1761591661.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203888,0.978074,0.042440],[-0.975848,0.199569,0.088841],[0.078423,-0.059529,0.995141]]
2025-10-27T19:01:01.804Z,1761591661.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:02.057Z,1761591662.057 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:02.096Z,1761591662.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174658,0.982897,0.058374],[-0.983900,0.171941,0.048747],[0.037876,-0.065948,0.997104]]
2025-10-27T19:01:02.308Z,1761591662.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:02.499Z,1761591662.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129504,0.987249,0.092563],[-0.990786,0.132567,-0.027718],[-0.039636,-0.088121,0.995321]]
2025-10-27T19:01:02.560Z,1761591662.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:02.814Z,1761591662.814 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:02.902Z,1761591662.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132778,0.983642,0.121728],[-0.989916,0.137726,-0.033138],[-0.049361,-0.116101,0.992010]]
2025-10-27T19:01:03.065Z,1761591663.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:03.306Z,1761591663.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175389,0.979913,0.094918],[-0.984420,0.175777,0.004323],[-0.012448,-0.094198,0.995476]]
2025-10-27T19:01:03.316Z,1761591663.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:03.570Z,1761591663.570 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:03.710Z,1761591663.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175517,0.984418,0.010707],[-0.984215,0.175209,0.024963],[0.022698,-0.014920,0.999631]]
2025-10-27T19:01:03.823Z,1761591663.823 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:03.937Z,1761591663.937 [DataOverHttps](IMPORTANT): SBD MTMSN=20251027T190102
2025-10-27T19:01:04.073Z,1761591664.073 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:04.114Z,1761591664.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138922,0.989615,-0.036927],[-0.988717,0.140712,0.051366],[0.056028,0.029375,0.997997]]
2025-10-27T19:01:04.324Z,1761591664.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:04.522Z,1761591664.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122940,0.992392,-0.006572],[-0.990595,0.123112,0.059700],[0.060055,-0.000829,0.998195]]
2025-10-27T19:01:04.576Z,1761591664.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:04.828Z,1761591664.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:04.923Z,1761591664.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137021,0.987526,0.077570],[-0.990127,0.134201,0.040486],[0.029571,-0.082351,0.996165]]
2025-10-27T19:01:05.080Z,1761591665.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:05.326Z,1761591665.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128585,0.981690,0.140537],[-0.991396,0.123748,0.042668],[0.024495,-0.144814,0.989156]]
2025-10-27T19:01:05.332Z,1761591665.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:05.390Z,1761591665.390 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-27T19:01:05.584Z,1761591665.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:05.741Z,1761591665.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107130,0.984678,0.137596],[-0.992602,0.097970,0.071718],[0.057139,-0.144261,0.987889]]
2025-10-27T19:01:05.836Z,1761591665.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:06.088Z,1761591666.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:06.134Z,1761591666.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097128,0.990800,0.094238],[-0.990688,0.087169,0.104588],[0.095411,-0.103519,0.990041]]
2025-10-27T19:01:06.340Z,1761591666.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:06.539Z,1761591666.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117175,0.992005,0.046860],[-0.986094,0.110619,0.124024],[0.117849,-0.060741,0.991172]]
2025-10-27T19:01:06.592Z,1761591666.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:06.844Z,1761591666.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:06.942Z,1761591666.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126805,0.991798,0.016032],[-0.987584,0.124722,0.095515],[0.092732,-0.027944,0.995299]]
2025-10-27T19:01:07.100Z,1761591667.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:07.348Z,1761591667.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:07.600Z,1761591667.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:07.768Z,1761591667.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115269,0.993325,0.004258],[-0.988625,0.114305,0.097749],[0.096610,-0.015477,0.995202]]
2025-10-27T19:01:07.852Z,1761591667.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:08.104Z,1761591668.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:08.154Z,1761591668.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137134,0.989815,0.038228],[-0.984372,0.131872,0.116710],[0.110480,-0.053636,0.992430]]
2025-10-27T19:01:08.226Z,1761591668.226 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-27T19:01:08.227Z,1761591668.227 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-27T19:01:08.356Z,1761591668.356 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-27T19:01:08.356Z,1761591668.356 [DAT](INFO): Activating messaging.
2025-10-27T19:01:08.370Z,1761591668.370 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:08.571Z,1761591668.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123354,0.989420,0.076368],[-0.991116,0.118977,0.059443],[0.049728,-0.083022,0.995306]]
2025-10-27T19:01:08.608Z,1761591668.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:08.734Z,1761591668.734 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2529
2025-10-27T19:01:08.749Z,1761591668.749 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2531
2025-10-27T19:01:08.831Z,1761591668.831 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2528
2025-10-27T19:01:08.860Z,1761591668.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:09.020Z,1761591669.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095168,0.989650,0.107404],[-0.995453,0.095055,0.006184],[-0.004089,-0.107504,0.994196]]
2025-10-27T19:01:09.112Z,1761591669.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:09.364Z,1761591669.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:09.397Z,1761591669.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087346,0.988529,0.123209],[-0.996053,0.084704,0.026532],[0.015791,-0.125040,0.992026]]
2025-10-27T19:01:09.616Z,1761591669.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:09.782Z,1761591669.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091503,0.989198,0.114521],[-0.994352,0.084554,0.064145],[0.053769,-0.119744,0.991348]]
2025-10-27T19:01:09.790Z,1761591669.790 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190109.00,A,3646.66069,N,12151.98341,W,0.564,291.94,271025,,,D*73
2025-10-27T19:01:09.808Z,1761591669.808 [NAL9602](INFO): GPS fix at 20251027T190109: (36.777678, -121.866390)
2025-10-27T19:01:09.868Z,1761591669.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:10.120Z,1761591670.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:10.182Z,1761591670.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111540,0.991634,0.064969],[-0.992984,0.108632,0.046704],[0.039256,-0.069722,0.996794]]
2025-10-27T19:01:10.372Z,1761591670.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:10.586Z,1761591670.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094854,0.995443,0.009800],[-0.995113,0.094542,0.028480],[0.027424,-0.012454,0.999546]]
2025-10-27T19:01:10.624Z,1761591670.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:10.876Z,1761591670.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:10.990Z,1761591670.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065787,0.997830,-0.002644],[-0.996366,0.065834,0.054042],[0.054099,-0.000921,0.998535]]
2025-10-27T19:01:11.128Z,1761591671.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:11.380Z,1761591671.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:11.443Z,1761591671.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077297,0.995888,0.047239],[-0.995425,0.074418,0.059934],[0.056172,-0.051655,0.997084]]
2025-10-27T19:01:11.632Z,1761591671.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:11.884Z,1761591671.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:12.091Z,1761591672.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097609,0.985694,0.137403],[-0.994950,0.093403,0.036747],[0.023387,-0.140296,0.989833]]
2025-10-27T19:01:12.153Z,1761591672.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:12.404Z,1761591672.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:12.433Z,1761591672.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095308,0.990406,0.100060],[-0.994843,0.091265,0.044244],[0.034688,-0.103761,0.993997]]
2025-10-27T19:01:12.657Z,1761591672.657 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:12.888Z,1761591672.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128591,0.989885,0.059937],[-0.991697,0.128292,0.008824],[0.001045,-0.060574,0.998163]]
2025-10-27T19:01:12.908Z,1761591672.908 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:13.160Z,1761591673.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:13.253Z,1761591673.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118632,0.990340,0.071787],[-0.991258,0.122325,-0.049437],[-0.057741,-0.065295,0.996194]]
2025-10-27T19:01:13.412Z,1761591673.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:13.630Z,1761591673.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093210,0.988091,0.122429],[-0.992141,0.102486,-0.071780],[-0.083473,-0.114776,0.989878]]
2025-10-27T19:01:13.664Z,1761591673.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:13.916Z,1761591673.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:14.037Z,1761591674.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090277,0.982373,0.163688],[-0.993163,0.101016,-0.058502],[-0.074006,-0.157287,0.984776]]
2025-10-27T19:01:14.168Z,1761591674.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:14.420Z,1761591674.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:14.452Z,1761591674.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082069,0.984490,0.155062],[-0.996504,0.083501,-0.002733],[-0.015639,-0.154296,0.987901]]
2025-10-27T19:01:14.672Z,1761591674.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:14.838Z,1761591674.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061454,0.992556,0.105146],[-0.995265,0.052991,0.081480],[0.075301,-0.109655,0.991113]]
2025-10-27T19:01:14.924Z,1761591674.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:15.176Z,1761591675.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:15.245Z,1761591675.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065304,0.997293,0.033793],[-0.992100,0.061254,0.109477],[0.107111,-0.040675,0.993415]]
2025-10-27T19:01:15.428Z,1761591675.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:15.669Z,1761591675.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097570,0.995195,-0.008232],[-0.992045,0.097915,0.079114],[0.079540,0.000447,0.996832]]
2025-10-27T19:01:15.680Z,1761591675.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:15.932Z,1761591675.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:16.087Z,1761591676.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105748,0.994363,-0.007788],[-0.992656,0.106022,0.058247],[0.058744,0.001571,0.998272]]
2025-10-27T19:01:16.184Z,1761591676.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:16.436Z,1761591676.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:16.689Z,1761591676.689 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:16.940Z,1761591676.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:16.957Z,1761591676.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050217,0.993512,0.102041],[-0.997448,0.044698,0.055669],[0.050746,-0.104576,0.993221]]
2025-10-27T19:01:17.192Z,1761591677.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:17.365Z,1761591677.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050614,0.985198,0.163776],[-0.998101,0.044135,0.042961],[0.035097,-0.165639,0.985562]]
2025-10-27T19:01:17.444Z,1761591677.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:17.696Z,1761591677.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:17.726Z,1761591677.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059115,0.982465,0.176828],[-0.997374,0.050707,0.051703],[0.041830,-0.179421,0.982883]]
2025-10-27T19:01:17.948Z,1761591677.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:18.164Z,1761591678.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082083,0.991419,0.101734],[-0.996004,0.077999,0.043500],[0.035192,-0.104898,0.993860]]
2025-10-27T19:01:18.200Z,1761591678.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:18.452Z,1761591678.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:18.550Z,1761591678.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094971,0.995480,0.000297],[-0.995294,0.094948,0.019354],[0.019238,-0.002134,0.999813]]
2025-10-27T19:01:18.707Z,1761591678.707 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:18.960Z,1761591678.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:19.212Z,1761591679.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:19.426Z,1761591679.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057647,0.997941,-0.028103],[-0.998071,0.058258,0.021447],[0.023040,0.026813,0.999375]]
2025-10-27T19:01:19.464Z,1761591679.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:19.716Z,1761591679.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:19.853Z,1761591679.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049699,0.997258,0.054825],[-0.997364,0.046649,0.055577],[0.052867,-0.057443,0.996948]]
2025-10-27T19:01:19.970Z,1761591679.970 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:20.232Z,1761591680.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:20.308Z,1761591680.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066653,0.985726,0.154604],[-0.993734,0.051647,0.099127],[0.089727,-0.160242,0.982991]]
2025-10-27T19:01:20.503Z,1761591680.503 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:20.762Z,1761591680.762 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:20.911Z,1761591680.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099008,0.983920,0.148657],[-0.994997,0.095883,0.028059],[0.013354,-0.150691,0.988491]]
2025-10-27T19:01:21.012Z,1761591681.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:21.264Z,1761591681.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:21.472Z,1761591681.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107847,0.991709,0.069872],[-0.993345,0.110349,-0.032993],[-0.040429,-0.065849,0.997010]]
2025-10-27T19:01:21.519Z,1761591681.519 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:21.756Z,1761591681.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096853,0.995292,-0.003530],[-0.995203,0.096794,-0.014242],[-0.013834,0.004892,0.999892]]
2025-10-27T19:01:21.768Z,1761591681.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:22.021Z,1761591682.021 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:22.123Z,1761591682.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086820,0.995429,-0.039785],[-0.995215,0.088459,0.041487],[0.044817,0.035993,0.998347]]
2025-10-27T19:01:22.272Z,1761591682.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:22.524Z,1761591682.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:22.575Z,1761591682.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078313,0.996929,-0.000684],[-0.995307,0.078225,0.056959],[0.056838,-0.003779,0.998376]]
2025-10-27T19:01:22.781Z,1761591682.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:23.009Z,1761591683.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057121,0.993698,0.096442],[-0.998075,0.054500,0.029590],[0.024147,-0.097946,0.994899]]
2025-10-27T19:01:23.029Z,1761591683.029 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:23.062Z,1761591683.062 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050322494176,35.0, +15.1,   .0,  0
2025-10-27T19:01:23.280Z,1761591683.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:23.346Z,1761591683.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059795,0.984571,0.164452],[-0.998123,0.061159,-0.003238],[-0.013246,-0.163950,0.986380]]
2025-10-27T19:01:23.534Z,1761591683.534 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:23.746Z,1761591683.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077923,0.987166,0.139393],[-0.996919,0.075890,0.019846],[0.009012,-0.140510,0.990038]]
2025-10-27T19:01:23.784Z,1761591683.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:24.036Z,1761591684.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:24.142Z,1761591684.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095521,0.993053,0.068709],[-0.991981,0.089225,0.089511],[0.082758,-0.076708,0.993613]]
2025-10-27T19:01:24.288Z,1761591684.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:24.540Z,1761591684.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:24.628Z,1761591684.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096465,0.995334,-0.002237],[-0.984506,0.095745,0.146906],[0.146435,-0.011969,0.989148]]
2025-10-27T19:01:24.794Z,1761591684.794 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:25.045Z,1761591685.045 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:25.254Z,1761591685.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055109,0.998315,0.018152],[-0.983903,0.051200,0.171209],[0.169991,-0.027295,0.985068]]
2025-10-27T19:01:25.296Z,1761591685.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:25.548Z,1761591685.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:25.800Z,1761591685.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:26.052Z,1761591686.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:26.161Z,1761591686.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061937,0.990395,0.123621],[-0.993773,0.049701,0.099720],[0.092618,-0.129028,0.987306]]
2025-10-27T19:01:26.304Z,1761591686.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:26.556Z,1761591686.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:26.564Z,1761591686.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047779,0.991721,0.119193],[-0.992059,0.033216,0.121307],[0.116344,-0.124042,0.985433]]
2025-10-27T19:01:26.610Z,1761591686.610 [NAL9602](INFO): SBD MO Status=0, MOMSN=3091, MT Status=0, MTMSN=0
2025-10-27T19:01:26.610Z,1761591686.610 [NAL9602](INFO): No messages in MT queue
2025-10-27T19:01:26.811Z,1761591686.811 [DAT](DEBUG): Acoustic response timeout
2025-10-27T19:01:26.839Z,1761591686.839 [DataOverHttps](INFO): Received command: restart logs